Kinect For Windows V2开发日志九：侦测并绘制人体骨架

# 简介 在上一篇[《侦测、追踪人体骨架》](http://www.cnblogs.com/xz816111/p/5187424.html)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 <iostream>
#include <opencv2imgproc.hpp>
#include <opencv2calib3d.hpp>
#include <opencv2highgui.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);
	}
}

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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