kinect实现抓取功能
kinect实现抓取功能
无意中发现kinectv2中骨骼中有这样有趣的一个现象，手部只要呈抓取状态，手部的节点就会改变颜色，比如从红色变成绿色等，当手部呈张开状态时候，手部节点颜色就会变回原来的颜色-红色。今天来试下这个功能，还蛮有趣的，不过kinect中判断手部的状态的函数是微软提供的，我们只是调用。
当判断手部呈现一种状态时候，我们注册一个时间，比如：让手部变换颜色，或者画一个圆在手部节点等，都可以。然后手部状态回归原来的状态时，该事件取消。我们在上一篇博客的基础上来实现这个功能，并呈现出来。上一篇博客是关于彩色图像和骨骼图像叠加。
微软中给了手部状态一个枚举类Handsate,其中有四个状态：
public enum HandState
{
Unknown = 0,//未知状态
NotTracked = 1,//存在但是没有追踪到
Open = 2,//打开状态
Closed = 3,//抓取状态
Lasso = 4,//这个我也不懂，哈哈
} if (handstate == HandState.Closed) {//判断手部状态是否为抓取状态，如果是的话，进行下面的操作：画一个比较大型的圆
Point temp = getjointpointscreen(handrightpoint);
Ellipse handrighttempcircle = new Ellipse() { Width = 150, Height = 150, Fill = new SolidColorBrush(Color.FromArgb(255, 255, 0, 0)) };
bodyimage.Children.Add(handrighttempcircle);
Canvas.SetLeft(handrighttempcircle, temp.X-75);//添加到canvas空间里面
Canvas.SetTop(handrighttempcircle, temp.Y-75);
}
手部原来的状态是：
Point headpoint1 = getjointpointscreen(headpoint);
Point handright = getjointpointscreen(handrightpoint);
Ellipse headcircle = new Ellipse() { Width = 150,Height = 150,Fill = new SolidColorBrush(Color.FromArgb(255,255,0,0))};
Ellipse handrightcircle = new Ellipse() { Width = 30, Height = 30, Fill = new SolidColorBrush(Color.FromArgb(255, 255, 0, 0)) };
bodyimage.Children.Add(headcircle);
bodyimage.Children.Add(handrightcircle);
Canvas.SetLeft(headcircle, headpoint1.X - 75);
Canvas.SetTop(headcircle, headpoint1.Y - 75);
Canvas.SetLeft(handrightcircle, handright.X - 15);
Canvas.SetTop(handrightcircle, handright.Y - 15);
全部的源代码如下:
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using Microsoft.Kinect;
namespace 彩色图像和骨架图像联合
{
///
/// MainWindow.xaml 的交互逻辑
///
public partial class MainWindow : Window
{
private KinectSensor kinect1 = null;
private MultiSourceFrameReader color_bodyframe = null;
private FrameDescription color_bodydescription = null;
private WriteableBitmap bitmap = null;
private Byte[] color_bodydata;
private Body[] bodies;
public MainWindow()
{
InitializeComponent();
this.kinect1 = KinectSensor.GetDefault();
this.color_bodyframe = this.kinect1.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Body);
this.color_bodydescription = this.kinect1.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
this.color_bodydata = new Byte[this.color_bodydescription.LengthInPixels*4];
this.bitmap = new WriteableBitmap(this.color_bodydescription.Width,this.color_bodydescription.Height,
96.0,96.0,PixelFormats.Bgra32,null);
this.bodies = new Body[6];
this.color_bodyframe.MultiSourceFrameArrived += color_bodyframe_multisourcearrived;
color_bodyimage.Source = this.bitmap;
this.kinect1.Open();
}
private void color_bodyframe_multisourcearrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
MultiSourceFrame msf = e.FrameReference.AcquireFrame();
if (msf != null) {
using (BodyFrame bodyframe = msf.BodyFrameReference.AcquireFrame()) {
using (ColorFrame colorframe = msf.ColorFrameReference.AcquireFrame())
{
if (colorframe != null&&bodyframe!=null)
{
colorframe.CopyConvertedFrameDataToArray(this.color_bodydata, ColorImageFormat.Bgra);
bodyframe.GetAndRefreshBodyData(this.bodies);
bodyimage.Children.Clear();
foreach (Body body in bodies) {
if (body.IsTracked) {
Joint headpoint = body.Joints[JointType.Head];
Joint handtipright = body.Joints[JointType.HandTipRight];
Joint handrightpoint = body.Joints[JointType.HandRight];
HandState handstate = body.HandRightState;
if (headpoint.TrackingState == TrackingState.Tracked)
{
Point headpoint1 = getjointpointscreen(headpoint);
Point handright = getjointpointscreen(handrightpoint);
Ellipse headcircle = new Ellipse() { Width = 150,Height = 150,Fill = new SolidColorBrush(Color.FromArgb(255,255,0,0))};
Ellipse handrightcircle = new Ellipse() { Width = 30, Height = 30, Fill = new SolidColorBrush(Color.FromArgb(255, 255, 0, 0)) };
bodyimage.Children.Add(headcircle);
bodyimage.Children.Add(handrightcircle);
Canvas.SetLeft(headcircle, headpoint1.X - 75);
Canvas.SetTop(headcircle, headpoint1.Y - 75);
Canvas.SetLeft(handrightcircle, handright.X - 15);
Canvas.SetTop(handrightcircle, handright.Y - 15);
if (handstate == HandState.Closed) {
Point temp = getjointpointscreen(handrightpoint);
Ellipse handrighttempcircle = new Ellipse() { Width = 150, Height = 150, Fill = new SolidColorBrush(Color.FromArgb(255, 255, 0, 0)) };
bodyimage.Children.Add(handrighttempcircle);
Canvas.SetLeft(handrighttempcircle, temp.X-75);
Canvas.SetTop(handrighttempcircle, temp.Y-75);
}
}
if (handtipright.TrackingState == TrackingState.Tracked) {
Point handtip = getjointpointscreen(handtipright);
Ellipse handtipcircle = new Ellipse() { Width = 10,Height = 10,Fill = new SolidColorBrush(Color.FromArgb(255,255,0,0))};
bodyimage.Children.Add(handtipcircle);
Canvas.SetLeft(handtipcircle,handtip.X-5);
Canvas.SetTop(handtipcircle,handtip.Y-5);
}
}
}
this.bitmap.WritePixels(new Int32Rect(0, 0, this.bitmap.PixelWidth, this.bitmap.PixelHeight),
this.color_bodydata, this.color_bodydescription.Width * 4, 0);
}
}
}
}
}
private Point getjointpointscreen(Joint headpoint)
{
ColorSpacePoint colorpoint = this.kinect1.CoordinateMapper.MapCameraPointToColorSpace(headpoint.Position);
colorpoint.X = (int)((colorpoint.X * bodyimage.Width) / 1920);
colorpoint.Y = (int)((colorpoint.Y * bodyimage.Height) / 1080);
return new Point(colorpoint.X,colorpoint.Y);
}
private void Windows_closing(object sender, System.ComponentModel.CancelEventArgs e)
{
if (this.color_bodyframe != null) {
this.color_bodyframe.Dispose();
this.color_bodyframe = null;
}
if (this.kinect1 != null) {
this.kinect1.Close();
this.kinect1 = null;
}
}
}
}
下面直接上运行图片：
张开图片：
下一步准备将静态的圆通过手部抓取后能够移动，先试试。