emgucv 抠图

我的环境的KinectSDK2.0+EmguCV3.0.0

依旧还是WinFrom和ImageBox

因为需要用到BodyIndex的数据，但BodyIndex的分辨率和RGB图像的分辨率不同，所以需要用的CoordinateMap类中的坐标转换函数。

 

 

代码和注释如下：

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1. using System;  
2. using System.Collections.Generic;  
3. using System.ComponentModel;  
4. using System.Data;  
5. using System.Drawing;  
6. using System.Linq;  
7. using System.Text;  
8. using System.Windows.Forms;  
9. using Microsoft.Kinect;  
10. using Emgu.CV;  
11. using Emgu.CV.Structure;  
12. using Emgu.Util;  
13.   
14. namespace Kinect_koutu_2  
15. {  
16.     public partial class Form1 : Form  
17.     {  
18.         KinectSensor kinect = null;  
19.         MultiSourceFrameReader framereader = null;  
20.         FrameDescription fd = null;  
21.         FrameDescription cfd = null;  
22.         CoordinateMapper coordinate = null;  
23.         Image<Bgra, byte> colorimg = null;  
24.         DepthSpacePoint[] colorMappedToDepthPoints = null;  
25.         byte[] colordata = null;  
26.         public Form1()  
27.         {  
28.             InitializeComponent();  
29.             CvInvoke.UseOpenCL = true;  
30.             kinect = KinectSensor.GetDefault();  
31.             coordinate = kinect.CoordinateMapper;  
32.             framereader = kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color | FrameSourceTypes.BodyIndex);  
33.             framereader.MultiSourceFrameArrived += Framereader_MultiSourceFrameArrived;  
34.             fd = kinect.BodyIndexFrameSource.FrameDescription;  
35.             cfd = kinect.ColorFrameSource.FrameDescription;  
36.             colorMappedToDepthPoints = new DepthSpacePoint[cfd.Width * cfd.Height];  
37.             colorimg = new Image<Bgra, byte>(cfd.Width, cfd.Height);  
38.             colordata = new byte[colorimg.Bytes.Count<byte>()];  
39.             kinect.Open();  
40.         }  
41.         private void Framereader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)  
42.         {  
43.             MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();  
44.             if (multiSourceFrame == null)  
45.                 return;  
46.             ColorFrame cFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();  
47.             BodyIndexFrame bframe = multiSourceFrame.BodyIndexFrameReference.AcquireFrame();  
48.             DepthFrame dframe = multiSourceFrame.DepthFrameReference.AcquireFrame();  
49.             if (dframe == null || bframe == null || cFrame == null)  
50.             {  
51.                 Console.WriteLine("null");  
52.                 return;  
53.             }  
54.             cFrame.CopyConvertedFrameDataToArray(colordata, ColorImageFormat.Bgra);  
55.             //colorimg.Bytes = colordata;  
56.             //imageBox1.Image = colorimg;  
57.             using (KinectBuffer dB = dframe.LockImageBuffer())  
58.             {  
59.                 coordinate.MapColorFrameToDepthSpaceUsingIntPtr(dB.UnderlyingBuffer, dB.Size, colorMappedToDepthPoints);       //坐标转换并储存到数组  
60.             }  
61.               
62.             using (KinectBuffer kB = bframe.LockImageBuffer())  
63.             {  
64.                 ProcessBodyIndexFrameData(kB.UnderlyingBuffer);  
65.                 colorimg.Bytes = colordata;  
66.                 imageBox1.Image = colorimg;  
67.             }  
68.               
69.             dframe.Dispose();  
70.             cFrame.Dispose();  
71.             bframe.Dispose();  
72.         }  
73.   
74.         private unsafe void ProcessBodyIndexFrameData(IntPtr bodyIndexFrameData)  
75.         {  
76.             byte* frameData = (byte*)bodyIndexFrameData;  
77.             int colorMappedToDepthPointCount = this.colorMappedToDepthPoints.Length;  
78.             fixed (DepthSpacePoint* colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)  
79.             {  
80.                 for (int i = 0; i < colorMappedToDepthPointCount; ++i)  
81.                 {  
82.                     float colorMappedToDepthX = colorMappedToDepthPointsPointer[i].X;  
83.                     float colorMappedToDepthY = colorMappedToDepthPointsPointer[i].Y;  
84.                     int depthX = (int)(colorMappedToDepthX + 0.5f);         //colorimage的像素点的位置在景深图的对应位置  
85.                     int depthY = (int)(colorMappedToDepthY + 0.5f);  
86.                     if ((depthX >= 0) && (depthX < 512) && (depthY >= 0) && (depthY < 424))  
87.                     {  
88.                         int depthIndex = (depthY * 512) + depthX;  
89.                         if (frameData[depthIndex] ==255)             //在检测范围内frameData[depthIndex] !=255 为检测到人的像素点，不予以操作，并将其他像素点设置为黑色  
90.                         {  
91.                             colordata[i * 4] = 0;  
92.                             colordata[i * 4 + 1] = 0;  
93.                             colordata[i * 4 + 2] = 0;  
94.                             colordata[i * 4 + 3] = 255;  
95.                         }  
96.                     }  
97.                     else  
98.                     {  
99.                         colordata[i * 4] = 0;  
100.                         colordata[i * 4 + 1] = 0;  
101.                         colordata[i * 4 + 2] = 0;  
102.                         colordata[i * 4 + 3] = 255;  
103.                     }  
104.                 }  
105.             }  
106.         }  
107.   
108.         private void Form1_FormClosing(object sender, FormClosingEventArgs e)  
109.         {  
110.             if (this.kinect != null)  
111.             {  
112.                 this.kinect.Close();  
113.                 this.kinect = null;  
114.             }  
115.         }  
116.     }  
117. }