EmguCV+Kinect2.0 实时抠图

最新推荐文章于 2020-04-13 13:43:53 发布

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最新推荐文章于 2020-04-13 13:43:53 发布

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分类专栏： kinect 2.0开发文章标签： EmguCV kinect c#

本文链接：https://blog.csdn.net/qq_22033759/article/details/47627647

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本文介绍如何使用Kinect SDK 2.0结合EmguCV 3.0.0进行人体检测与追踪，通过处理BodyIndex帧数据并与RGB图像进行融合，实现对检测区域内人体的精确识别。

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我的环境的KinectSDK2.0+EmguCV3.0.0

依旧还是WinFrom和ImageBox

因为需要用到BodyIndex的数据，但BodyIndex的分辨率和RGB图像的分辨率不同，所以需要用的CoordinateMap类中的坐标转换函数。

然后直接对colorimage的像素点进行操作。

同样，需要用的指针，要把项目调整为允许不安全的代码。

代码和注释如下：

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using Microsoft.Kinect;
using Emgu.CV;
using Emgu.CV.Structure;
using Emgu.Util;

namespace Kinect_koutu_2
{
    public partial class Form1 : Form
    {
        KinectSensor kinect = null;
        MultiSourceFrameReader framereader = null;
        FrameDescription fd = null;
        FrameDescription cfd = null;
        CoordinateMapper coordinate = null;
        Image<Bgra, byte> colorimg = null;
        DepthSpacePoint[] colorMappedToDepthPoints = null;
        byte[] colordata = null;
        public Form1()
        {
            InitializeComponent();
            CvInvoke.UseOpenCL = true;
            kinect = KinectSensor.GetDefault();
            coordinate = kinect.CoordinateMapper;
            framereader = kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color | FrameSourceTypes.BodyIndex);
            framereader.MultiSourceFrameArrived += Framereader_MultiSourceFrameArrived;
            fd = kinect.BodyIndexFrameSource.FrameDescription;
            cfd = kinect.ColorFrameSource.FrameDescription;
            colorMappedToDepthPoints = new DepthSpacePoint[cfd.Width * cfd.Height];
            colorimg = new Image<Bgra, byte>(cfd.Width, cfd.Height);
            colordata = new byte[colorimg.Bytes.Count<byte>()];
            kinect.Open();
        }
        private void Framereader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
        {
            MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
            if (multiSourceFrame == null)
                return;
            ColorFrame cFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
            BodyIndexFrame bframe = multiSourceFrame.BodyIndexFrameReference.AcquireFrame();
            DepthFrame dframe = multiSourceFrame.DepthFrameReference.AcquireFrame();
            if (dframe == null || bframe == null || cFrame == null)
            {
                Console.WriteLine("null");
                return;
            }
            cFrame.CopyConvertedFrameDataToArray(colordata, ColorImageFormat.Bgra);
            //colorimg.Bytes = colordata;
            //imageBox1.Image = colorimg;
            using (KinectBuffer dB = dframe.LockImageBuffer())
            {
                coordinate.MapColorFrameToDepthSpaceUsingIntPtr(dB.UnderlyingBuffer, dB.Size, colorMappedToDepthPoints);       //坐标转换并储存到数组
            }
            
            using (KinectBuffer kB = bframe.LockImageBuffer())
            {
                ProcessBodyIndexFrameData(kB.UnderlyingBuffer);
                colorimg.Bytes = colordata;
                imageBox1.Image = colorimg;
            }
            
            dframe.Dispose();
            cFrame.Dispose();
            bframe.Dispose();
        }

        private unsafe void ProcessBodyIndexFrameData(IntPtr bodyIndexFrameData)
        {
            byte* frameData = (byte*)bodyIndexFrameData;
            int colorMappedToDepthPointCount = this.colorMappedToDepthPoints.Length;
            fixed (DepthSpacePoint* colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)
            {
                for (int i = 0; i < colorMappedToDepthPointCount; ++i)
                {
                    float colorMappedToDepthX = colorMappedToDepthPointsPointer[i].X;
                    float colorMappedToDepthY = colorMappedToDepthPointsPointer[i].Y;
                    int depthX = (int)(colorMappedToDepthX + 0.5f);         //colorimage的像素点的位置在景深图的对应位置
                    int depthY = (int)(colorMappedToDepthY + 0.5f);
                    if ((depthX >= 0) && (depthX < 512) && (depthY >= 0) && (depthY < 424))
                    {
                        int depthIndex = (depthY * 512) + depthX;
                        if (frameData[depthIndex] ==255)             //在检测范围内frameData[depthIndex] !=255 为检测到人的像素点，不予以操作，并将其他像素点设置为黑色
                        {
                            colordata[i * 4] = 0;
                            colordata[i * 4 + 1] = 0;
                            colordata[i * 4 + 2] = 0;
                            colordata[i * 4 + 3] = 255;
                        }
                    }
                    else
                    {
                        colordata[i * 4] = 0;
                        colordata[i * 4 + 1] = 0;
                        colordata[i * 4 + 2] = 0;
                        colordata[i * 4 + 3] = 255;
                    }
                }
            }
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (this.kinect != null)
            {
                this.kinect.Close();
                this.kinect = null;
            }
        }
    }
}

运行图：