Kinect for Robotics

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New Desktop Kinect From Microsoft

Started by eric gregori Nov 24, 2011. 0 Replies


My Kinect + Create robot

Started by eric gregori. Last reply by eric gregori Nov 1, 2011. 1 Reply


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Comment by eric gregori on July 7, 2011 at 5:49pm

The instructions for installing the Kinect driver are shall we say, "interesting" but useless.  I found these instructions here:



I was confused with different instructions for connecting Kinect to PC. 
Actually I couldn't install OpenKinect drivers, but I come up with an 
instruction 4 Dummies! :D 
I would be glad if somebody makes something like this for OpenKinect. 


Step 1 

Uninstall any previews drivers, such as CLNUI, OpenKinect,.... 
Uninstalling a driver does not seem to be easy esp in case of OpenKinect 

Step 2 

Download and install the latest stable or unstable OpenNI Binaries from 
OpenNI website. 
There might be a security check message in this step and the next one. Don't 
care and continue installing. 

Step 3 

Download  Kinect Driver from the following link. The file name will be 
Unzip the file and run 

Step 4 

Step 5 
Plug in Kinect. Wait till Windows finds and installs the drivers. Check if 
the camera and motor drivers are installed through Control Panel->System 
and..->System->Device Manager 
Currently no driver for Audio available by Primesense, although there is one 
provided by OpenKinect. 


Check OpenNI samples.  NiSimpleRead just reads the data for the center of 
view into a console window.  NiViewer gives you a color coded depth view 
what the Kinect is looking at. 

Step 7 
Download and install the latest stable or unstable OpenNI Compliant 
Middleware Binaries (NITE) from OpenNI website. 

During installation, provide the following (free) PrimeSense key: 

Step 8 


Step 9 

Replace xml files in C:\Program Files (x86)\Prime Sense\NITE\Data and 
C:\Program Files (x86)\OpenNI\Data with the ones in 
avin2-SensorKinect-0124bd2\NITE\Data and 

Step 10 

Checkout the NITE samples and have fun! 


Comment by Sai Yamanoor on July 27, 2011 at 12:32am

Linking OpenCV with Windows Kinect SDK!


I might be reinventing the wheel here but I thought I shall write a post on linking opencv libraries for image processing using the kinect in windows.


The microsoft kinect SDK may be downloaded from the following link:


The pre requisites for the installation is the Direct X environment. The SDK comes with drivers and example files. 

The example files may be found under the directory Microsoft Research KinectSDK Samples inside the Documents folder. 

To test the kinect SDK installation launch the Skeletal Viewer example available inside the CPP directory. When your entire body frame is within the camera's view, it detects your hand posture!


I found links on the web that explain how to port OpenCV inside this code. Since they were available on a forum, I thought that posting it here would document it clearly. 


a) Include the header files and library files required for OpenCV in the project settings. 


b) Inside the file, NuiImpl.cpp, there is a function called :

void CSkeletalViewerApp::Nui_GotVideoAlert( )

the video buffer of the kinect sensor is accessed as follows:

RGBQUAD * rgbrun = m_rgbWk;

This is where we have to port the OpenCV libraries.

c) An image may be created for copying a frame as follows:

kinectDepthImage = cvCreateImage(cvSize(640,480),8,4);

d) The frame may be copied using cvSet Data as follows:



e) Now the frame cannot be seen unless cvWaitKey(10) is added inside a while loop. 


Rebuilding the solution would start displaying the frame in the Skeleton viewer GUI window as well as the openCV highgui frame.


Good luck! 


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