Kinect for Windows V2和V1对比开发___骨骼数据获取并用OpenCV2.4.10显示

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1， 打开骨骼帧的方式

对于V1，

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方法NuiSkeletonTrackingEnable实现

m_hNextSkeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL );

hr =m_PNuiSensor->NuiSkeletonTrackingEnable(

m_hNextSkeletonEvent,

NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE//|

);

if( FAILED( hr ) )

{

cout<<"Couldnot open skeleton stream video"<<endl;

return hr;

}

对于V2

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// Initialize the Kinect andget coordinate mapper and the body reader

IBodyFrameSource* pBodyFrameSource = NULL;

hr = m_pKinectSensor->Open();

if (SUCCEEDED(hr))

{

hr = m_pKinectSensor->get_CoordinateMapper(&m_pCoordinateMapper);

}

方法get_CoordinateMapper得到坐标映射

if (SUCCEEDED(hr))

{

hr =m_pKinectSensor->get_BodyFrameSource(&pBodyFrameSource);

}

方法get_BodyFrameSource得到骨骼帧源

if (SUCCEEDED(hr))

{

hr =pBodyFrameSource->OpenReader(&m_pBodyFrameReader);

}

方法get_BodyFrameSource打开骨骼帧读取器

SafeRelease(pBodyFrameSource);

}

2，更新骨骼帧方式

对于V1，方法NuiSkeletonGetNextFrame实现

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NUI_SKELETON_FRAMESkeletonFrame;//骨骼帧的定义

bool bFoundSkeleton = false;

if(SUCCEEDED(NuiSkeletonGetNextFrame( 0, &SkeletonFrame )) )//Get the next frameof skeleton data.直接从kinect中提取骨骼帧

对于V2,

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if (!m_pBodyFrameReader)

{

return;

}

<pre name="code" class="cpp"> //更新骨骼帧

HRESULT hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);

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//更新骨骼数据

hResult = pBodyFrame->GetAndRefreshBodyData( BODY_COUNT, pBody );

3，画骨架方式：

对于V1，主要用opencv辅助来画，用到cvLine方法

例如左上肢的实现为：

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//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))

cvLine(SkeletonImage, 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))

cvLine(SkeletonImage,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))

cvLine(SkeletonImage,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))

cvLine(SkeletonImage,pointSet[NUI_SKELETON_POSITION_WRIST_LEFT],pointSet[NUI_SKELETON_POSITION_HAND_LEFT], color, 2);

对于V2，主要借助Direct2D微软的图形图像API，具体详细可以查阅资料。。当然也可以转换为用opencv来画。下面用OpenCV2.4.10中drawing
functions 里边的line（）函数：

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line(SkeletonImage,pointSet[joint0], pointSet[joint1], color, 2);

4，V2+VS2012+OpenCV代码

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#include <Windows.h>

#include <Kinect.h>

#include <opencv2/opencv.hpp>

using namespace std;

using namespace cv;

//释放接口需要自己定义

template<class Interface>

inline void SafeRelease( Interface *& pInterfaceToRelease )

{

if( pInterfaceToRelease != NULL ){

pInterfaceToRelease->Release();

pInterfaceToRelease = NULL;

}

}

void DrawBone( Mat& SkeletonImage, CvPoint pointSet[], const Joint* pJoints, int whichone, JointType joint0, JointType joint1);

void drawSkeleton( Mat& SkeletonImage, CvPoint pointSet[],const Joint* pJoints, int whichone);

int main( int argc, char **argv[] )

{

//OpenCV中开启CPU的硬件指令优化功能函数

setUseOptimized( true );

// Sensor

IKinectSensor* pSensor;

HRESULT hResult = S_OK;

hResult = GetDefaultKinectSensor( &pSensor );

if( FAILED( hResult ) ){

std::cerr << "Error : GetDefaultKinectSensor" << std::endl;

return -1;

}

hResult = pSensor->Open( );

if( FAILED( hResult ) ){

std::cerr << "Error : IKinectSensor::Open()" << std::endl;

return -1;

}

//Source

IColorFrameSource* pColorSource;

hResult = pSensor->get_ColorFrameSource( &pColorSource );

if( FAILED( hResult ) ){

std::cerr << "Error : IKinectSensor::get_ColorFrameSource()" << std::endl;

return -1;

}

IBodyFrameSource* pBodySource;

hResult = pSensor->get_BodyFrameSource( &pBodySource );

if( FAILED( hResult ) ){

std::cerr << "Error : IKinectSensor::get_BodyFrameSource()" << std::endl;

return -1;

}

// Reader

IColorFrameReader* pColorReader;

hResult = pColorSource->OpenReader( &pColorReader );

if( FAILED( hResult ) ){

std::cerr << "Error : IColorFrameSource::OpenReader()" << std::endl;

return -1;

}

IBodyFrameReader* pBodyReader;

hResult = pBodySource->OpenReader( &pBodyReader );

if( FAILED( hResult ) ){

std::cerr << "Error : IBodyFrameSource::OpenReader()" << std::endl;

return -1;

}

// Description

IFrameDescription* pDescription;

hResult = pColorSource->get_FrameDescription( &pDescription );

if( FAILED( hResult ) ){

std::cerr << "Error : IColorFrameSource::get_FrameDescription()" << std::endl;

return -1;

}

int width = 0;

int height = 0;

pDescription->get_Width( &width ); // 1920

pDescription->get_Height( &height ); // 1080

unsigned int bufferSize = width * height * 4 * sizeof( unsigned char );

cv::Mat bufferMat( height, width, CV_8UC4 );

cv::Mat bodyMat( height / 2, width / 2, CV_8UC4 );

cv::namedWindow( "Body" );

// Color Table

cv::Vec3b color[BODY_COUNT];

color[0] = cv::Vec3b( 255, 0, 0 );

color[1] = cv::Vec3b( 0, 255, 0 );

color[2] = cv::Vec3b( 0, 0, 255 );

color[3] = cv::Vec3b( 255, 255, 0 );

color[4] = cv::Vec3b( 255, 0, 255 );

color[5] = cv::Vec3b( 0, 255, 255 );

// Coordinate Mapper

ICoordinateMapper* pCoordinateMapper;

hResult = pSensor->get_CoordinateMapper( &pCoordinateMapper );

if( FAILED( hResult ) ){

std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl;

return -1;

}

while(1){

// Frame

IColorFrame* pColorFrame = nullptr;

hResult = pColorReader->AcquireLatestFrame( &pColorFrame );

if( SUCCEEDED( hResult ) ){

hResult = pColorFrame->CopyConvertedFrameDataToArray( bufferSize, reinterpret_cast<BYTE*>( bufferMat.data ), ColorImageFormat::ColorImageFormat_Bgra );

if( SUCCEEDED( hResult ) ){

cv::resize( bufferMat, bodyMat, cv::Size(), 0.5, 0.5 );

}

}

//更新骨骼帧

IBodyFrame* pBodyFrame = nullptr;

hResult = pBodyReader->AcquireLatestFrame( &pBodyFrame );

if( SUCCEEDED( hResult ) ){

IBody* pBody[BODY_COUNT] = { 0 };

//更新骨骼数据

hResult = pBodyFrame->GetAndRefreshBodyData( BODY_COUNT, pBody );

if( SUCCEEDED( hResult ) ){

for( int count = 0; count < BODY_COUNT; count++ ){

BOOLEAN bTracked = false;

hResult = pBody[count]->get_IsTracked( &bTracked );

if( SUCCEEDED( hResult ) && bTracked ){

Joint joint[JointType::JointType_Count];

hResult = pBody[ count ]->GetJoints( JointType::JointType_Count, joint );

if( SUCCEEDED( hResult ) ){

// Left Hand State

HandState leftHandState = HandState::HandState_Unknown;

hResult = pBody[count]->get_HandLeftState( &leftHandState );

if( SUCCEEDED( hResult ) ){

ColorSpacePoint colorSpacePoint = { 0 };

hResult = pCoordinateMapper->MapCameraPointToColorSpace( joint[JointType::JointType_HandLeft].Position, &colorSpacePoint );

if( SUCCEEDED( hResult ) ){

int x = static_cast<int>( colorSpacePoint.X );

int y = static_cast<int>( colorSpacePoint.Y );

if( ( x >= 0 ) && ( x < width ) && ( y >= 0 ) && ( y < height ) ){

if( leftHandState == HandState::HandState_Open ){

cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 128, 0 ), 5, CV_AA );

}

else if( leftHandState == HandState::HandState_Closed ){

cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 0, 128 ), 5, CV_AA );

}

else if( leftHandState == HandState::HandState_Lasso ){

cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 128, 128, 0 ), 5, CV_AA );

}

}

}

}

// Right Hand State

HandState rightHandState = HandState::HandState_Unknown;

hResult = pBody[count]->get_HandRightState( &rightHandState );

if( SUCCEEDED( hResult ) ){

ColorSpacePoint colorSpacePoint = { 0 };

hResult = pCoordinateMapper->MapCameraPointToColorSpace( joint[JointType::JointType_HandRight].Position, &colorSpacePoint );

if( SUCCEEDED( hResult ) ){

int x = static_cast<int>( colorSpacePoint.X );

int y = static_cast<int>( colorSpacePoint.Y );

if( ( x >= 0 ) && ( x < width ) && ( y >= 0 ) && ( y < height ) ){

if( rightHandState == HandState::HandState_Open ){

cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 128, 0 ), 5, CV_AA );

}

else if( rightHandState == HandState::HandState_Closed ){

cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 0, 128 ), 5, CV_AA );

}

else if( rightHandState == HandState::HandState_Lasso ){

cv::circle( bufferMat, cv::Point( x, y ), 75, cv::Scalar( 128, 128, 0 ), 5, CV_AA );

}

}

}

}

CvPoint skeletonPoint[BODY_COUNT][JointType_Count]={cvPoint(0,0)};

// Joint

for( int type = 0; type < JointType::JointType_Count; type++ ){

ColorSpacePoint colorSpacePoint = { 0 };

pCoordinateMapper->MapCameraPointToColorSpace( joint[type].Position, &colorSpacePoint );

int x = static_cast<int>( colorSpacePoint.X );

int y = static_cast<int>( colorSpacePoint.Y );

skeletonPoint[count][type].x = x;

skeletonPoint[count][type].y = y;

if( ( x >= 0 ) && ( x < width ) && ( y >= 0 ) && ( y < height ) ){

cv::circle( bufferMat, cv::Point( x, y ), 5, static_cast< cv::Scalar >( color[count] ), -1, CV_AA );

}

}

//画骨骼

drawSkeleton( bufferMat, skeletonPoint[count], joint,count);

}

//// Lean

//PointF amount;

//hResult = pBody[count]->get_Lean( &amount );

//if( SUCCEEDED( hResult ) ){

// std::cout << "amount : " << amount.X << ", " << amount.Y << std::endl;

//}

}

}

cv::resize( bufferMat, bodyMat, cv::Size(), 0.5, 0.5 );

}

for( int count = 0; count < BODY_COUNT; count++ ){

SafeRelease( pBody[count] );

}

}

SafeRelease( pColorFrame );

SafeRelease( pBodyFrame );

waitKey(1);

cv::imshow( "Body", bodyMat );

}

SafeRelease( pColorSource );

SafeRelease( pColorReader );

SafeRelease( pDescription );

SafeRelease(pBodySource);

// done with body frame reader

SafeRelease(pBodyReader);

SafeRelease( pDescription );

// done with coordinate mapper

SafeRelease(pCoordinateMapper);

if( pSensor ){

pSensor->Close();

}

SafeRelease( pSensor );

return 0;

}

void DrawBone( Mat& SkeletonImage, CvPoint pointSet[], const Joint* pJoints, int whichone, JointType joint0, JointType joint1)

{

TrackingState joint0State = pJoints[joint0].TrackingState;

TrackingState joint1State = pJoints[joint1].TrackingState;

// If we can't find either of these joints, exit

if ((joint0State == TrackingState_NotTracked) || (joint1State == TrackingState_NotTracked))

{

return;

}

// Don't draw if both points are inferred

if ((joint0State == TrackingState_Inferred) && (joint1State == TrackingState_Inferred))

{

return;

}

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;

}

// We assume all drawn bones are inferred unless BOTH joints are tracked

if ((joint0State == TrackingState_Tracked) && (joint1State == TrackingState_Tracked))

{

line(SkeletonImage,pointSet[joint0], pointSet[joint1], color, 2);

}

else

{

line(SkeletonImage,pointSet[joint0], pointSet[joint1], color, 2);

}

}

void drawSkeleton( Mat& SkeletonImage, CvPoint pointSet[],const Joint* pJoints, int whichone)

{

// Draw the bones

// Torso

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_Head, JointType_Neck);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_Neck, JointType_SpineShoulder);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineShoulder, JointType_SpineMid);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineMid, JointType_SpineBase);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineShoulder, JointType_ShoulderRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineShoulder, JointType_ShoulderLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineBase, JointType_HipRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_SpineBase, JointType_HipLeft);

// Right Arm

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ShoulderRight, JointType_ElbowRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ElbowRight, JointType_WristRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristRight, JointType_HandRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HandRight, JointType_HandTipRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristRight, JointType_ThumbRight);

// Left Arm

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ShoulderLeft, JointType_ElbowLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_ElbowLeft, JointType_WristLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristLeft, JointType_HandLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HandLeft, JointType_HandTipLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_WristLeft, JointType_ThumbLeft);

// Right Leg

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HipRight, JointType_KneeRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_KneeRight, JointType_AnkleRight);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_AnkleRight, JointType_FootRight);

// Left Leg

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_HipLeft, JointType_KneeLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_KneeLeft, JointType_AnkleLeft);

DrawBone(SkeletonImage, pointSet, pJoints, whichone, JointType_AnkleLeft, JointType_FootLeft);

}

代码注解：主要定义一个DrawBone()函数来画骨架，而骨骼点的画出用的OpenCV的circle()函数实现。



SDK自带的三种手势识别



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