OPENNI学习实践-利用openni和opencv提取人的轮廓

#include <stdlib.h>
#include <iostream>
#include <string>

#include <XnCppWrapper.h>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>

using namespace std;
using namespace xn;
using namespace cv;

void XN_CALLBACK_TYPE LostUser(UserGenerator& generator,XnUserID user,void* pCookie);
void XN_CALLBACK_TYPE NewUser(UserGenerator& generator,XnUserID user,void* pCookie);
void XN_CALLBACK_TYPE poseDetected(xn::PoseDetectionCapability& poseDetection,const XnChar* strPose,XnUserID user, void *pCookie);
void XN_CALLBACK_TYPE CalibrationStart(xn::SkeletonCapability& skeleton,XnUserID user,void* pCookie);
void XN_CALLBACK_TYPE CalibrationEnd(xn::SkeletonCapability& skeleton,XnUserID user,XnBool bSuccess,void* pCookie);

bool Calibflage;
int startSkelPoints[14]={1,2,6,6,12,17,6,7,12,13,17,18,21,22};
int endSkelPoints[14]={2,3,12,21,17,21,7,9,13,15,18,20,22,24};

void CheckOpenNIError(XnStatus eResult,string sStatus)
{
if(eResult != XN_STATUS_OK)
cout << sStatus << "Error: " << xnGetStatusString(eResult) << endl;//P53
}

int main()
{
XnStatus eResult = XN_STATUS_OK;
namedWindow("clone");
namedWindow("mask");
DepthMetaData mDepth;
ImageMetaData mImage;

Context mContext;
eResult = mContext.Init();
CheckOpenNIError(eResult,"Initialize context");

UserGenerator xUserGenerator;
xUserGenerator.Create(mContext);

ImageGenerator mImageGenerator;
mImageGenerator.Create(mContext);

DepthGenerator mDepthGenerator;
mDepthGenerator.Create(mContext);

XnMapOutputMode mapMode;
mapMode.nXRes=640;
mapMode.nYRes=480;
mapMode.nFPS=30;
mDepthGenerator.SetMapOutputMode(mapMode);
mImageGenerator.SetMapOutputMode(mapMode);

mDepthGenerator.GetMirrorCap().SetMirror(true);
mImageGenerator.GetMirrorCap().SetMirror(true);

mDepthGenerator.GetAlternativeViewPointCap().SetViewPoint(mImageGenerator);

XnCallbackHandle hUseCB;//检测用户
xUserGenerator.RegisterUserCallbacks(NewUser,LostUser,NULL,hUseCB);

XnCallbackHandle hposeCB;//检测姿势
xUserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(poseDetected,NULL,&xUserGenerator,hposeCB);

XnCallbackHandle hCalibCB;//骨骼标定
xn::SkeletonCapability mSC=NULL;
mSC=xUserGenerator.GetSkeletonCap();
mSC.SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
mSC.RegisterCalibrationCallbacks(CalibrationStart,CalibrationEnd,&xUserGenerator,hCalibCB);

mContext.StartGeneratingAll();

while (1)
{
mContext.WaitAndUpdateAll();

mImageGenerator.GetMetaData(mImage);
Mat cvRGBImage(mImage.FullYRes(),mImage.FullXRes(),CV_8UC3,(char*) mImage.Data());
Mat cvBGRImage;
cvtColor(cvRGBImage,cvBGRImage,CV_RGB2BGR);
Mat clImage=cvBGRImage.clone();
Mat mask(mImage.FullYRes(),mImage.FullXRes(),CV_8UC1,Scalar(255));
Mat dstimage;
dstimage=clImage.clone();

XnUInt16 nUsers=xUserGenerator.GetNumberOfUsers();
if (nUsers>0&&Calibflage)
{
XnUserID* aUserID=new XnUserID[nUsers];
xUserGenerator.GetUsers(aUserID,nUsers);

xn::SceneMetaData* SceneMD=new xn::SceneMetaData[nUsers];

for (int i=0;i<nUsers;i++)
{
if( xUserGenerator.GetSkeletonCap().IsTracking( aUserID[i] ) )
{
xUserGenerator.GetUserPixels(aUserID[i],SceneMD[i]);

for (int j=0;j<clImage.cols;j++)
{
for (int k=0;k<clImage.rows;k++)
{
if (SceneMD[i](j,k)==0)
{
mask.at<uchar>(k,j)=0;
}
}
}

}

}
delete[] aUserID;
Mat element=getStructuringElement(MORPH_RECT,Size(11,11));
dilate(mask,mask,element);

vector<vector<Point>> contours;
findContours(mask,contours,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_NONE);
for (int i=0;i<contours.size();i++)
{
drawContours(dstimage,contours,i,Scalar(255,255,255),5);
}
Rect brect=boundingRect(contours[0]);

line(dstimage,Point(brect.x,brect.y),Point(brect.x+brect.width,brect.y),Scalar(255,255,255),5);
line(dstimage,Point(brect.x+brect.width,brect.y),Point(brect.x+brect.width,brect.y+brect.height),Scalar(255,255,255),5);
line(dstimage,Point(brect.x+brect.width,brect.y+brect.height),Point(brect.x,brect.y+brect.height),Scalar(255,255,255),5);
line(dstimage,Point(brect.x,brect.y+brect.height),Point(brect.x,brect.y),Scalar(255,255,255),5);

imshow("mask",mask);
//clImage.copyTo(dstimage,mask);
imshow("clone",dstimage);
}
waitKey(30);
}

mContext.Shutdown();
return 0;
}

void XN_CALLBACK_TYPE LostUser(UserGenerator& generator,XnUserID user,void* pCookie)
{
printf("Lost User:%d\n",user);
}

void XN_CALLBACK_TYPE NewUser(UserGenerator& generator,XnUserID user,void* pCookie)
{
printf("New User identified:%d\n",user);
generator.GetPoseDetectionCap().StartPoseDetection("Psi",user);
}

void XN_CALLBACK_TYPE poseDetected(xn::PoseDetectionCapability& poseDetection,const XnChar* strPose,XnUserID user, void *pCookie)
{
printf("pose %s,detected for user %d",strPose,user);
((xn::UserGenerator*)pCookie)->GetSkeletonCap().RequestCalibration(user,FALSE);
poseDetection.StopPoseDetection( user );
}

void XN_CALLBACK_TYPE CalibrationStart(xn::SkeletonCapability& skeleton,XnUserID user,void* pCookie)
{
printf("Calibration start for user:%d\n",user);
}

void XN_CALLBACK_TYPE CalibrationEnd(xn::SkeletonCapability& skeleton,XnUserID user,XnBool bSuccess,void* pCookie)
{
printf("Calibration complete: user");
if (bSuccess)
{
printf("success");
Calibflage=true;
skeleton.StartTracking(user);
}
else
{
printf("Failure\n");
((xn::UserGenerator*)pCookie)->GetPoseDetectionCap().StartPoseDetection("Psi",user);
}

}