kinect+openni手势识别

转载：http://blog.csdn.net/chenxin_130/article/details/6703301

小斤的博客贴出了源码，手势识别

转载：http://viml.nchc.org.tw/blog/paper_info.php?CLASS_ID=1&SUB_ID=1&PAPER_ID=234

heresy大神详细描述了原理

通过函数 xn::GestureGenerator 的函式EnumerateGestures() 來取得可识别手势名称。

#include <stdlib.h>
#include <iostream>
#include "opencv/cv.h"
#include "opencv/highgui.h"
#include <XnCppWrapper.h>

using namespace std;
using namespace cv;

// output for XnPoint3D
ostream& operator<<( ostream& out, const XnPoint3D& rPoint )
{
    out << "(" << rPoint.X << "," << rPoint.Y << "," << rPoint.Z << ")";
    return out;
}

//【4】手势识别callback 函数，可为空
// callback function for gesture recognized
void XN_CALLBACK_TYPE gestureRecog( xn::GestureGenerator &generator,
    const XnChar *strGesture,
    const XnPoint3D *pIDPosition,
    const XnPoint3D *pEndPosition,
    void *pCookie )
{
    cout << strGesture<<" from "<<*pIDPosition<<" to "<<*pEndPosition << endl;
//画出手势识别时的点
    int imgStartX=0;
    int imgStartY=0;
    int imgEndX=0;
    int imgEndY=0;
    char locationinfo[100];

    imgStartX=(int)(640/2-(pIDPosition->X));
    imgStartY=(int)(480/2-(pIDPosition->Y));
    imgEndX=(int)(640/2-(pEndPosition->X));
    imgEndY=(int)(480/2-(pEndPosition->Y));

    IplImage* refimage=(IplImage*)pCookie;
    if(strcmp(strGesture,"RaiseHand")==0)
    {
        cvCircle(refimage,cvPoint(imgStartX,imgStartY),1,CV_RGB(255,0,0),2);
    }
    else if(strcmp(strGesture,"Wave")==0)
    {
        cvLine(refimage,cvPoint(imgStartX,imgStartY),cvPoint(imgEndX,imgEndY),CV_RGB(255,255,0),6);
    }
    else if(strcmp(strGesture,"Click")==0)
    {
        cvCircle(refimage,cvPoint(imgStartX,imgStartY),6,CV_RGB(0,0,255),12);
    }

    cvSetImageROI(refimage,cvRect(40,450,640,30));
    CvFont font;
    cvInitFont( &font, CV_FONT_VECTOR0,1, 1, 0, 3, 5);
    cvSet(refimage, cvScalar(255,255,255));
    sprintf(locationinfo,"From: %d,%d to %d,%d",(int)pIDPosition->X,(int)pIDPosition->Y,(int)(pEndPosition->X),(int)(pEndPosition->Y));
    cvPutText(refimage, locationinfo ,cvPoint(30, 30), &font, CV_RGB(0,0,0));
    cvResetImageROI(refimage);
}

void clearImg(IplImage* inputimg)
{
    CvFont font;
    cvInitFont( &font, CV_FONT_VECTOR0,1, 1, 0, 3, 5);
    memset(inputimg->imageData,255,640*480*3);
    cvPutText(inputimg, "Hand Raise!" ,cvPoint(20, 20), &font, CV_RGB(255,0,0));
    cvPutText(inputimg, "Hand Wave!" , cvPoint(20, 50), &font, CV_RGB(255,255,0));
    cvPutText(inputimg, "Hand Push!" , cvPoint(20, 80), &font, CV_RGB(0,0,255));
}

//【5】手势过程callback
// callback function for gesture progress
void XN_CALLBACK_TYPE gestureProgress( xn::GestureGenerator &generator,
    const XnChar *strGesture,
    const XnPoint3D *pPosition,
    XnFloat fProgress,
    void *pCookie )
{
    cout << strGesture << ":" << fProgress << " at " << *pPosition << endl;
}


int main( int argc, char** argv )
{
    IplImage* drawPadImg=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);
    IplImage* cameraImg=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);
    IplImage* depthshow = cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);

    cvNamedWindow("Gesture",1);
    cvNamedWindow("Camera",1);

    clearImg(drawPadImg);

    XnStatus res;
    char key=0;

    // context初始化context
    xn::Context context;
    res = context.Init();
    xn::DepthMetaData depthMD;

    // create generator 生产节点
//    xn::ImageGenerator imageGenerator;
    xn::DepthGenerator depthGenerator;
    //res = imageGenerator.Create( context ); 
    res = depthGenerator.Create(context);
    //【1】
    xn::GestureGenerator gestureGenerator;
    res = gestureGenerator.Create( context );
    /*检查有多少种手势
    XnUInt16 uNum = 10;
    XnChar** asName = new XnChar*[uNum];
    for (int i=0; i<uNum;i++)    {
        asName[i] = new XnChar[100];
    }
    res = gestureGenerator.EnumerateGestures(*asName,uNum);
    cout<<"there are"<<uNum<<"gestures"<<endl;
    for (int i=0;i<uNum;i++)    {
        cout<<asName[i]<<endl;
    }*/


    //【2】设置手势
    // Add gesture
    //gestureGenerator.AddGesture( "MovingHand", NULL );
    gestureGenerator.AddGesture( "Wave", NULL );
    gestureGenerator.AddGesture( "Click", NULL );
//    gestureGenerator.AddGesture( "RaiseHand", NULL );
//    gestureGenerator.AddGesture("MovingHand",NULL);

//    /【3】callback函数
        // 6. Register callback functions of gesture generator
        XnCallbackHandle handle;
    gestureGenerator.RegisterGestureCallbacks( gestureRecog, gestureProgress, (void*)drawPadImg, handle );

    //start generate data
    context.StartGeneratingAll();
    res = context.WaitAndUpdateAll();  

    while( (key!=27) && !(res = context.WaitAndUpdateAll())  ) 
    {  
        if(key=='c')
        {
            clearImg(drawPadImg);
        }

        depthGenerator.GetMetaData(depthMD);
        memcpy(cameraImg->imageData,depthMD.Data(),640*480*2);
        cvConvertScale(cameraImg,depthshow,255/4096.0,0);
        cvShowImage("Gesture",drawPadImg);
        cvShowImage("Camera",depthshow);

        key=cvWaitKey(20);

    }
    cvDestroyWindow("Gesture");
    cvDestroyWindow("Camera");
    cvReleaseImage(&drawPadImg);
    cvReleaseImage(&cameraImg);
    context.StopGeneratingAll();
    context.Shutdown();

    return 0;
}