通过Kinect制作体感控制机器人

#include <Kinect.h>
#pragma comment ( lib, "kinect20.lib" )
#include <iostream>
Joint joints[JointType_Count];
using namespace std;
class walk
{

public:
int state;
walk()
{
state = 0;
}
void update()
{
if ((abs(joints[JointType_KneeLeft].Position.Z - joints[JointType_HipLeft].Position.Z) > 0.15 ||
abs(joints[JointType_KneeRight].Position.Z - joints[JointType_HipRight].Position.Z) > 0.15)

)
{
cout << "走路" << endl;
state = 1;
}
else
{
state = 0;
}
}
};
class turnleft
{
public:
turnleft()
{

}
void update(int x)
{
if (x == 1&&joints[JointType_HandLeft].Position.Y>joints[JointType_Head].Position.Y
&&joints[JointType_HandRight].Position.Y<joints[JointType_Head].Position.Y)
{
cout << "转左" << endl;
}
}

};
class turnright
{
public:
turnright()
{

}
void update(int x)
{
if (x == 1 && joints[JointType_HandRight].Position.Y>joints[JointType_Head].Position.Y
&&joints[JointType_HandLeft].Position.Y<joints[JointType_Head].Position.Y)
{
cout << "转右" << endl;
}
}

};
class yougouquan
{
public:
yougouquan()
{
}
void update(int a,int k)
{
if (
//joints[JointType_HandRight].Position.Y>joints[JointType_ElbowRight].Position.Y
joints[JointType_HandRight].Position.Y>joints[JointType_SpineMid].Position.Y
&&joints[JointType_HandRight].Position.X<joints[JointType_ShoulderLeft].Position.X
&&a == 1&&k!=1
//&&joints[JointType_HandLeft].Position.Y>joints[JointType_ElbowLeft].Position.Y
//&&joints[JointType_HandLeft].Position.Y>joints[JointType_SpineMid].Position.Y
)
{
cout << "右勾拳" << endl;
Sleep(1000);
}
}
};
class yougouquan2
{
public:
yougouquan2()
{
}
void update(int a,int k)
{
if (
//joints[JointType_HandRight].Position.Y>joints[JointType_ElbowRight].Position.Y
//  joints[JointType_HandRight].Position.Y>joints[JointType_SpineMid].Position.Y
joints[JointType_HandLeft].Position.X > joints[JointType_ShoulderRight].Position.X
&&a == 1 && k != 1
//&&joints[JointType_HandLeft].Position.Y > joints[JointType_ElbowLeft].Position.Y
&&joints[JointType_HandLeft].Position.Y>joints[JointType_SpineMid].Position.Y)
{
cout << "左勾拳" << endl;
Sleep(1000);
}

}

};
class shanggouquan2
{
int state;
int timestamp;
int lasttimes;
public:
shanggouquan2()
{
state = 0;
}
void update(int a,int z,int k)
{
if (joints[JointType_HandRight].Position.Y<joints[JointType_Head].Position.Y
&&joints[JointType_HandLeft].Position.Y>joints[JointType_Head].Position.Y
&&joints[JointType_ShoulderLeft].Position.Z>joints[JointType_ElbowLeft].Position.Z+0.1
&&z!=1&&k!=1 && a == 1
)
{
cout << "上钩拳" << endl;
Sleep(1000);
}
}
};
class shanggouquan
{
int state;
int timestamp;
int lasttime;
public:
shanggouquan()
{
state = 0;
timestamp = 0;
lasttime = 1;
}
void update(int a,int z,int k)
{
if (joints[JointType_HandRight].Position.Y > joints[JointType_Head].Position.Y
&& joints[JointType_HandLeft].Position.Y < joints[JointType_Head].Position.Y
&& joints[JointType_ShoulderRight].Position.Z>joints[JointType_ElbowRight].Position.Z + 0.1
&&k!=1 && z != 1 && a == 1
)
{
cout << "上钩拳" << endl;
Sleep(1000);
}
}
};
class juezhao
{
public:
int timestamps;
int lasttimes;
int state;
public:
juezhao()
{
timestamps = 0;
state = 0;
lasttimes = 50;
}
void update(int a,int k)
{
if (a!=1)
{
state = 0;
timestamps = 0;
}
if (
joints[JointType_ElbowLeft].Position.Y>joints[JointType_HipLeft].Position.Y
&&joints[JointType_ElbowRight].Position.Y>joints[JointType_HipRight].Position.Y
&&abs(joints[JointType_HandRight].Position.Y - joints[JointType_HandLeft].Position.Y)<0.1
&&abs(joints[JointType_HandRight].Position.X - joints[JointType_HandLeft].Position.X)<0.1
&&a==1&&k!=1
)
{
cout << "一" << endl;
state = 1;
}
if (state == 1)
{
timestamps++;
if (timestamps<lasttimes)
{
if ((joints[JointType_HandRight].Position.Y>joints[JointType_Head].Position.Y
||joints[JointType_HandLeft].Position.Y>joints[JointType_Head].Position.Y)
&&a==1&&k!=1)
{
cout << "绝招" << endl;
state = 0;
timestamps = 0;
Sleep(1000);
}
}
else
{
state = 0;
timestamps = 0;
}
}
}

};
/*class archery
{
private:
int lasttime;
int timestamp;
int state;
public:
archery()
{
lasttime = 50;
state = 0;
timestamp = 0;
}
void update(Joint a[])
{
if(a[7].Position.X*100>=a[11].Position.X*100-5&&a[7].Position.X*100<=a[11].Position.X*100+5
&& a[7].Position.Y * 100 >= a[11].Position.Y*100 - 5 && a[7].Position.Y * 100 <= a[11].Position.Y*100 + 5
&& a[7].Position.Z * 100 >= a[11].Position.Z * 100 - 5 && a[7].Position.Z * 100 <= a[11].Position.Z * 100 + 5
)
{
state = 1;
cout << "拍手" << endl;
}
if (state==1)
{
timestamp++;
if (timestamp < lasttime)
{
if (joints[11].Position.Y*100>joints[0].Position.Y*100
&& joints[11].Position.Y * 100 <= joints[9].Position.Y * 100 + 20
&& joints[11].Position.Y * 100 >= joints[9].Position.Y * 100 - 20
&& joints[9].Position.Y * 100 <= joints[8].Position.Y * 100 + 20
&& joints[9].Position.Y * 100 >= joints[8].Position.Y * 100 - 20
&&joints[5].Position.Y * 100>joints[0].Position.Y * 100
&&joints[7].Position.Y>joints[5].Position.Y
&& joints[4].Position.Y * 100 <= joints[5].Position.Y * 100 + 20
&& joints[4].Position.Y * 100 >= joints[5].Position.Y * 100 - 20
&& joints[5].Position.Y * 100 <= joints[7].Position.Y * 100 + 20
&& joints[5].Position.Y * 100 >= joints[7].Position.Y * 100 - 20
&&joints[11].Position.Z<joints[9].Position.Z&&joints[9].Position.Z<joints[8].Position.Z
&&joints[8].Position.Z<joints[4].Position.Z
)
{
cout << "射箭" << endl;
Sleep(1000);
state = 0;
}
}
else
{
state = 0;
timestamp = 0;
}
}
}
};*/
/*class pneumatic
{
int state;
int timestamps;
int lasttimes;
pneumatic()
{
state = 0;
timestamps = 0;
lasttimes = 50;
}
void update()
{
if (joints[JointType_HandRight].Position.Y < joints[JointType_SpineMid].Position.Y
&&joints[JointType_HandLeft].Position.Y < joints[JointType_SpineBase].Position.Y
&&
119d5
amp;abs(joints[JointType_HandLeft].Position.X - joints[JointType_HandRight].Position.X) < 0.08
&&abs(joints[JointType_HandRight].Position.Y - joints[JointType_HandLeft].Position.Y) < 0.08
)
{
state = 1;
if (state == 1)
{
timestamps++;
if (timestamps > lasttimes)
{
state = 2;
}
}
}
if (state == 2)
{
if (joints[JointType_HandLeft].Position.Y>joints[JointType_SpineMid].Position.Y
&&joints[JointType_HandRight].Position.Y>joints[JointType_SpineMid].Position.Y
&&abs(joints[JointType_HandLeft].Position.X - joints[JointType_HandRight].Position.X) < 0.08
&&abs(joints[JointType_HandRight].Position.Y - joints[JointType_HandLeft].Position.Y) < 0.08
)
{
state = 3;
Sleep(200);
cout << "龟派气功" << endl;
state = 0;
timestamps = 0;
Sleep(2000);
}
}
state = 0;
}

};*/
int main()
{
int temp;
int hand=0;
yougouquan y;
shanggouquan s;
juezhao z;
yougouquan2 y2;
shanggouquan2 s2;
turnleft l;
turnright r;
//archery a;
IKinectSensor* sensor;
walk w;
HRESULT hr = GetDefaultKinectSensor(&sensor);
if (FAILED(hr))
{
cout << "获取Kinect失败" << endl;
return 0;
}
BOOLEAN bIsOpen = 0;
sensor->get_IsOpen(&bIsOpen);
if (!bIsOpen)
{
hr = sensor->Open();
if (FAILED(hr))
{
cout << "开启Kinect失败" << endl;
return -1;
}
cout << "正在开启Kinect，请等待" << endl;
Sleep(3000);
}
bIsOpen = 0;
sensor->get_IsOpen(&bIsOpen);
if (bIsOpen == true)
{
cout << "开启成功" << endl;
}
BOOLEAN bAvaliable = 0;
sensor->get_IsAvailable(&bAvaliable);
DWORD dwCapability = 0;
sensor->get_KinectCapabilities(&dwCapability);
cout << "容量为：" << endl;
TCHAR bbuid[256] = { 0 };
sensor->get_UniqueKinectId(256, bbuid);
cout << "玩家ID为" << bbuid << endl;
IBodyFrameSource* BodyFrameSource = nullptr;
sensor->get_BodyFrameSource(&BodyFrameSource);
INT32 nBodyNum = 0;
BodyFrameSource->get_BodyCount(&nBodyNum);
cout << "BODY个数" << nBodyNum << endl;
IBodyFrameReader* BodyFrameReader = nullptr;
BodyFrameSource->OpenReader(&BodyFrameReader);

while (true)
{
IBodyFrame* BodyFrame = nullptr;
BodyFrameReader->AcquireLatestFrame(&BodyFrame);
if (!BodyFrame)
{
Sleep(100);
continue;
}
IBody* iBody[BODY_COUNT] = { 0 };
BodyFrame->GetAndRefreshBodyData(BODY_COUNT, iBody); // 更新所有人身体数据
for (int i = 0; i < BODY_COUNT; ++i)
{
IBody* pBody = iBody[i]; // 轮询每个人的信息
if (pBody)
{
BOOLEAN bTracked = false;
hr = pBody->get_IsTracked(&bTracked); // 检测是否被跟踪，即是否有这个人
if (bTracked)
{
HandState leftHandState = HandState_Unknown;
HandState rightHandState = HandState_Unknown;
pBody->get_HandLeftState(&leftHandState); // 获取左手的状态
pBody->get_HandRightState(&rightHandState); // 获取右手的状态
if (leftHandState == HandState_Open||rightHandState == HandState_Open)
{
hand = 0;
}
else
{
hand = 1;
}
hr = pBody->GetJoints(_countof(joints), joints); // 获取身体的骨骼信息，25点
z.update(hand,w.state);
s.update(hand,z.state,w.state);
y.update(hand,w.state);
s2.update(hand,z.state,w.state);
y2.update(hand,w.state);
w.update();
l.update(w.state);
r.update(w.state);
if (w.state!=1&&abs(joints[11].Position.X - joints[JointType_ElbowRight].Position.X) <= 0.1&&abs(joints[JointType_ShoulderRight].Position.X - joints[JointType_ElbowRight].Position.X) <= 0.1&&abs(joints[JointType_ShoulderRight].Position.Y - joints[JointType_ElbowRight].Position.Y) <= 0.1&&abs(joints[JointType_HandRight].Position.Y - joints[JointType_ElbowRight].Position.Y) <= 0.1)
{
cout << "右直拳" << endl;
Sleep(1000);
}
if (w.state!=1&&abs(joints[JointType_HandLeft].Position.X - joints[JointType_ElbowLeft].Position.X) <= 0.1&&abs(joints[JointType_ElbowLeft].Position.X - joints[JointType_ShoulderLeft].Position.X) <= 0.1&&abs(joints[JointType_ShoulderLeft].Position.Y - joints[JointType_ElbowLeft].Position.Y) <= 0.1&&abs(joints[JointType_ElbowLeft].Position.Y - joints[JointType_HandLeft].Position.Y) <= 0.1)
{
cout << "左直拳" << endl;
Sleep(1000);
}
//  cout << "左手X" << joints[JointType_HandLeft].Position.X << endl;
//  cout << "右肩X" << joints[JointType_HandRight].Position.X << endl;
//Sleep(2000);
/*cout << hand << endl;
cout << "脊椎Y" << joints[JointType_SpineMid].Position.Y << endl;
cout << "左手Y" << joints[JointType_HandLeft].Position.Y << endl;
cout << "右手Y" << joints[JointType_HandRight].Position.Y << endl;
cout << "头Y" << joints[JointType_Head].Position.Y << endl;
/*cout << hand << endl;
cout << "左手X" << joints[JointType_HandLeft].Position.X << endl;
cout << "左肘X" << joints[JointType_ElbowLeft].Position.X << endl;
cout << "左手Y" << joints[JointType_HandRight].Position.Y << endl;
cout << "左肘Y" << joints[JointType_ElbowLeft].Position.Y << endl;
cout << "右手X" << joints[JointType_HandRight].Position.X << endl;
cout << "右肘X" << joints[JointType_ElbowRight].Position.X << endl;
cout << "右手Y" << joints[JointType_HandRight].Position.Y << endl;
cout << "右肘Y" << joints[JointType_ElbowRight].Position.Y << endl;*/
//cout << "右肩X" << joints[JointType_ShoulderRight].Position.X << endl;
//cout << "左手Y" << joints[JointType_HandLeft].Position.Y << endl;
//cout << "头Y" << joints[JointType_Head].Position.Y << endl;
//Sleep(8000);
/*if (rightHandState == HandState_Closed || leftHandState == HandState_Closed)
{
cout << "拳头" << endl;
Sleep(1000);
}*/

}
}
}
for (int i = 0; i < BODY_COUNT; ++i)
{
iBody[i]->Release();
}
BodyFrame->Release();
}
sensor->Close();
}