cpp
复制代码
#include <iostream>
#include <string>
#include <WS2tcpip.h>
#pragma comment (lib, "ws2_32.lib")
#include <chrono>
#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp> // 核心功能，包括矩阵和数组操作
#include <opencv2/imgproc.hpp> // 图像处理功能
#include <opencv2/highgui.hpp> // 图形用户界面相关功能，用于显示图像和交互
#include <opencv2/video.hpp> // 视频处理功能
#include <Kinect.h>
#include <fstream>
#include<chrono>
#include<thread>
using namespace cv;
void DrawLine(cv::Mat& Img, const Joint& r1, const Joint& r2, ICoordinateMapper* pMapper)
{
if (r1.TrackingState == TrackingState_Tracked && r2.TrackingState == TrackingState_Tracked)
{
ColorSpacePoint p1, p2;
pMapper->MapCameraPointToColorSpace(r1.Position, &p1);
pMapper->MapCameraPointToColorSpace(r2.Position, &p2);
line(Img, Point(p1.X, p1.Y), Point(p2.X, p2.Y), Vec3b(0, 0, 255), 5);
circle(Img, Point(p1.X, p1.Y), 10, (0, 0, 255), -1);
circle(Img, Point(p2.X, p2.Y), 10, (0, 0, 255), -1);
}
}
int main()
{
IKinectSensor* pSensor = nullptr;
GetDefaultKinectSensor(&pSensor);
pSensor->Open();
IColorFrameSource* pFrameSource = nullptr;
pSensor->get_ColorFrameSource(&pFrameSource);
int iWidth = 0, iHeight = 0;
IFrameDescription* pFrameDescription = nullptr;
pFrameSource->get_FrameDescription(&pFrameDescription);
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
IColorFrameReader* pColorFrameReader = nullptr;
pFrameSource->OpenReader(&pColorFrameReader);
pFrameDescription->Release();
pFrameDescription = nullptr;
pFrameSource->Release();
pFrameSource = nullptr;
UINT uBufferSize = 0;
cv::Mat mColorImg(iHeight, iWidth, CV_8UC4);
uBufferSize = iHeight * iWidth * 4 * sizeof(BYTE);
IBodyFrameReader* pBodyFrameReader = nullptr;
IBody** aBodyData = nullptr;
INT32 iBodyCount = 0;
IBodyFrameSource* pBodySource = nullptr;
pSensor->get_BodyFrameSource(&pBodySource);
pBodySource->get_BodyCount(&iBodyCount);
aBodyData = new IBody*[iBodyCount];
for (int i = 0; i < iBodyCount; ++i)
aBodyData[i] = nullptr;
pBodySource->OpenReader(&pBodyFrameReader);
pBodySource->Release();
pBodySource = nullptr;
ICoordinateMapper* pCoordinateMapper = nullptr;
pSensor->get_CoordinateMapper(&pCoordinateMapper);
cv::namedWindow("Body Image", cv::WINDOW_NORMAL);
cv::resizeWindow("Body Image", 560, 360);
while (true)
{
IColorFrame* pColorFrame = nullptr;
if (pColorFrameReader->AcquireLatestFrame(&pColorFrame) == S_OK)
{
pColorFrame->CopyConvertedFrameDataToArray(uBufferSize, mColorImg.data, ColorImageFormat_Bgra);
pColorFrame->Release();
}
cv::Mat mImg = mColorImg.clone();
IBodyFrame* pBodyFrame = nullptr;
if (pBodyFrameReader->AcquireLatestFrame(&pBodyFrame) == S_OK)
{
// std::cout << "读取人体帧数据成功" << std::endl;
if (pBodyFrame->GetAndRefreshBodyData(iBodyCount, aBodyData) == S_OK)
{
// std::cout << "获取骨骼帧中的骨骼数据成功" << std::endl;
for (int i = 0; i < iBodyCount; ++i)
{
IBody* pBody = aBodyData[i];
BOOLEAN bTracked = false;
if ((pBody->get_IsTracked(&bTracked) == S_OK) && bTracked)
{
// std::cout << "骨骼已被跟踪" << std::endl;
// std::cout << "跟踪序号：" << i << std::endl;
Joint aJoints[JointType_Count];
if (pBody->GetJoints(JointType_Count, aJoints) == S_OK)
{
//脊柱
DrawLine(mImg, aJoints[JointType_SpineBase], aJoints[JointType_SpineMid], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineMid], aJoints[JointType_SpineShoulder], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineShoulder], aJoints[JointType_Neck], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_Neck], aJoints[JointType_Head], pCoordinateMapper);
//左 arm
DrawLine(mImg, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ShoulderLeft], aJoints[JointType_ElbowLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ElbowLeft], aJoints[JointType_WristLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_WristLeft], aJoints[JointType_HandLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HandLeft], aJoints[JointType_HandTipLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_WristLeft], aJoints[JointType_ThumbLeft], pCoordinateMapper);
//右arm
DrawLine(mImg, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ShoulderRight], aJoints[JointType_ElbowRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ElbowRight], aJoints[JointType_WristRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_WristRight], aJoints[JointType_HandRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HandRight], aJoints[JointType_HandTipRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_WristRight], aJoints[JointType_ThumbRight], pCoordinateMapper);
//左leg
DrawLine(mImg, aJoints[JointType_SpineBase], aJoints[JointType_HipLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HipLeft], aJoints[JointType_KneeLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_KneeLeft], aJoints[JointType_AnkleLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_AnkleLeft], aJoints[JointType_FootLeft], pCoordinateMapper);
//右leg
DrawLine(mImg, aJoints[JointType_SpineBase], aJoints[JointType_HipRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HipRight], aJoints[JointType_KneeRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_KneeRight], aJoints[JointType_AnkleRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_AnkleRight], aJoints[JointType_FootRight], pCoordinateMapper);
// *************************保存TXT数据*************************
//创建一个名为"data.txt"的文本文件，并清空其中的内容
std::ofstream outfile("data_test139.txt", std::ios::trunc);
for (int s = 0; s < JointType_Count; s++)
{
outfile << aJoints[s].Position.X << "\t" << aJoints[s].Position.Y << "\t" << aJoints[s].Position.Z << std::endl;
}
outfile << std::endl;
std::cout << "骨骼关节点数据写入成功" << std::endl;
}
}
//追踪失败
else {
if (pBody->get_IsTracked(&bTracked) != S_OK) {
std::cerr << "骨骼追踪失败,Failed to read body tracking state. Error code: " << pBody->get_IsTracked(&bTracked) << std::endl;
}
//未被追踪
else if (!bTracked)
{
std::cerr << "骨骼未被追踪,Body is not being tracked." << std::endl;
}
}
}
}
else
{
std::cerr << "Can't read body data" << std::endl;
}
pBodyFrame->Release();
}
cv::imshow("Body Image", mImg);
if (cv::waitKey(5) == VK_ESCAPE)
{
break;
}
}
pSensor->Close();
pSensor->Release();
pSensor = nullptr;
return 0;
}