kienct1骨骼图

#include <windows.h>
#include <iostream> 
#include <NuiApi.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

//通过传入关节点的位置，把骨骼画出来
void drawSkeleton(Mat &image, CvPoint pointSet[], int whichone);

int main(int argc, char *argv[])
{
    Mat skeletonImage;
    skeletonImage.create(240, 320, CV_8UC3);
    CvPoint skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cvPoint(0,0) };
    bool tracked[NUI_SKELETON_COUNT] = { FALSE };

    //1、初始化NUI，注意这里是USES_SKELETON
    HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON);
    //HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);
    if (FAILED(hr))
    {
        cout << "NuiInitialize failed" << endl;
        return hr;
    }

    //2、定义骨骼信号事件句柄 
    HANDLE skeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

    //3、打开骨骼跟踪事件
    hr = NuiSkeletonTrackingEnable(skeletonEvent, 0);
    if (FAILED(hr))
    {
        cout << "Could not open color image stream video" << endl;
        NuiShutdown();
        return hr;
    }
    namedWindow("skeletonImage", CV_WINDOW_AUTOSIZE);

    //4、开始读取骨骼跟踪数据 
    while (1)
    {
        NUI_SKELETON_FRAME skeletonFrame = { 0 };  //骨骼帧的定义 
        bool bFoundSkeleton = false;

        //4.1、无限等待新的数据，等到后返回
        if (WaitForSingleObject(skeletonEvent, INFINITE) == 0)
        {
            //4.2、从刚才打开数据流的流句柄中得到该帧数据，读取到的数据地址存于skeletonFrame
            hr = NuiSkeletonGetNextFrame(0, &skeletonFrame);
            if (SUCCEEDED(hr))
            {
                //NUI_SKELETON_COUNT是检测到的骨骼数（即，跟踪到的人数）
                for (int i = 0; i < NUI_SKELETON_COUNT; i++)
                {
                    NUI_SKELETON_TRACKING_STATE trackingState = skeletonFrame.SkeletonData[i].eTrackingState;
                    //4.3、Kinect最多检测六个人，但只能跟踪两个人的骨骼，再检查每个“人”（有可能是空，不是人）
                    //是否跟踪到了 
                    if (trackingState == NUI_SKELETON_TRACKED)
                    {
                        bFoundSkeleton = true;
                    }
                }
            }

            if (!bFoundSkeleton)
            {
                continue;
            }

            //4.4、平滑骨骼帧，消除抖动
            NuiTransformSmooth(&skeletonFrame, NULL);
            skeletonImage.setTo(0);

            for (int i = 0; i < NUI_SKELETON_COUNT; i++)
            {
                // Show skeleton only if it is tracked, and the center-shoulder joint is at least inferred. 
                //断定是否是一个正确骨骼的条件：骨骼被跟踪到并且肩部中心（颈部位置）必须跟踪到。 
                if (skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED &&
                    skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_SHOULDER_CENTER] != NUI_SKELETON_POSITION_NOT_TRACKED)
                {
                    float fx, fy;
                    //拿到所有跟踪到的关节点的坐标，并转换为我们的深度空间的坐标，因为我们是在深度图像中
                    //把这些关节点标记出来的
                    //NUI_SKELETON_POSITION_COUNT为跟踪到的一个骨骼的关节点的数目，为20
                    for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++)
                    {
                        NuiTransformSkeletonToDepthImage(skeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy);
                        //skeletonFrame.SkeletonData[i].Position.
                        //cout << "x = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].x << endl;
                        //cout << "y = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].x << endl;
                        cout << "Z = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].z << endl;
                        cout << "w = " << skeletonFrame.SkeletonData[i].SkeletonPositions[j].w << endl;
                        skeletonPoint[i][j].x = (int)fx;
                        skeletonPoint[i][j].y = (int)fy;
                    }

                    for (int j = 0; j<NUI_SKELETON_POSITION_COUNT; j++)
                    {
                        if (skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[j] != NUI_SKELETON_POSITION_NOT_TRACKED)//跟踪点一用有三种状态：1没有被跟踪到，2跟踪到，3根据跟踪到的估计到   
                        {
                            circle(skeletonImage, skeletonPoint[i][j], 3, cvScalar(0, 255, 255), 1, 8, 0);
                            tracked[i] = TRUE;
                        }
                    }

                    drawSkeleton(skeletonImage, skeletonPoint[i], i);
                }
            }
            imshow("skeletonImage", skeletonImage); //显示图像 
        }
        else
        {
            cout << "Buffer length of received texture is bogus\r\n" << endl;
        }

        if (cvWaitKey(20) == 27)
            break;
    }
    //5、关闭NUI链接 
    NuiShutdown();
    return 0;
}

//通过传入关节点的位置，把骨骼画出来
void drawSkeleton(Mat &image, CvPoint pointSet[], int whichone)
{
    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;
    }

    if ((pointSet[NUI_SKELETON_POSITION_HEAD].x != 0 || pointSet[NUI_SKELETON_POSITION_HEAD].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_HEAD], pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_SPINE].x != 0 || pointSet[NUI_SKELETON_POSITION_SPINE].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SPINE], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_SPINE].x != 0 || pointSet[NUI_SKELETON_POSITION_SPINE].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_SPINE], pointSet[NUI_SKELETON_POSITION_HIP_CENTER], color, 2);

    //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))
        line(image, 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))
        line(image, 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))
        line(image, 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))
        line(image, pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], pointSet[NUI_SKELETON_POSITION_HAND_LEFT], color, 2);

    //右上肢 
    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], pointSet[NUI_SKELETON_POSITION_HAND_RIGHT], color, 2);

    //左下肢 
    if ((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_LEFT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_HIP_LEFT], pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].x != 0 || pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], pointSet[NUI_SKELETON_POSITION_FOOT_LEFT], color, 2);

    //右下肢 
    if ((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], color, 2);
    if ((pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y != 0) &&
        (pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].x != 0 || pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].y != 0))
        line(image, pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT], color, 2);
}

骨骼图里面的z是对的，但是单位是米，同时它的x,y是相对你骨骼的那个画面而言的。就是这个x,y不是空间中的位置。