我发现了这个 - ＆gt; http://software.intel.com/en-us/articles/the-intel-skeletal-hand-tracking-library-experimental-release
我认为这是一个很好的...问题是我不想购买“创意互动手势相机”......相反，我想使用我的Kinect。 这不是那么容易，我需要你的帮助。我从Init（）开始 这个是原始功能：
inline bool Tracker::Init()
{
if(PXCSession_Create(session.ReleaseRef()) < PXC_STATUS_NO_ERROR || !session.IsValid()) return false;
for(int i=0; ; ++i) // For valid capture contexts
{
PXCSession::ImplDesc desc, filter = { PXCSession::IMPL_GROUP_SENSOR, PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE };
if(session->QueryImpl(&filter, i, &desc) < PXC_STATUS_NO_ERROR) break;
if(session->CreateImpl(&desc, PXCCapture::CUID, (void**)capture.ReleaseRef()) < PXC_STATUS_NO_ERROR || !capture.IsValid()) continue;
for(int j=0; ; ++j) // For valid devices
{
PXCCapture::DeviceInfo dinfo;
if(capture->QueryDevice(j, &dinfo) < PXC_STATUS_NO_ERROR) break;
if(capture->CreateDevice(j, device.ReleaseRef()) < PXC_STATUS_NO_ERROR || !device.IsValid()) continue;
for(int k=0; ; ++k) // For valid video streams
{
PXCCapture::Device::StreamInfo sinfo;
if(device->QueryStream(k, &sinfo) < PXC_STATUS_NO_ERROR) break;
if(sinfo.cuid != PXCCapture::VideoStream::CUID || device->CreateStream(k, PXCCapture::VideoStream::CUID, (void**)stream.ReleaseRef()) < PXC_STATUS_NO_ERROR || !device.IsValid()) continue;
for (int m=0; ; ++m) // For depth buffer profiles of at least 60 FPS
{
PXCCapture::VideoStream::ProfileInfo pinfo;
if(stream->QueryProfile(m, &pinfo) < PXC_STATUS_NO_ERROR) break;
if(pinfo.imageInfo.format != PXCImage::IMAGE_TYPE_DEPTH || pinfo.frameRateMin.numerator / pinfo.frameRateMin.denominator < 60 || stream->SetProfile(&pinfo) < PXC_STATUS_NO_ERROR) continue;
// If we can read at least one frame
stream->ReadStreamAsync(image.ReleaseRef(), sp.ReleaseRef());
if(sp && sp->Synchronize() >= PXC_STATUS_NO_ERROR)
{
// Obtain useful properties and reserve room for local copies of depth and color images
dimx = pinfo.imageInfo.width; dimy = pinfo.imageInfo.height;
PXCPointF32 flen; device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &flen);
fovx = atan(dimx / (flen.x*2))*2; fovy = atan(dimy / (flen.y*2))*2;
color = new unsigned char[dimx*dimy*3];
depth = new unsigned short[dimx*dimy];
// Initialize tracking library
tracker = hsklCreateTracker(HSKL_COORDS_X_RIGHT_Y_DOWN_Z_FWD, HSKL_API_VERSION);
hsklSetSensorProperties(tracker, HSKL_SENSOR_CREATIVE, dimx, dimy, fovx, fovy);
return true;
}
}
stream.ReleaseRef();
}
device.ReleaseRef();
}
capture.ReleaseRef();
}
return false;
}
}
这是我的：
inline bool Tracker::Init()
{
if(PXCSession_Create(session.ReleaseRef()) < PXC_STATUS_NO_ERROR || !session.IsValid()) return false;
for(int i=0; ; ++i) // For valid capture contexts
{
PXCSession::ImplDesc desc, filter = { PXCSession::IMPL_GROUP_SENSOR, PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE };
if(session->QueryImpl(&filter, i, &desc) < PXC_STATUS_NO_ERROR) break;
if(session->CreateImpl(&desc, PXCCapture::CUID, (void**)capture.ReleaseRef()) < PXC_STATUS_NO_ERROR || !capture.IsValid()) continue;
for(int j=0; ; ++j) // For valid devices
{
PXCCapture::DeviceInfo dinfo;
if(capture->QueryDevice(j, &dinfo) < PXC_STATUS_NO_ERROR) break;
if(capture->CreateDevice(j, device.ReleaseRef()) < PXC_STATUS_NO_ERROR || !device.IsValid()) continue;
for(int k=0; ; ++k) // For valid video streams
{
PXCCapture::Device::StreamInfo sinfo;
if(device->QueryStream(k, &sinfo) < PXC_STATUS_NO_ERROR) break;
if(sinfo.cuid != PXCCapture::VideoStream::CUID || device->CreateStream(k, PXCCapture::VideoStream::CUID, (void**)stream.ReleaseRef()) < PXC_STATUS_NO_ERROR || !device.IsValid()) continue;
for (int m=0; ; ++m) // For depth buffer profiles of at least 60 FPS
{
PXCCapture::VideoStream::ProfileInfo pinfo;
//if(stream->QueryProfile(m, &pinfo) < PXC_STATUS_NO_ERROR) break;
//if(pinfo.imageInfo.format != PXCImage::IMAGE_TYPE_DEPTH || pinfo.frameRateMin.numerator / pinfo.frameRateMin.denominator < 60 || stream->SetProfile(&pinfo) < PXC_STATUS_NO_ERROR) continue;
//Sleep(1000);
dimx=(int)K.m_colorWidth;
dimy=(int)K.m_colorHeight;
fovx=0.99;
fovy=0.75;
// If we can read at least one frame
stream->ReadStreamAsync(image.ReleaseRef(), sp.ReleaseRef());
if((sp && sp->Synchronize() >= PXC_STATUS_NO_ERROR)||true)
{
// Obtain useful properties and reserve room for local copies of depth and color images
//dimx = pinfo.imageInfo.width; dimy = pinfo.imageInfo.height;
//PXCPointF32 flen; device->QueryPropertyAsPoint(PXCCapture::Device::PROPERTY_DEPTH_FOCAL_LENGTH, &flen);
//fovx = atan(dimx / (flen.x*2))*2; fovy = atan(dimy / (flen.y*2))*2;
color = new unsigned char[dimx*dimy*3];
depth = new unsigned short[dimx*dimy];
// Initialize tracking library
tracker = hsklCreateTracker(HSKL_COORDS_X_RIGHT_Y_DOWN_Z_FWD, HSKL_API_VERSION);
hsklSetSensorProperties(tracker, HSKL_SENSOR_IDEAL, dimx, dimy, fovx, fovy);
return true;
}
}
stream.ReleaseRef();
}
device.ReleaseRef();
}
capture.ReleaseRef();
}
return false;
}
}
这是原始更新类：
inline void Tracker::Update()
{
if(sp && sp->Synchronize() >= PXC_STATUS_NO_ERROR)
{
PXCImage::ImageData depthData; image->AcquireAccess(PXCImage::ACCESS_READ, &depthData);
memcpy_s(depth, sizeof(unsigned short)*dimx*dimy, depthData.planes[0], sizeof(unsigned short)*dimx*dimy);
const unsigned short * conf = reinterpret_cast<const unsigned short *>(depthData.planes[1]);
for(int i=0; i<dimx*dimy; ++i) color[3*i+2] = color[3*i+1] = color[3*i] = conf[i]>>2; // Can we just use IR here?
hsklTrackOneFrame(tracker, depth, conf); // Pass data to tracking library
image->ReleaseAccess(&depthData);
}
stream->ReadStreamAsync(image.ReleaseRef(), sp.ReleaseRef());
}
和我的：
inline void Tracker::Update()
{
if((sp && sp->Synchronize() >= PXC_STATUS_NO_ERROR)||true)
{
Mat matd(dimy,dimx,CV_16UC1);
Mat matir(dimy,dimx,CV_16UC1);
K.getDepth(&matd);
matir = K.getIR();
double min,max;
cv::minMaxLoc(matir,&min,&max);
Mat exit(dimy,dimx,CV_8UC1);
matir.convertTo(exit,CV_8U,pow(2.0,8.0)/max);
memcpy_s(depth,sizeof(unsigned short)*dimx*dimy,(unsigned short*)(matd.ptr()),sizeof(unsigned short)*dimx*dimy);
const unsigned short * conf = reinterpret_cast<const unsigned short *>(matir.ptr());
//PXCImage::ImageData depthData; image->AcquireAccess(PXCImage::ACCESS_READ, &depthData);
//memcpy_s(depth, sizeof(unsigned short)*dimx*dimy, depthData.planes[0], sizeof(unsigned short)*dimx*dimy);
//const unsigned short * conf = reinterpret_cast<const unsigned short *>(depthData.planes[1]);
// Can we just use IR here?
for(int i=0; i<dimx*dimy; ++i) {
color[3*i+2] = color[3*i+1] = color[3*i] = (exit.at<unsigned char>(i)) ;
}
hsklTrackOneFrame(tracker, depth, conf); // Pass data to tracking library
//image->ReleaseAccess(&depthData);
}
stream->ReadStreamAsync(image.ReleaseRef(), sp.ReleaseRef());
}
如果我尝试运行该程序没有错误......但它不跟踪我的手...所以任何建议？或者是否有人有兴趣并希望与我分享项目？ 谢谢