kinect获取骨骼数据 结果一直是程序未响应

一尺荷叶 2017-04-17 11:32:08
#include <Windows.h>
#include <opencv2/opencv.hpp>
#include <NuiApi.h>
using namespace std;
using namespace cv;
class CBodyBasics
{
static const int cDepthWidth = 320;
static const int cDepthHeight = 240;
public:
void Update();//获得骨架信息
HRESULT InitializeDefaultSensor();//用于初始化kinect
private:
void getSkeletonImage(HANDLE &skeletonEvent, Mat &skeletonImg);
void drawSkeleton(Mat &image, CvPoint pointSet[], int witchone);
cv::Mat skeletonImg;
};
HANDLE skeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
bool tracked[NUI_SKELETON_COUNT] = { FALSE };
CvPoint skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cvPoint(0, 0) }int main(){
CBodyBasics myKinect; //实例化一个CBodyBasics对象myKinect

HRESULT hr = myKinect.InitializeDefaultSensor(); //初始化默认Kinect
if (SUCCEEDED(hr))
{
while (1)
{
myKinect.Update();
}
}
else
cout << "kinect initialization failed!" << endl;

NuiShutdown();
return 0;
HRESULT CBodyBasics::InitializeDefaultSensor()
{
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON);
if (hr != S_OK)
{
cout << "NuiInitialize failed" << endl;
return hr;
}
hr = NuiSkeletonTrackingEnable(skeletonEvent, 0);//打开骨骼跟踪事件
if (hr != S_OK)
{
cout << "NuiSkeletonTrackingEnable failed" << endl;
NuiShutdown();
return hr;
}
skeletonImg.create(cDepthHeight, cDepthWidth, CV_8UC3);
}
void CBodyBasics::Update()
{
if (WaitForSingleObject(skeletonEvent, INFINITE) == 0)
getSkeletonImage(skeletonEvent, skeletonImg);

imshow("skeletonImg", skeletonImg)
}
void CBodyBasics::getSkeletonImage(HANDLE &skeletonEvent, Mat &skeletonImg)
{
NUI_SKELETON_FRAME skeletonFrame = { 0 };
bool bFoundSkeleton = false;

if (NuiSkeletonGetNextFrame(0, &skeletonFrame) == S_OK)
{
for (int i = 0; i < NUI_SKELETON_COUNT; i++)
{
if (skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED)
{
bFoundSkeleton = true;
break;
}
}
}
else
{
cout << "没有找到合适的骨骼帧" << endl;
return;
}

if (!bFoundSkeleton)
{
return;
}

NuiTransformSmooth(&skeletonFrame, NULL);//平滑骨骼帧,消除抖动
skeletonImg.setTo(0);

for (int i = 0; i < NUI_SKELETON_COUNT; i++)
{
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;

for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; j++)//所有的坐标转化为深度图的坐标
{
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)
{
circle(skeletonImg, skeletonPoint[i][j], 3, cvScalar(0, 255, 255), 1, 8, 0);
tracked[i] = TRUE;
}
drawSkeleton(skeletonImg, skeletonPoint[i], i);
}
}
}

void CBodyBasics::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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一尺荷叶 2017-04-17
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