机器人视觉项目：视觉检测识别+机器人跟随（18）

//kinect骨骼检测跟踪
#include <iostream>

#include <opencv2\imgproc.hpp>    //opencv头文件

#include <opencv2\calib3d.hpp>

#include <opencv2\highgui.hpp>

#include <Kinect.h>    //Kinect头文件



using   namespace   std;

using   namespace   cv;



void    draw(Mat & img, Joint & r_1, Joint & r_2, ICoordinateMapper * myMapper);

int main(void)

{

    IKinectSensor   * mySensor = nullptr;

    GetDefaultKinectSensor(&mySensor);

    mySensor->Open();



    IColorFrameSource   * myColorSource = nullptr;

    mySensor->get_ColorFrameSource(&myColorSource);



    IColorFrameReader   * myColorReader = nullptr;

    myColorSource->OpenReader(&myColorReader);



    int colorHeight = 0, colorWidth = 0;

    IFrameDescription   * myDescription = nullptr;

    myColorSource->get_FrameDescription(&myDescription);

    myDescription->get_Height(&colorHeight);

    myDescription->get_Width(&colorWidth);



    IColorFrame * myColorFrame = nullptr;

    Mat original(colorHeight, colorWidth, CV_8UC4);



    //**********************以上为ColorFrame的读取前准备**************************



    IBodyFrameSource    * myBodySource = nullptr;

    mySensor->get_BodyFrameSource(&myBodySource);



    IBodyFrameReader    * myBodyReader = nullptr;

    myBodySource->OpenReader(&myBodyReader);



    int myBodyCount = 0;

    myBodySource->get_BodyCount(&myBodyCount);



    IBodyFrame  * myBodyFrame = nullptr;



    ICoordinateMapper   * myMapper = nullptr;

    mySensor->get_CoordinateMapper(&myMapper);



    //**********************以上为BodyFrame以及Mapper的准备***********************

    while (1)

    {



        while (myColorReader->AcquireLatestFrame(&myColorFrame) != S_OK);

        myColorFrame->CopyConvertedFrameDataToArray(colorHeight * colorWidth * 4, original.data, ColorImageFormat_Bgra);

        Mat copy = original.clone();        //读取彩色图像并输出到矩阵



        while (myBodyReader->AcquireLatestFrame(&myBodyFrame) != S_OK); //读取身体图像

        IBody   **  myBodyArr = new IBody *[myBodyCount];       //为存身体数据的数组做准备

        for (int i = 0; i < myBodyCount; i++)

            myBodyArr[i] = nullptr;



        if (myBodyFrame->GetAndRefreshBodyData(myBodyCount, myBodyArr) == S_OK)     //把身体数据输入数组

            for (int i = 0; i < myBodyCount; i++)

            {

                BOOLEAN     result = false;

                if (myBodyArr[i]->get_IsTracked(&result) == S_OK && result) //先判断是否侦测到

                {

                    Joint   myJointArr[JointType_Count];

                    if (myBodyArr[i]->GetJoints(JointType_Count, myJointArr) == S_OK)   //如果侦测到就把关节数据输入到数组并画图

                    {

                        draw(copy, myJointArr[JointType_Head], myJointArr[JointType_Neck], myMapper);

                        draw(copy, myJointArr[JointType_Neck], myJointArr[JointType_SpineShoulder], myMapper);



                        draw(copy, myJointArr[JointType_SpineShoulder], myJointArr[JointType_ShoulderLeft], myMapper);

                        draw(copy, myJointArr[JointType_SpineShoulder], myJointArr[JointType_SpineMid], myMapper);

                        draw(copy, myJointArr[JointType_SpineShoulder], myJointArr[JointType_ShoulderRight], myMapper);



                        draw(copy, myJointArr[JointType_ShoulderLeft], myJointArr[JointType_ElbowLeft], myMapper);

                        draw(copy, myJointArr[JointType_SpineMid], myJointArr[JointType_SpineBase], myMapper);

                        draw(copy, myJointArr[JointType_ShoulderRight], myJointArr[JointType_ElbowRight], myMapper);



                        draw(copy, myJointArr[JointType_ElbowLeft], myJointArr[JointType_WristLeft], myMapper);

                        draw(copy, myJointArr[JointType_SpineBase], myJointArr[JointType_HipLeft], myMapper);

                        draw(copy, myJointArr[JointType_SpineBase], myJointArr[JointType_HipRight], myMapper);

                        draw(copy, myJointArr[JointType_ElbowRight], myJointArr[JointType_WristRight], myMapper);



                        draw(copy, myJointArr[JointType_WristLeft], myJointArr[JointType_ThumbLeft], myMapper);

                        draw(copy, myJointArr[JointType_WristLeft], myJointArr[JointType_HandLeft], myMapper);

                        draw(copy, myJointArr[JointType_HipLeft], myJointArr[JointType_KneeLeft], myMapper);

                        draw(copy, myJointArr[JointType_HipRight], myJointArr[JointType_KneeRight], myMapper);

                        draw(copy, myJointArr[JointType_WristRight], myJointArr[JointType_ThumbRight], myMapper);

                        draw(copy, myJointArr[JointType_WristRight], myJointArr[JointType_HandRight], myMapper);



                        draw(copy, myJointArr[JointType_HandLeft], myJointArr[JointType_HandTipLeft], myMapper);

                        draw(copy, myJointArr[JointType_KneeLeft], myJointArr[JointType_FootLeft], myMapper);

                        draw(copy, myJointArr[JointType_KneeRight], myJointArr[JointType_FootRight], myMapper);

                        draw(copy, myJointArr[JointType_HandRight], myJointArr[JointType_HandTipRight], myMapper);

                    }

                }

            }

        delete[]myBodyArr;

        myBodyFrame->Release();

        myColorFrame->Release();



        imshow("TEST", copy);

        if (waitKey(30) == VK_ESCAPE)

            break;

    }

    myMapper->Release();



    myDescription->Release();

    myColorReader->Release();

    myColorSource->Release();



    myBodyReader->Release();

    myBodySource->Release();

    mySensor->Close();

    mySensor->Release();



    return  0;

}



void    draw(Mat & img, Joint & r_1, Joint & r_2, ICoordinateMapper * myMapper)

{

    //用两个关节点来做线段的两端，并且进行状态过滤

    if (r_1.TrackingState == TrackingState_Tracked && r_2.TrackingState == TrackingState_Tracked)

    {

        ColorSpacePoint t_point;    //要把关节点用的摄像机坐标下的点转换成彩色空间的点

        Point   p_1, p_2;

        myMapper->MapCameraPointToColorSpace(r_1.Position, &t_point);

        p_1.x = t_point.X;

        p_1.y = t_point.Y;

        myMapper->MapCameraPointToColorSpace(r_2.Position, &t_point);

        p_2.x = t_point.X;

        p_2.y = t_point.Y;



        line(img, p_1, p_2, Vec3b(0, 255, 0), 5);

        circle(img, p_1, 10, Vec3b(255, 0, 0), -1);

        circle(img, p_2, 10, Vec3b(255, 0, 0), -1);

    }

}