[KINECT2.0]获取关节坐标并保存到txt
1.介绍：
最近做一些体感的项目，涉及到利用kinect捕捉人体关节位置和姿态。这段代码面向和我一样的科研小白，可以以根据需求更改第244行的值，来获得不同的关节位置。对应关节序号放在最后图那里。根据大佬的代码修改的：https://blog.csdn.net/zmdsjtu/article/details/52275879?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.nonecase&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.nonecase
在CSDN这段时间遇到了很多在机器人方向努力的人，希望能和大家一块解决问题！
2.代码
//2020-9-14 读取各个关节坐标，并计算臂型角，计算手臂末端位置和姿态
//提示：本程序是在配置好kinect和Opencv的情况下运行的，平台：Kinect2.0/VS2019——豆奶豆豆奶
#include
//获得关节姿态
//cout << count << "右腕姿态" << aOrientations[10].Orientation.w << " " << aOrientations[10].Orientation.x << " " << aOrientations[10].Orientation.y << " " << aOrientations[10].Orientation.z << end;
}
outfile <<count<<
"SpineShoulder" << " " << joint[20].Position.X << " " << joint[20].Position.Y << " " << joint[20].Position.Z << " " <<
"ShoulderLeft" <<" "<< joint[4].Position.X << " " << joint[4].Position.Y << " " << joint[4].Position.Z<< " " <<
"ElbowLeft"<<" "<<joint[5].Position.X << " " << joint[5].Position.Y << " " << joint[5].Position.Z << " " <<
"Wristleft" << " " << joint[6].Position.X << " " << joint[6].Position.Y << " " << joint[6].Position.Z << " " <<
"Handleft" << " " << joint[7].Position.X << " " << joint[7].Position.Y << " " << joint[7].Position.Z << " " <<
"HandTipLeft" << " " << joint[21].Position.X << " " << joint[21].Position.Y << " " << joint[21].Position.Z << " " <<
"ThumbLeft" << " " << joint[22].Position.X << " " << joint[22].Position.Y << " " << joint[22].Position.Z << " " <<
"ShoulderRight" << " " << joint[8].Position.X << " " << joint[8].Position.Y << " " << joint[8].Position.Z << " " <<
"ElowRight" << " " << joint[9].Position.X << " " << joint[9].Position.Y << " " << joint[9].Position.Z << " " <<
"WristRight" << " " << joint[10].Position.X << " " << joint[10].Position.Y << " " << joint[10].Position.Z << " " <<
"HandRight" << " " << joint[11].Position.X << " " << joint[11].Position.Y << " " << joint[11].Position.Z<< " " <<
"HandTipRight" << " " << joint[23].Position.X << " " << joint[23].Position.Y << " " << joint[23].Position.Z << " " <<
"ThumbRight" << " " << joint[24].Position.X << " " << joint[24].Position.Y << " " << joint[24].Position.Z << endl;
drawSkeleton(bufferMat, skeletonPoint[count], joint, count);
}
}
}
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;
outfile.close();
}
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);
}
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
// 调试程序: F5 或调试 >“开始调试”菜单
// 入门使用技巧:
// 1. 使用解决方案资源管理器窗口添加/管理文件
// 2. 使用团队资源管理器窗口连接到源代码管理
// 3. 使用输出窗口查看生成输出和其他消息
// 4. 使用错误列表窗口查看错误
// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
3.关节对应图
![[KINECT2.0]获取关节坐标并保存到txt_第1张图片](http://img.e-com-net.com/image/info8/5a826b7671404175a6572c792e2093b6.jpg)