Kinect中骨骼数据的采集.docxVIP

// skeleton_data_SDK.cpp : 定义控制台应用程序的入口点。//#include stdafx.h#include iostream #include Windows.h#include NuiApi.h#include cv.h#include highgui.husing namespace std; void Nui_DrawSkeleton(NUI_SKELETON_DATA * pSkel,int whichone, IplImage *SkeletonImage)//画出骨骼，第二个参数未使用，想跟踪多人的童鞋可以考虑使用 { float fx, fy; CvPoint SkeletonPoint[NUI_SKELETON_POSITION_COUNT]; for (int i = 0; i NUI_SKELETON_POSITION_COUNT; i++)//所有的坐标转化为深度图的坐标 { NuiTransformSkeletonToDepthImage( pSkel-SkeletonPositions[i], fx, fy ); SkeletonPoint[i].x = (int)(fx*320+0.5f); SkeletonPoint[i].y = (int)(fy*240+0.5f); } for (int i = 0; i NUI_SKELETON_POSITION_COUNT ; i++) { if (pSkel-eSkeletonPositionTrackingState[i] != 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 { cvCircle(SkeletonImage, SkeletonPoint[i], 3, cvScalar(0, 255, 255), -1, 8, 0); } } return; } int main(int argc,char * argv[]){ IplImage *skeletonImage=NULL; skeletonImage = cvCreateImage(cvSize(320, 240), 8, 3); //初始化NUI HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON ); if( hr != S_OK ) { coutNuiInitialize failedendl; return hr; } //打开KINECT设备的彩色图信息通道 HANDLE h1 = CreateEvent( NULL, TRUE, FALSE, NULL ); hr = NuiSkeletonTrackingEnable( h1, 0 );//打开骨骼跟踪事件 if( FAILED( hr ) ) { cout NuiSkeletonTrackingEnable fail endl; NuiShutdown(); return hr; } while(1) { if(WaitForSingleObject(h1, INFINITE)==0) { NUI_SKELETON_FRAME SkeletonFrame;//骨骼帧的定义 bool bFoundSkeleton = false; if( SUCCEEDED(NuiSkeletonGetNextFrame( 0, SkeletonFrame )) )//Get the next frame of skeleton data.直接从kinect中提取骨骼帧 { for( int i = 0 ; i NUI_SKELETON_COUNT ; i++ ) { if( SkeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED )//最多跟踪六个人，检查每个“人”（有可能是空，不是人）是否跟踪到了 { bFoundSkeleton = true; } } } if( !bFoundSkeleton ) { continue; } // smooth out the skeleton data NuiTransformSmooth(SkeletonFrame,NULL);//平滑骨骼帧,消除抖动 // draw each skeleton color according to the slot within they are found. cvZer