#include <windows.h>
#include <iostream>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
bool tracked[NUI_SKELETON_COUNT] = { FALSE };
CvPoint skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cvPoint(0,0) };
CvPoint colorPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cvPoint(0,0) };
void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, Mat &colorImage);
void getDepthImage(HANDLE &depthEvent, HANDLE &depthStreamHandle, Mat &depthImage);
void getSkeletonImage(HANDLE &skeletonEvent, Mat &skeletonImage, Mat &colorImage, Mat &depthImage);
void drawSkeleton(Mat &image, CvPoint pointSet[], int witchone);
void getTheContour(Mat &image, int whichone, Mat &mask);
int main(int argc, char *argv[])
{
Mat colorImage;
colorImage.create(480, 640, CV_8UC3);
Mat depthImage;
depthImage.create(240, 320, CV_8UC3);
Mat skeletonImage;
skeletonImage.create(240, 320, CV_8UC3);
Mat mask;
mask.create(240, 320, CV_8UC3);
HANDLE colorEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
HANDLE depthEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
HANDLE skeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
HANDLE colorStreamHandle = NULL;
HANDLE depthStreamHandle = NULL;
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON);
if (hr != S_OK)
{
cout << "NuiInitialize failed" << endl;
return hr;
}
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, NULL, 4, colorEvent, &colorStreamHandle);
if (hr != S_OK)
{
cout << "Open the color Stream failed" << endl;
NuiShutdown();
return hr;
}
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, NULL, 2, depthEvent, &depthStreamHandle);
if (hr != S_OK)
{
cout << "Open the depth Stream failed" << endl;
NuiShutdown();
return hr;
}
hr = NuiSkeletonTrackingEnable(skeletonEvent, 0);//打开骨骼跟踪事件
if (hr != S_OK)
{
cout << "NuiSkeletonTrackingEnable failed" << endl;
NuiShutdown();
return hr;
}
namedWindow("mask", CV_WINDOW_AUTOSIZE);
namedWindow("colorImage", CV_WINDOW_AUTOSIZE);
namedWindow("depthImage", CV_WINDOW_AUTOSIZE);
namedWindow("skeletonImage", CV_WINDOW_AUTOSIZE);
while (1)
{
if (WaitForSingleObject(colorEvent, 0) == 0)
getColorImage(colorEvent, colorStreamHandle, colorImage);
if (WaitForSingleObject(depthEvent, 0) == 0)
getDepthImage(depthEvent, depthStreamHandle, depthImage);
//这里使用INFINITE是为了避免没有激活skeletonEvent而跳过此代码出现colorimage频闪的现象
if (WaitForSingleObject(skeletonEvent, INFINITE) == 0)
getSkeletonImage(skeletonEvent, skeletonImage, colorImage, depthImage);
for (int i = 0; i<6; i++)
{
if (tracked[i] == TRUE)
{
mask.setTo(0);
getTheContour(depthImage, i, mask);
tracked[i] = FALSE;
break;
}
}
imshow("mask", mask);
imshow("colorImage", colorImage);
imshow("depthImage", depthImage);
imshow("skeletonImage", skeletonImage);
if (cvWaitKey(1) == 27)
break;
}
NuiShutdown();
return 0;
}
void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, Mat &colorImage)
{
const NUI_IMAGE_FRAME *colorFrame = NULL;
NuiImageStreamGetNextFrame(colorStreamHandle, 0, &colorFrame);
INuiFrameTexture *pTexture = colorFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect;
pTexture->LockRect(0, &LockedRect, NULL, 0);
if (LockedRect.Pitch != 0)
{
for (int i = 0; i<colorImage.rows; i++)
{
uchar *ptr = colorImage.ptr<uchar>(i); //第i行的指针
//每个字节代表一个颜色信息,直接使用uchar
uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
for (int j = 0; j<colorImage.cols; j++)
{
ptr[3 * j] = pBuffer[4 * j]; //内部数据是4个字节,0-1-2是BGR,第4个现在未使用
ptr[3 * j + 1] = pBuffer[4 * j + 1];
ptr[3 * j + 2] = pBuffer[4 * j + 2];
}
}
}
else
{
cout << "捕捉色彩图像出现错误" << endl;
}
pTexture->UnlockRect(0);
NuiImageStreamReleaseFrame(colorStreamHandle, colorFrame);
}
void getDepthImage(HANDLE &depthEvent, HANDLE &depthStreamHandle, Mat &depthImage)
{
const NUI_IMAGE_FRAME *depthFrame = NULL;
NuiImageStreamGetNextFrame(depthStreamHandle, 0, &depthFrame);
INuiFrameTexture *pTexture = depthFrame->pFrameTexture;
NUI_LOCKED_RECT LockedRect;
pTexture->LockRect(0, &LockedRect, NULL, 0);
RGBQUAD q;
if (LockedRect.Pitch != 0)
{
for (int i = 0; i<depthImage.rows; i++)
{
uchar *ptr = depthImage.ptr<uchar>(i);
uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
USHORT *pBufferRun = (USHORT*)pBuffer;
for (int j = 0; j<depthImage.cols; j++)
{
int player = pBufferRun[j] & 7;
int data = (pBufferRun[j] & 0xfff8) >> 3;
uchar imageData = 255 - (uchar)(256 * data / 0x0fff);
q.rgbBlue = q.rgbGreen = q.rgbRed = 0;
switch (player)
{
case 0:
q.rgbRed = imageData / 2;
q.rgbBlue = imageData / 2;
q.rgbGreen = imageData / 2;
break;
case 1:
q.rgbRed = imageData;
break;
case 2:
q.rgbGreen = imageData;
break;
case 3:
q.rgbRed = imageData / 4;
q.rgbGreen = q.rgbRed * 4; //这里利用乘的方法,而不用原来的方法可以避免不整除的情况
q.rgbBlue = q.rgbRed * 4; //可以在后面的getTheContour()中配合使用,避免遗漏一些情况
break;
case 4:
q.rgbBlue = imageData / 4;
q.rgbRed = q.rgbBlue * 4;
q.rgbGreen = q.rgbBlue * 4;
break;
case 5:
q.rgbGreen = imageData / 4;
q.rgbRed = q.rgbGreen * 4;
q.rgbBlue = q.rgbGreen * 4;
break;
case 6:
q.rgbRed = imageData / 2;
q.rgbGreen = imageData / 2;
q.rgbBlue = q.rgbGreen * 2;
break;
case 7:
q.rgbRed = 255 - (imageData / 2);
q.rgbGreen = 255 - (imageData / 2);
q.rgbBlue = 255 - (imageData / 2);
}
ptr[3 * j] = q.rgbBlue;
ptr[3 * j + 1] = q.rgbGreen;
ptr[3 * j + 2] = q.rgbRed;
}
}
}
else
{
cout << "捕捉深度图像出现错误" << endl;
}
pTexture->UnlockRect(0);
NuiImageStreamReleaseFrame(depthStreamHandle, depthFrame);
}
void getSkeletonImage(HANDLE &skeletonEvent, Mat &skeletonImage, Mat &colorImage, Mat &depthImage)
{
NUI_SKELETON_FRAME skeletonFrame = { 0 };
bool bFoundSkeleton = false;
if (NuiSkeletonGetNextFrame(0, &skeletonFrame) == S_OK)
{
for (int i = 0; i < NUI_SKELETON_COUNT; i++)
{
if (skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED)
{
bFoundSkeleton = true;
break;
}
}
}
else
{
cout << "没有找到合适的骨骼帧" << endl;
return;
}
if (!bFoundSkeleton)
{
return;
}
NuiTransformSmooth(&skeletonFrame, NULL);//平滑骨骼帧,消除抖动
skeletonImage.setTo(0);
for (int i = 0; i < NUI_SKELETON_COUNT; i++)
{
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;
for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++)//所有的坐标转化为深度图的坐标
{
NuiTransformSkeletonToDepthImage(skeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy);
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
{
LONG colorx, colory;
NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_640x480, 0,
skeletonPoint[i][j].x, skeletonPoint[i][j].y, 0, &colorx, &colory);
colorPoint[i][j].x = int(colorx);
colorPoint[i][j].y = int(colory); //存储坐标点
circle(colorImage, colorPoint[i][j], 4, cvScalar(0, 255, 255), 1, 8, 0);
circle(skeletonImage, skeletonPoint[i][j], 3, cvScalar(0, 255, 255), 1, 8, 0);
tracked[i] = TRUE;
}
}
drawSkeleton(colorImage, colorPoint[i], i);
drawSkeleton(skeletonImage, skeletonPoint[i], i);
}
}
}
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);
}
//根据给定的深度数据的关系(在getDepthImage()中的)确定不同的跟踪目标
void getTheContour(Mat &image, int whichone, Mat &mask)
{
for (int i = 0; i<image.rows; i++)
{
uchar *ptr = image.ptr<uchar>(i);
uchar *ptrmask = mask.ptr<uchar>(i);
for (int j = 0; j<image.cols; j++)
{
if (ptr[3 * j] == 0 && ptr[3 * j + 1] == 0 && ptr[3 * j + 2] == 0) //都为0的时候予以忽略
{
ptrmask[3 * j] = ptrmask[3 * j + 1] = ptrmask[3 * j + 2] = 0;
}
else if (ptr[3 * j] == 0 && ptr[3 * j + 1] == 0 && ptr[3 * j + 2] != 0)//ID为1的时候,显示绿色
{
ptrmask[3 * j] = 0;
ptrmask[3 * j + 1] = 255;
ptrmask[3 * j + 2] = 0;
}
else if (ptr[3 * j] == 0 && ptr[3 * j + 1] != 0 && ptr[3 * j + 2] == 0)//ID为2的时候,显示红色
{
ptrmask[3 * j] = 0;
ptrmask[3 * j + 1] = 0;
ptrmask[3 * j + 2] = 255;
}
else if (ptr[3 * j] == ptr[3 * j + 1] && ptr[3 * j] == 4 * ptr[3 * j + 2])//ID为3的时候
{
ptrmask[3 * j] = 255;
ptrmask[3 * j + 1] = 255;
ptrmask[3 * j + 2] = 0;
}
else if (4 * ptr[3 * j] == ptr[3 * j + 1] && ptr[3 * j + 1] == ptr[3 * j + 2])//ID为4的时候
{
ptrmask[3 * j] = 255;
ptrmask[3 * j + 1] = 0;
ptrmask[3 * j + 2] = 255;
}
else if (ptr[3 * j] == 4 * ptr[3 * j + 1] && ptr[3 * j] == ptr[3 * j + 2])//ID为5的时候
{
ptrmask[3 * j] = 0;
ptrmask[3 * j + 1] = 255;
ptrmask[3 * j + 2] = 255;
}
else if (ptr[3 * j] == 2 * ptr[3 * j + 1] && ptr[3 * j + 1] == ptr[3 * j + 2])//ID为6的时候
{
ptrmask[3 * j] = 255;
ptrmask[3 * j + 1] = 255;
ptrmask[3 * j + 2] = 255;
}
else if (ptr[3 * j] == ptr[3 * j + 1] && ptr[3 * j] == ptr[3 * j + 2])//ID为7的时候或者ID为0的时候,显示蓝色
{
ptrmask[3 * j] = 255;
ptrmask[3 * j + 1] = 0;
ptrmask[3 * j + 2] = 0;
}
else
{
cout << "如果输出这段代码,说明有遗漏的情况,请查询getTheContour函数" << endl;
}
}
}
}
同时获得深度/彩色/骨骼
最新推荐文章于 2022-01-05 16:29:38 发布