Kinect Empieza A Progamar

smoFor your convenience Apress has placed some of the front matter material after the index. Please use the Bookmarks and Contents at a Glance links to access them.

Contents at a Glance
 About the Authors.................................................................................................. xi  About the Technical Reviewer.............................................................................. xii  Acknowledgments ............................................................................................... xiii  Introduction ......................................................................................................... xiv  Chapter 1: Getting Started ......................................................................................1  Chapter2: Application Fundamentals...................................................................23  Chapter 3: Depth Image Processing .....................................................................49  Chapter 4: Skeleton Tracking ...............................................................................85  Chapter 5: Advanced SkeletonTracking.............................................................121  Chapter 6: Gestures ............................................................................................167  Chapter 7: Speech...............................................................................................223  Chapter 8: Beyond the Basics.............................................................................255  Appendix: KinectMath........................................................................................291  Index ...................................................................................................................301

iv

Introduction
It is customary to preface a work with an explanation of the author’s aim, why he wrote the book, and the relationship in which he believes it to stand to otherearlier or contemporary treatises on the same subject. In the case of a technical work, however, such an explanation seems not only superfluous but, in view of the nature of the subject-matter, even inappropriate and misleading. In this sense, a technical book is similar to a book about anatomy. We are quite sure that we do not as yet possess the subjectmatter itself, the content of the science,simply by reading around it, but must in addition exert ourselves to know the particulars by examining real cadavers and by performing real experiments. Technical knowledge requires a similar exertion in order to achieve any level of competence. Besides the reader’s desire to be hands-on rather than heads-down, a book about Kinect development offers some additional challenges due to its novelty.The Kinect seemed to arrive exnihilo in November of 2010 and attempts to interface with the Kinect technology, originally intended only to be used with the XBOX gaming system, began almost immediately. The popularity of these efforts to hack the Kinect appears to have taken even Microsoft unawares. Several frameworks for interpreting the raw feeds from the Kinect sensor have been released priorto Microsoft’s official reveal of the Kinect SDK in July of 2011 including libfreenect developed by the OpenKinect community and OpenNI developed primarily by PrimeSense, vendors of one of the key technologies used in the Kinect sensor. The surprising nature of the Kinect’s release as well as Microsoft’s apparent failure to anticipate the overwhelming desire on the part of developers, hobbyistsand even research scientists to play with the technology may give the impression that the Kinect SDK is hodgepodge or even a briefly flickering fad. The gesture recognition capabilities made affordable by the Kinect, however, have been researched at least since the late 70’s. A brief search on YouTube for the phrase “put that there” will bring up Chris Schmandt’s1979 work with the MIT Media Lab...