骨络数据

#include <opencv2\opencv.hpp>  
#include<iostream>
//windows的头文件,必须要,不然NuiApi.h用不了
#include <Windows.h>
//Kinect for windows 的头文件
#include "NuiApi.h"
/*
#include <opencv2/opencv.hpp> 
#include "NuiSensor.h"
#include "NuiSkeleton.h"
#include <strsafe.h>
#include <d3d11.h>
*/
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);
	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);
						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);
}

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