kienct1骨骼图

来源：互联网发布：加州大学知乎编辑：程序博客网时间：2024/06/07 03:54
#include <windows.h>#include <iostream> #include <NuiApi.h>#include <opencv2/opencv.hpp>using namespace std;using namespace cv;//通过传入关节点的位置，把骨骼画出来void drawSkeleton(Mat &image, CvPoint pointSet[], int whichone);int main(int argc, char *argv[]){    Mat skeletonImage;    skeletonImage.create(240, 320, CV_8UC3);    CvPoint skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cvPoint(0,0) };    bool tracked[NUI_SKELETON_COUNT] = { FALSE };    //1、初始化NUI，注意这里是USES_SKELETON    HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON);    //HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);    if (FAILED(hr))    {        cout << "NuiInitialize failed" << endl;        return hr;    }    //2、定义骨骼信号事件句柄     HANDLE skeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);    //3、打开骨骼跟踪事件    hr = NuiSkeletonTrackingEnable(skeletonEvent, 0);    if (FAILED(hr))    {        cout << "Could not open color image stream video" << endl;        NuiShutdown();        return hr;    }    namedWindow("skeletonImage", CV_WINDOW_AUTOSIZE);    //4、开始读取骨骼跟踪数据     while (1)    {        NUI_SKELETON_FRAME skeletonFrame = { 0 };  //骨骼帧的定义         bool bFoundSkeleton = false;        //4.1、无限等待新的数据，等到后返回        if (WaitForSingleObject(skeletonEvent, INFINITE) == 0)        {            //4.2、从刚才打开数据流的流句柄中得到该帧数据，读取到的数据地址存于skeletonFrame            hr = NuiSkeletonGetNextFrame(0, &skeletonFrame);            if (SUCCEEDED(hr))            {                //NUI_SKELETON_COUNT是检测到的骨骼数（即，跟踪到的人数）                for (int i = 0; i < NUI_SKELETON_COUNT; i++)                {                    NUI_SKELETON_TRACKING_STATE trackingState = skeletonFrame.SkeletonData[i].eTrackingState;                    //4.3、Kinect最多检测六个人，但只能跟踪两个人的骨骼，再检查每个“人”（有可能是空，不是人）                    //是否跟踪到了                     if (trackingState == NUI_SKELETON_TRACKED)                    {                        bFoundSkeleton = true;                    }                }            }            if (!bFoundSkeleton)            {                continue;            }            //4.4、平滑骨骼帧，消除抖动            NuiTransformSmooth(&skeletonFrame, NULL);            skeletonImage.setTo(0);            for (int i = 0; i < NUI_SKELETON_COUNT; i++)            {                // Show skeleton only if it is tracked, and the center-shoulder joint is at least inferred.                 //断定是否是一个正确骨骼的条件：骨骼被跟踪到并且肩部中心（颈部位置）必须跟踪到。                 if (skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED &&                    skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_SHOULDER_CENTER] != NUI_SKELETON_POSITION_NOT_TRACKED)                {                    float fx, fy;                    //拿到所有跟踪到的关节点的坐标，并转换为我们的深度空间的坐标，因为我们是在深度图像中                    //把这些关节点标记出来的                    //NUI_SKELETON_POSITION_COUNT为跟踪到的一个骨骼的关节点的数目，为20                    for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++)                    {                        NuiTransformSkeletonToDepthImage(skeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy);                        //skeletonFrame.SkeletonData[i].Position.                        //cout << "x = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].x << endl;                        //cout << "y = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].x << endl;                        cout << "Z = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].z << endl;                        cout << "w = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].w << endl;                        skeletonPoint[i][j].x = (int)fx;                        skeletonPoint[i][j].y = (int)fy;                    }                    for (int j = 0; j<NUI_SKELETON_POSITION_COUNT; j++)                    {                        if (skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[j] != NUI_SKELETON_POSITION_NOT_TRACKED)//跟踪点一用有三种状态：1没有被跟踪到，2跟踪到，3根据跟踪到的估计到                           {                            circle(skeletonImage, skeletonPoint[i][j], 3, cvScalar(0, 255, 255), 1, 8, 0);                            tracked[i] = TRUE;                        }                    }                    drawSkeleton(skeletonImage, skeletonPoint[i], i);                }            }            imshow("skeletonImage", skeletonImage); //显示图像         }        else        {            cout << "Buffer length of received texture is bogus\r\n" << endl;        }        if (cvWaitKey(20) == 27)            break;    }    //5、关闭NUI链接     NuiShutdown();    return 0;}//通过传入关节点的位置，把骨骼画出来void drawSkeleton(Mat &image, CvPoint pointSet[], int whichone){    CvScalar color;    switch (whichone) //跟踪不同的人显示不同的颜色     {    case 0:        color = cvScalar(255);        break;    case 1:        color = cvScalar(0, 255);        break;    case 2:        color = cvScalar(0, 0, 255);        break;    case 3:        color = cvScalar(255, 255, 0);        break;    case 4:        color = cvScalar(255, 0, 255);        break;    case 5:        color = cvScalar(0, 255, 255);        break;    }    if ((pointSet[NUI_SKELETON_POSITION_HEAD].x != 0 || pointSet[NUI_SKELETON_POSITION_HEAD].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_HEAD], pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_SPINE].x != 0 || pointSet[NUI_SKELETON_POSITION_SPINE].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SPINE], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_SPINE].x != 0 || pointSet[NUI_SKELETON_POSITION_SPINE].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_SPINE], pointSet[NUI_SKELETON_POSITION_HIP_CENTER], color, 2);    //左上肢     if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_HAND_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_HAND_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], pointSet[NUI_SKELETON_POSITION_HAND_LEFT], color, 2);    //右上肢     if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], pointSet[NUI_SKELETON_POSITION_HAND_RIGHT], color, 2);    //左下肢     if ((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_LEFT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_HIP_LEFT], pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], pointSet[NUI_SKELETON_POSITION_FOOT_LEFT], color, 2);    //右下肢     if ((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], color, 2);    if ((pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y != 0) &&        (pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].y != 0))        line(image, pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT], color, 2);}
骨骼图里面的z是对的，但是单位是米，同时它的x,y是相对你骨骼的那个画面而言的。就是这个x,y不是空间中的位置。
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