Using Skeleton technique to detect and recognize the same person

free

Hi all, Could you please help me about this program.

final year project title: ****To study and develop real time human identification using a high speed Kinect sensor.**** Currently what I'm doing now is using skeleton technique to identify the person using Kinect sensor and the output is a mobile robot. The problem is now the person had being detected by the kinect, but whenever he went out from the frame about 7 sec, and went back into the frame, Kinect have to reset to detect a new person.

My target is, I want to detect and the recognize the same person after he went in and out from the frame.

import processing.serial.*;

import SimpleOpenNI.*;
SimpleOpenNI  kinect;
Serial myPort;

void setup() {
  kinect = new SimpleOpenNI(this);
  kinect.enableDepth();
  kinect.enableUser(SimpleOpenNI.SKEL_PROFILE_ALL);

  size(640, 480);
  fill(255, 0, 0);
   String portName = Serial.list()[0];
  myPort = new Serial(this, portName, 9600);
}

void draw() {
  kinect.update();
  image(kinect.depthImage(), 0, 0);

  IntVector userList = new IntVector();
  kinect.getUsers(userList);

  if (userList.size() > 0) {
    int userId = userList.get(0);

    if ( kinect.isTrackingSkeleton(userId)) {
      drawSkeleton(userId);
      circleForAHead(userId);
    }
  }
}


void circleForAHead(int userId)
{
  //userId=1;
  // get 3D position of a joint
  PVector jointPos = new PVector();
  kinect.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_TORSO,jointPos);
  //println(jointPos.x);
  // println(jointPos.y);
  // println(jointPos.z);



     if(jointPos.x > -200 && jointPos.x < 200)
      { 
        if(jointPos.z > 1000) 
      {   
        myPort.write('F'); 
        println("Forward");

      }
        else 
        {
         myPort.write('S'); 
        println("Stop");
      }          

      }
      else if (jointPos.x >200 && jointPos.x < 580)  
      {
        myPort.write('R');  
        println("Right");
      }
      else if (jointPos.x <-200 && jointPos.x > -580)
      {
        myPort.write('L'); 
        println("Left");
      }
      else
      {
        myPort.write('S'); 
        println("Stop");
      }


}


void drawSkeleton(int userId) {
  stroke(0);
  strokeWeight(5);

  kinect.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, 
                          SimpleOpenNI.SKEL_HEAD);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, 
                          SimpleOpenNI.SKEL_NECK);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_NECK,
                          SimpleOpenNI.SKEL_LEFT_SHOULDER);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER,
                          SimpleOpenNI.SKEL_LEFT_ELBOW);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW,
                          SimpleOpenNI.SKEL_LEFT_HAND);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_NECK,
                          SimpleOpenNI.SKEL_RIGHT_SHOULDER);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER,
                          SimpleOpenNI.SKEL_RIGHT_ELBOW);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW,
                          SimpleOpenNI.SKEL_RIGHT_HAND);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER,
                          SimpleOpenNI.SKEL_TORSO);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER,
                          SimpleOpenNI.SKEL_TORSO);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_TORSO,
                          SimpleOpenNI.SKEL_LEFT_HIP);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP,
                          SimpleOpenNI.SKEL_LEFT_KNEE);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE,
                          SimpleOpenNI.SKEL_LEFT_FOOT);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_TORSO,
                          SimpleOpenNI.SKEL_RIGHT_HIP);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP,
                          SimpleOpenNI.SKEL_RIGHT_KNEE);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE,
                          SimpleOpenNI.SKEL_RIGHT_FOOT);
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP,
                          SimpleOpenNI.SKEL_LEFT_HIP);

  noStroke();

  fill(255,0,0);
  drawJoint(userId, SimpleOpenNI.SKEL_HEAD); 
  drawJoint(userId, SimpleOpenNI.SKEL_NECK);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_ELBOW);
  drawJoint(userId, SimpleOpenNI.SKEL_NECK);
  drawJoint(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER);
  drawJoint(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW);
  drawJoint(userId, SimpleOpenNI.SKEL_TORSO);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_HIP);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_KNEE);
  drawJoint(userId, SimpleOpenNI.SKEL_RIGHT_HIP);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_FOOT);
  drawJoint(userId, SimpleOpenNI.SKEL_RIGHT_KNEE);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_HIP);
  drawJoint(userId, SimpleOpenNI.SKEL_RIGHT_FOOT);
  drawJoint(userId, SimpleOpenNI.SKEL_RIGHT_HAND);
  drawJoint(userId, SimpleOpenNI.SKEL_LEFT_HAND);
}

void drawJoint(int userId, int jointID) { 
  PVector joint = new PVector();


  float confidence = kinect.getJointPositionSkeleton(userId, jointID,
joint);
  if(confidence < 0.9){
    return; 
  }

  PVector convertedJoint = new PVector();
  kinect.convertRealWorldToProjective(joint, convertedJoint);
  ellipse(convertedJoint.x, convertedJoint.y, 5, 5);
}

// user-tracking callbacks!
void onNewUser(int userId) {
  println("start pose detection");
  kinect.startPoseDetection("Psi", userId);
}

void onLostUser(int userId)
{
    myPort.write('S'); 
    myPort.write('S');
    println("Stop");
    println("User Lost - userId: "+userId );
    myPort.write('S');
    myPort.write('S');
}

void onEndCalibration(int userId, boolean successful) {
  if (successful) {
    println("  User calibrated !!!");
    kinect.startTrackingSkeleton(userId);
  }
  else {
    println("  Failed to calibrate user !!!");
    kinect.startPoseDetection("Psi", userId);
  }
}

void onStartPose(String pose, int userId) {
  println("Started pose for user");
  kinect.stopPoseDetection(userId);
  kinect.requestCalibrationSkeleton(userId, true);
}

Above is my program coding..

PhiLho

Moved to the Kinect category, reformatted the code. I suggest you take some time to read the sticky post of the forum...

free

hye philho, can you review my code here and comments what I'm suppose to add in the code to improve my problems here?