Tom Ritsert Dave Galey

 With a single Kinect sensor, skeletal tracking becomes difficult if there are obstacles in the field of view  Extra sensors can be added at different angles around the field to continue tracking when primary sensor looses sight of joints

 Captures frames directly from Kinect sensor  Serializes and transmits to server application for processing

 Copies a Kinect Frame  Contains: MyColorFrame MyDepthFrame MySkeletalFrame Timestamp  Provides Serialization Of Camera Data  Data compression for more efficient network transmission

 Maintains TCP connections with client applications  Collects frame data from each client  Saves each frame to a file on the disk  Can perform calibration calculations and generate configuration file for replay

 Reads in frames from disk, displays data on screen  Uses SkeletalViewer to display 3D skeletal models  Reads in configuration file to determine calibration between multiple sources  Transforms skeletal data from secondary sources to match reference frame of primary source  Uses timestamp from frames to synchronize data from both sources

 WPF 3D model viewer  Can plot joint positions for up to 6 skeletons at a time  Draws spherical joint objects, as well as cylindrical bones connecting them  Can be zoomed, rotated, and re- centered from the UI

 Skeletal display:  Each skeleton is colored differently, so they can be distinguished  Inferred joints are colored in a lighter color than actual tracked joints

 Performs calibration between multiple cameras  Stores data taken during calibration for easy serialization and reuse  Calibration data is valid for as long as the camera setup remains unchanged

[Serializable] public class Calibration { public double theta { get; set; } public Vector3D trans { get; private set; } public Vector3D origin { get; private set; } public Calibration(double t, Vector3D tr, Vector3D o) { theta = t; trans = tr; origin = o; }

public void Initialize(JointCollection first, JointCollection second)  Calculates the xyz-offset and angular rotation between two cameras  Assumes pre-defined calibration pose  Joints passed in through the ‘first’ collection are assumed to be the reference frame  Stores transform data in Calibration object

public Vector3D[] Transform(JointCollection jc)  Takes a joint collection from a non- reference frame camera  Returns the vectors of all of the joints transformed into the reference frame, based on stored Calibration object data

 Skeletal tracking is not as precise as we would prefer  Baggy clothing, etc. can throw joint positions off  True camera synchronization is difficult  Variable number of frames produced  Clock differences between systems

 Support for 3 or more Kinect sensors  Data analysis/filtering  Time synchronization