简介
在上一篇《侦测、追踪人体骨架》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。
代码
#include <iostream>
#include <opencv2\imgproc.hpp>
#include <opencv2\calib3d.hpp>
#include <opencv2\highgui.hpp>
#include <Kinect.h>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);}
}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。
效果图
