转载自:Getting Started with Kinect and Processing | Daniel Shiffman

Getting Started with Kinect and Processing

Kinect and Processing

The Microsoft Kinect sensor is a peripheral device (designed for XBox and windows PCs) that functions much like a webcam. However, in addition to providing an RGB image, it also provides a depth map. Meaning for every pixel seen by the sensor, the Kinect measures distance from the sensor. This makes a variety of computer vision problems like background removal, blob detection, and more easy and fun!

The Kinect sensor itself only measures color and depth. However, once that information is on your computer, lots more can be done like “skeleton” tracking (i.e. detecting a model of a person and tracking his/her movements). To do skeleton tracking you’ll need to use Thomas Lengling’s windows-only Kinect v2 processing libray. However, if you’re on a Mac and all you want is raw data from the Kinect, you are in luck! This library uses libfreenect and libfreenect2 open source drivers to access that data for Mac OS X (windows support coming soon).




我按照网上的这个视频教程进行了制作。教程链接:四分钟学会无人机实景建模,无人机通用3D实景建模教程 – 西瓜视频 (ixigua.com)



打开ContextCapture Center Master,加载照片,按照教程制作。由于要计算几百张照片的各种信息,制作很花时间。





TouchDesigner 是一个可视化编程的开发平台,可以创建实时的视觉及新媒体创作,主要用于实时交互新媒体创作。其应用场景包括:创建可互动的新媒体系统、建筑投影、VJ,还是快速的制作创意原型等等。
TouchDesigner 功能元件主要分为6大类:COMP, TOP, CHOP, SOP, DAT, MAT,对于不同方向的运用。比如TOP内的控制器主要用于处理图像及影像,而SOP内的控制器主要用于3D的处理。
TouchDesigner 现支持 Windows、Mac OS 两种系统。



领先的沉浸式互联网内容门户,一站式学习、创作和展示。沉浸式互联网体验和学习门户 – 踏得网 (techbrood.com)

带有网页版3D编辑器,非常流畅。Stone – 网页3D在线编辑器,快速构建和分享沉浸式展示 1.0.1 (techbrood.com)




官网:Digital worlds that feel human | Ultraleap

面对开发人员的网页:Leap Motion Developer

对比:Tracking | Ultraleap Stereo IR 170 Evaluation Kit | Ultraleap

Stereo IR 170 Camera Module 开发板
Stereo IR 170 Camera Module 开发板


开发板与 leap motion 的功能对比
开发板与 leap motion 的功能对比


Halbach array 的构建与模拟(二)

知乎上找到了一个系列文章——《Halbach array 的构建与模拟》,一共写了三篇,链接分别如下:

  1. Halbach array 的构建与模拟(一) – 知乎 (zhihu.com)
  2. Halbach array 的构建与模拟(二) – 知乎 (zhihu.com)
  3. Halbach array 的构建与模拟(终极版) – 知乎 (zhihu.com)



专利详情网址:US7757609B2 – Track switching for a magnetically levitated transportation system and method – Google Patents

Track switching for a magnetically levitated transportation system and method

A magnetically levitated transportation system employs permanent magnet rails along a guideway that interact with permanent magnets on a vehicle. The rails are optimized to reduce magnetic mass and cost of materials, while maximizing lift force. The vehicle is stabilized in the lateral and yaw directions with feedback controlled lateral control coils that interact with the permanent magnet rails on the guideway. A track switching structure employs permanent magnet rails that gradually widen along a segment of track and separate into two identical diverging rails. Feedback controlled lateral control coils in a moving vehicle stabilize that vehicle over one or the other pairs of diverging rails, as directed by a control computer, thereby causing the vehicle to continue along one path or the other, with no moving or active elements required in the track.

Images (11)

 B60L13/003 Crossings; Points
File:Linear Halbach Array (Weak side up).png


File:Linear Halbach Array (Weak side up).png

百度百科:Halbach Array一般指海尔贝克阵列,见 海尔贝克阵列_百度百科 (baidu.com)

海尔贝克阵列(Halbach Array)是一种磁体结构,是工程上的近似理想结构,目标是用最少量的磁体产生最强的磁场。1979 年,美国学者Klaus Halbach做电子加速实验时,发现了这种特殊的永磁铁结构,并逐步完善这种结构,最终形成了所谓的“Halbach”磁铁。

维基百科:Halbach array – Wikipedia

Halbach array is a special arrangement of permanent magnets that augments the magnetic field on one side of the array while cancelling the field to near zero on the other side.[1][2] This is achieved by having a spatially rotating pattern of magnetisation.

The rotating pattern of permanent magnets (on the front face; on the left, up, right, down) can be continued indefinitely and have the same effect. The effect of this arrangement is roughly similar to many horseshoe magnets placed adjacent to each other, with similar poles touching.

The principle was first invented by James (Jim) M. Winey of Magnepan in 1970, for the ideal case of continuously rotating magnetization, induced by a one-sided stripe-shaped coil.[3]

The effect was also discovered by John C. Mallinson in 1973, and these “one-sided flux” structures were initially described by him as a “curiosity”, although at the time he recognized from this discovery the potential for significant improvements in magnetic tape technology.[4]

Physicist Klaus Halbach, while at the Lawrence Berkeley National Laboratory during the 1980s, independently invented the Halbach array to focus particle accelerator beams.[5]


The advantages of one-sided flux distributions are twofold:

  • The field is twice as large on the side on which the flux is confined (in the idealized case).
  • There is no stray field produced (in the ideal case) on the opposite side. This helps with field confinement, usually a problem in the design of magnetic structures.

Although one-sided flux distributions may seem somewhat abstract, they have a surprising number of applications ranging from the refrigerator magnet through industrial applications such as the brushless DC motorvoice coils,[7] magnetic drug targeting[8] to high-tech applications such as wiggler magnets used in particle accelerators and free-electron lasers.

This device is also a key component of the Inductrack Maglev train[9] and Inductrack rocket-launch system,[10] wherein the Halbach array repels loops of wire that form the track after the train has been accelerated to a speed able to lift.

The simplest example of a one-sided flux magnet is a refrigerator magnet. These are usually composed of powdered ferrite in a binder such as plastic or rubber. The extruded magnet is exposed to a rotating field giving the ferrite particles in the magnetic compound a magnetization resulting in a one-sided flux distribution. This distribution increases the holding force of the magnet when placed on a permeable surface, compared to the holding force from, say, a uniform magnetization of the magnetic compound.

Scaling up this design and adding a top sheet gives a wiggler magnet, used in synchrotrons and free-electron lasers. Wiggler magnets wiggle, or oscillate, an electron beam perpendicular to the magnetic field. As the electrons are undergoing acceleration, they radiate electromagnetic energy in their flight direction, and as they interact with the light already emitted, photons along its line are emitted in phase, resulting in a “laser-like” monochromatic and coherent beam.

The design shown above is usually known as a Halbach wiggler. The magnetization vectors in the magnetized sheets rotate in the opposite senses to each other; above, the top sheet\\’s magnetization vector rotates clockwise, and the bottom sheet\\’s magnetization vector rotates counter-clockwise. This design is chosen so that the x components of the magnetic fields from the sheets cancel, and the y components reinforce, so that the field is given by

where k is the wavenumber of the magnetic sheet given by the spacing between magnetic blocks with the same magnetization vector.

These cylindrical structures are used in devices such as brushless AC motors, magnetic couplings and high-field cylinders. Both brushless motors and coupling devices use multipole field arrangements:

  • Brushless motors typically use cylindrical designs in which all the flux is confined to the centre of the bore (such as k = 4 above, a 6-pole rotor) with the AC coils also contained within the bore. Such self-shielding motors designs are more efficient and produce higher torque than conventional motor designs.
  • Magnetic-coupling devices transmit torque through magnetically transparent barriers (that is, the barrier is non-magnetic or is magnetic but not affected by an applied magnetic field), for instance, between sealed containers or pressurised vessels. The optimal torque couplings consists of a pair of coaxially nested cylinders with opposite k and −k flux magnetization patterns, as this configuration is the only system for infinitely long cylinders that produces a torque.[14] In the lowest-energy state, the outer flux of the inner cylinder exactly matches the internal flux of the outer cylinder. Rotating one cylinder relative to the other from this state results in a restoring torque.

Halbach array.svg


海尔贝克阵列(Halbach Array)_上海骏材_新浪博客 (sina.com.cn)

海尔贝克阵列(Halbach <wbr>Array)

Klaus Halbach(左)在探讨永磁阵列模型。

海尔贝克阵列(Halbach <wbr>Array) 海尔贝克阵列有哪些形式?海尔贝克阵列(Halbach <wbr>Array)
海尔贝克阵列(Halbach <wbr>Array)
海尔贝克阵列(Halbach <wbr>Array)
海尔贝克阵列(Halbach <wbr>Array)
海尔贝克阵列(Halbach <wbr>Array)


海尔贝克阵列(Halbach <wbr>Array)海尔贝克阵列(Halbach <wbr>Array)

海尔贝克阵列(Halbach <wbr>Array)海尔贝克阵列(Halbach <wbr>Array)

海尔贝克阵列(Halbach <wbr>Array)海尔贝克阵列(Halbach <wbr>Array)

海尔贝克阵列 Halbach Array_磁体 (sohu.com)


  • 直线阵列



  • 环形阵列