.cs文件代码：
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 Kinect
{
///
/// MainWindow.xaml 的交互逻辑
///
public partial class MainWindow : Window
{
KinectSensor _kinect;
const float MaxDepthDistance = 4095;//深度图像最大视距
const float MinDepthDiatance = 850;//深度图像最小视距
const float MaxDepthDistanceOffset = MaxDepthDistance - MinDepthDiatance;
//BGR32图像，红色、绿色、蓝色分别对应的偏移（32位，4字节中的第几个）
private const int RedIndex = 2;
private const int GreenIndex = 1;
private const int BlueIndex = 0;
//定义骨骼帧数组
private Skeleton[] skeletons;
/// <summary>
///单色直方图计算公式，返回256色灰阶。颜色越黑则越远，越白则越近
///将MaxDepthDistanceOffset数值控制在0～255的范围内
/// </summary>
/// <param name="distance">深度值，有效范围MinDepthDistance到MaxDepthDistance</param>
/// <returns>256色灰阶</returns>
private static byte CalculateIntensityFromDepth(int distance)
{
return (byte)(255 - (255 * Math.Max(distance - MinDepthDiatance, 0) / (MaxDepthDistance)));
}
/// <summary>
/// 生成BGR32格式的图片字节数组
/// </summary>
/// <param name="depthFrame"></param>
/// <returns></returns>
private byte[] convertDepthFrameToColorFrame(DepthImageFrame depthFrame)
{
//从深度图像帧中获取原始数据
short[] rawDepthData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(rawDepthData);
//创建Height X Width X 4 的RGB数组（Red, Green, Blue, empty byte)
Byte[] pixels = new byte[depthFrame.Height * depthFrame.Width * 4];
//Bgr32 - Blue, Green, Red, empty byte
//Bgra32 - Blue, Green, Red, transparency
//需要为Bgra32设置透明度（transparency），.NET默认设置该字节为0（全透明）
for(int depthIndex = 0,colorIndex = 0;depthIndex < rawDepthData.Length && colorIndex<pixels.Length;depthIndex++,colorIndex += 4)
{
//用户分割， 0代表该像素不属于用户身体，低于3位字节表示被追踪的使用者的索引编号
int player = rawDepthData[depthIndex & DepthImageFrame.PlayerIndexBitmask];
//获得深度数值，高13位字节
int depth = rawDepthData[depthIndex]>>DepthImageFrame.PlayerIndexBitmaskWidth;
//0.9米内
if(depth <= 900)
{
//离Kinect很近
pixels[colorIndex + BlueIndex] = 255;
pixels[colorIndex + GreenIndex] = 0;
pixels[colorIndex + RedIndex] = 0;
}
//0.9～2米之间
else if(depth > 900 && depth < 2000)
{
pixels[colorIndex + BlueIndex] = 0;
pixels[colorIndex + GreenIndex] = 255;
pixels[colorIndex + RedIndex] = 0;
}
// 2米+
else if(depth > 2000)
{
//离Kinect超过2米
pixels[colorIndex + BlueIndex] = 0;
pixels[colorIndex + GreenIndex] = 0;
pixels[colorIndex + RedIndex] = 255;
}
//单色直方图着色
byte intensity = CalculateIntensityFromDepth(depth);
pixels[colorIndex + BlueIndex] = intensity;
pixels[colorIndex + GreenIndex] = intensity;
pixels[colorIndex + RedIndex] = intensity;
//如果是人体区域，用“亮绿色标注”
if(player > 0)
{
pixels[colorIndex + BlueIndex] = Colors.LightGreen.B;
pixels[colorIndex + GreenIndex] = Colors.LightGreen.G;
pixels[colorIndex + RedIndex] = Colors.LightGreen.R;
}
}
return pixels;
}
/// <summary>
/// 启动Kinect设备，初始化选项，并注册彩色图像，深度图像和骨骼跟踪事件
/// </summary>
private void startKinect()
{
if(KinectSensor.KinectSensors.Count > 0)
{
//选择第一个Kinect设备
_kinect = KinectSensor.KinectSensors[0];
MessageBox.Show("Kinect目前状态为：" + _kinect.Status);
//初始化设定，启用彩色图像、深度图像和骨骼跟踪
_kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
_kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
_kinect.SkeletonStream.Enable();
//注册事件
_kinect.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(_kinect_DepthFrameReady);
_kinect.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(_kinect_ColorFrameReady);
_kinect.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(_kinect_SkeletonFrameReady);
//启动Kinect设备
_kinect.Start();
}
else
{
MessageBox.Show("没有发现任何Kinect设备");
}
}
private void stopKinect()
{
if (_kinect != null)
{
if (_kinect.Status == KinectStatus.Connected)
{
_kinect.Stop();
}
}
}
/// <summary>
/// 定义彩色图像事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _kinect_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
//显示彩色摄像头
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame == null)
{
return;
}
byte[] pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels);
//BGR32格式图片一个像素为4个字节
int stride = colorFrame.Width * 4;
imageCanera.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height,
96, 96, PixelFormats.Bgr32, null, pixels, stride);
}
}
/// <summary>
/// 定义深度图像事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null)
{
return;
}
byte[] pixels = convertDepthFrameToColorFrame(depthFrame);
//BGR图片的步长
int stride = depthFrame.Width * 4;
//创建BRG32格式的图片
imageDepth.Source = BitmapSource.Create(depthFrame.Width, depthFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);
}
}
/// <summary>
/// 定义骨骼跟踪事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void _kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
bool isSkeletonDataReady = false;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if(skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
isSkeletonDataReady = true;
}
if (isSkeletonDataReady)
{
//从返回的骨骼对象集合中，定位第一个被跟踪的骨骼
Skeleton currentSkeleton = (from s in skeletons where s.TrackingState == SkeletonTrackingState.Tracked select s).FirstOrDefault();
if (currentSkeleton != null)
{
//调用20个函数锁定20个骨骼点。
lockHeadWithRedSpot(currentSkeleton);
lockShoulderCenterWithRedSpot(currentSkeleton);
lockShoulderLeftWithRedSpot(currentSkeleton);
lockShoulderRightWithRedSpot(currentSkeleton);
lockElbowLeftWithRedSpot(currentSkeleton);
lockElbowRightWithRedSpot(currentSkeleton);
lockWristLeftWithRedSpot(currentSkeleton);
lockWristRightWithRedSpot(currentSkeleton);
lockHandLeftWithRedSpot(currentSkeleton);
lockHandRightWithRedSpot(currentSkeleton);
lockSpineWithRedSpot(currentSkeleton);
lockHipCenterWithRedSpot(currentSkeleton);
lockHipLeftWithRedSpot(currentSkeleton);
lockHipRightWithRedSpot(currentSkeleton);
lockKneeLeftWithRedSpot(currentSkeleton);
lockKneeRightWithRedSpot(currentSkeleton);
lockAnkleLeftWithRedSpot(currentSkeleton);
lockAnkleRightWithRedSpot(currentSkeleton);
lockFootLeftWithRedSpot(currentSkeleton);
lockFootRightWithRedSpot(currentSkeleton);
}
}
}
}
/// <summary>
/// 锁定头部骨骼点
/// </summary>
/// <param name="s"></param>
private void lockHeadWithRedSpot(Skeleton s)
{
Joint head = s.Joints[JointType.Head];
//将头部的骨骼点坐标映射到彩色视频流坐标中
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(head.Position, _kinect.ColorStream.Format);
//将坐标位置等比例显示缩小
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
//画布的位置与imageCamera重叠
Canvas.SetLeft(ellipseShoulderCenter, p.X);
Canvas.SetTop(ellipseShoulderCenter, p.Y);
}
private void lockHandRightWithRedSpot(Skeleton s)
{
Joint handRight = s.Joints[JointType.HandRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(handRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseHandRight, p.X);
Canvas.SetTop(ellipseHandRight, p.Y);
}
private void lockHandLeftWithRedSpot(Skeleton s)
{
Joint handLeft = s.Joints[JointType.HandLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(handLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseHandLeft, p.X);
Canvas.SetTop(ellipseHandLeft, p.Y);
}
private void lockWristRightWithRedSpot(Skeleton s)
{
Joint wristRight = s.Joints[JointType.WristRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(wristRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseWristRight, p.X);
Canvas.SetTop(ellipseWristRight, p.Y);
}
private void lockWristLeftWithRedSpot(Skeleton s)
{
Joint wristLeft = s.Joints[JointType.WristLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(wristLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseWristLeft, p.X);
Canvas.SetTop(ellipseWristLeft, p.Y);
}
private void lockElbowRightWithRedSpot(Skeleton s)
{
Joint elbowRight = s.Joints[JointType.ElbowRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(elbowRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseElbowRight, p.X);
Canvas.SetTop(ellipseElbowRight, p.Y);
}
private void lockElbowLeftWithRedSpot(Skeleton s)
{
Joint elbowLeft = s.Joints[JointType.ElbowLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(elbowLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseElbowLeft, p.X);
Canvas.SetTop(ellipseElbowLeft, p.Y);
}
private void lockShoulderLeftWithRedSpot(Skeleton s)
{
Joint shoulderLeft = s.Joints[JointType.ShoulderLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(shoulderLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseShoulderLeft, p.X);
Canvas.SetTop(ellipseShoulderLeft, p.Y);
}
private void lockShoulderRightWithRedSpot(Skeleton s)
{
Joint shoulderRight = s.Joints[JointType.ShoulderRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(shoulderRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseShoulderRight, p.X);
Canvas.SetTop(ellipseShoulderRight, p.Y);
}
private void lockShoulderCenterWithRedSpot(Skeleton s)
{
Joint shoulderCenter = s.Joints[JointType.ShoulderCenter];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(shoulderCenter.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseShoulderCenter, p.X);
Canvas.SetTop(ellipseShoulderCenter, p.Y);
}
private void lockSpineWithRedSpot(Skeleton s)
{
Joint spine = s.Joints[JointType.Spine];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(spine.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseSpine, p.X);
Canvas.SetTop(ellipseSpine, p.Y);
}
private void lockHipCenterWithRedSpot(Skeleton s)
{
Joint hipCenter = s.Joints[JointType.HipCenter];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(hipCenter.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseHipCenter, p.X);
Canvas.SetTop(ellipseHipCenter, p.Y);
}
private void lockHipLeftWithRedSpot(Skeleton s)
{
Joint hipLeft = s.Joints[JointType.HipLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(hipLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseHipLeft, p.X);
Canvas.SetTop(ellipseHipLeft, p.Y);
}
private void lockHipRightWithRedSpot(Skeleton s)
{
Joint hipRight = s.Joints[JointType.HipRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(hipRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseHipRight, p.X);
Canvas.SetTop(ellipseHipRight, p.Y);
}
private void lockKneeLeftWithRedSpot(Skeleton s)
{
Joint kneeLeft = s.Joints[JointType.KneeLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(kneeLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseKneeLeft, p.X);
Canvas.SetTop(ellipseKneeLeft, p.Y);
}
private void lockKneeRightWithRedSpot(Skeleton s)
{
Joint kneeRight = s.Joints[JointType.KneeRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(kneeRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseKneeRight, p.X);
Canvas.SetTop(ellipseKneeRight, p.Y);
}
private void lockAnkleLeftWithRedSpot(Skeleton s)
{
Joint ankleLeft = s.Joints[JointType.AnkleLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(ankleLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseAnkleLeft, p.X);
Canvas.SetTop(ellipseAnkleLeft, p.Y);
}
private void lockAnkleRightWithRedSpot(Skeleton s)
{
Joint ankleRight = s.Joints[JointType.AnkleRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(ankleRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseAnkleRight, p.X);
Canvas.SetTop(ellipseAnkleRight, p.Y);
}
private void lockFootLeftWithRedSpot(Skeleton s)
{
Joint footLeft = s.Joints[JointType.FootLeft];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(footLeft.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseFootLeft, p.X);
Canvas.SetTop(ellipseFootLeft, p.Y);
}
private void lockFootRightWithRedSpot(Skeleton s)
{
Joint footRight = s.Joints[JointType.FootRight];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(footRight.Position, _kinect.ColorStream.Format);
Point p = new Point(
(int)(imageCanera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(imageCanera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight));
Canvas.SetLeft(ellipseFootRight, p.X);
Canvas.SetTop(ellipseFootRight, p.Y);
}
public MainWindow()
{
InitializeComponent();
}
//窗体启动事件
private void Window_Loaded(object sender, RoutedEventArgs e)
{
startKinect();
}
private void Window_Closed(object sender, EventArgs e)
{
stopKinect();
}
}
}
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