Kinect for Windows V2和V1对比开发___骨骼数据获取并用OpenCV2.4.10显示
1， 打开骨骼帧的方式
对于V1，
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"<对于V2
// 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
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,
if (!m_pBodyFrameReader)
{
return;
}
//更新骨骼帧
//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：
//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：
line(SkeletonImage,pointSet[joint0], pointSet[joint1], color, 2);4，V2+VS2012+OpenCV代码
#include
#include
#include
using namespace std;
using namespace cv;
//释放接口需要自己定义
template
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( 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( colorSpacePoint.X );
int y = static_cast( 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( colorSpacePoint.X );
int y = static_cast( 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( colorSpacePoint.X );
int y = static_cast( 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
欢迎拍砖指正！