Kinect for Windows V2和V1对比开发___骨骼数据获取并用OpenCV2.4.10显示

最新推荐文章于 2020-10-31 16:00:25 发布

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最新推荐文章于 2020-10-31 16:00:25 发布

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分类专栏： Kinect v2 文章标签： kinect kinect-v2 RGB图像画骨骼

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本文介绍了如何在Kinect V1和V2中打开和更新骨骼帧，以及使用OpenCV绘制骨骼数据。通过对比V1的NuiSkeletonGetNextFrame方法和V2的BodyFrameSource接口，展示了V2如何利用Direct2D或OpenCV进行骨骼绘制。此外，还提供了V2与VS2012及OpenCV结合的代码示例，演示了如何获取和处理骨骼数据并实时显示。

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1，打开骨骼帧的方式

对于V1，

[cpp]view plaincopyprint? 
   
 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"<<endl;  
                        return hr;  
                   }  

对于V2

[cpp]view plaincopyprint? 
   
 // 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

[cpp]view plaincopyprint? 
   
 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,

[cpp]view plaincopyprint? 
   
     if (!m_pBodyFrameReader)  
     {  
         return;  
     }  
   
 <pre name="code" class="cpp">    //更新骨骼帧  

HRESULT hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);

[cpp]view plaincopyprint? 
   
 //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：

[cpp]view plaincopyprint? 
   
 //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：

[cpp]view plaincopyprint? 
   
 line(SkeletonImage,pointSet[joint0], pointSet[joint1],  color, 2);  

4，V2+VS2012+OpenCV代码

[cpp]view plaincopyprint? 
   
 #include <Windows.h>  
 #include <Kinect.h>  
 #include <opencv2/opencv.hpp>  
   
 using namespace std;  
 using namespace cv;  
   
 //释放接口需要自己定义  
 template<class Interface>  
 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<BYTE*>( 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<int>( colorSpacePoint.X );  
                                     int y = static_cast<int>( 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<int>( colorSpacePoint.X );  
                                     int y = static_cast<int>( 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<int>( colorSpacePoint.X );  
                                 int y = static_cast<int>( 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！

MachineLP

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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，[cpp] view plaincopyprint?方法NuiSkeletonTrackingEnable实现 m_hNextSkeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL );
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