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Proximity Sensing Using Kinect
Hello,
I am using a Kinect with the FAAST program in order to create a 3d spherical representation of a person. My goal is to create a way for that person's hand to interact with an object that has been created. I want to be able to move that object from point A to point B. Below is the code that I have written so far. I am having trouble getting the sensors to connect with the hand spheres, and I also don't know how to create a movable object in Vizard. I am new to this and am using this as part of an experiment: import viz import vizshape import math import random import time import vizact import vizproximity viz.go() grid = vizshape.addGrid() """ Kinect Tracker object ID's These are not actually being used in the script but are to help anyone who wants to get access to a specific bodypart. For example to just get a handle to tracking data for the head use: myHead = vrpn.addTracker( 'Tracker0@localhost', HEAD). """ HEAD = 0 NECK = 1 TORSO = 2 WAIST = 3 LEFTCOLLOR = 4 LEFTSHOULDER = 5 LEFTELBOW = 6 LEFTWRIST = 7 LEFTHAND = 8 LEFTFINGERTIP = 9 RIGHTCOLLAR = 10 RIGHTSHOULDER = 11 RIGHTELBOW = 12 RIGHTWRIST = 13 RIGHTHAND = 14 RIGHTFINGERTIP = 15 LEFTHIP = 16 LEFTKNEE = 17 LEFTANGLE = 18 LEFTFOOT = 19 RIGHTHIP = 20 RIGHTKNEE = 21 RIGHTANKLE = 22 RIGHTFOOT = 23 #store trackers, links, and vizshape objects trackers = [] links = [] shapes = [] #start vrpn vrpn = viz.addExtension('vrpn7.dle') #now add all trackers and link a shape to it for i in range(0, 24): t = vrpn.addTracker( 'Tracker0@localhost',i ) s = vizshape.addSphere(radius=.1) l = viz.link(t,s) trackers.append(t) links.append(l) shapes.append(s) ################################################## ################################################## ########################## ### Proximity Section ### viz.phys.enable() manager = vizproximity.Manager() manager.setDebug(viz.ON) #Add main viewpoint as proximity target target = vizproximity.Target(viz.MainView) manager.addTarget(target) #Creating Right Hand Sensor rightHandSphere = vizshape.addSphere(radius = 0.08) rightHandSphere.color( viz.BLUE ) rightHandLink = viz.link( shapes[14] , rightHandSphere ) #links the proximity with the sphere #Creating Left Hand Sensor leftHandSphere = vizshape.addSphere(radius = 0.08) leftHandSphere.color( viz.BLUE ) rightHandLink = viz.link( shapes[14] , rightHandSphere ) #links the proximity with the sphere |
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kinect, proximity sensor |
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