简介

在上一篇里，介绍了关节点的使用办法，这一篇记录将关节点与OpenCV结合的绘图方法。

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代码

#include 
    
     #include 
     
      #include 
      
       #include 
       
        #include 
        
         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);    }}
        
       
      
     
    

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详细说明

不难发现代码跟前面一篇非常类似，不同的地方就在于绘图部分。首先要将关节点用的CameraSpace转换到ColorSpace，这一操作可以借助ICoordinateMapper完成，然后就用两个关节点来作为线段的两端画线。这里采用了广度优先的办法，从上到下一层一层选取关节点。

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效果图