Question

我使用Kinect for Windows SDK提取骨架和彩色图像，然后在每帧的彩色图像上绘制骨架点。我在OpenCV中使用cvCircle()函数在kinect彩色图像上绘制提取的骨架点（转换为IplImage）。

当我挥手时，与挥动手相对应的骨架点正在偏离骨架点应该的实际位置。但是样本中没有发生这种情况：＆＃34; Kinect Explorer-D2D＆＃34;

我发布了我的代码。我的代码模仿SDK样本：＆＃34; Skeleton Basics-D2D＆＃34;。不同之处在于我使用控制台应用程序，而示例是Windows应用程序（我不熟悉Windows应用程序），我添加了kinect彩色图像流。

IplImage *frame = cvCreateImage(cvSize(640, 480), 8, 3);
HRESULT hr;
hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR);

if(hr != S_OK)
    return hr;

HANDLE SkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
hr = NuiSkeletonTrackingEnable(SkeletonEvent, 0);
if(hr != S_OK)
    return hr;

HANDLE ColorEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
HANDLE h2 = NULL;
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, ColorEvent, &h2);
if(hr != S_OK)
    return hr;

NUI_SKELETON_FRAME skeletonFrame = {0};
while(1){
    WaitForSingleObject(SkeletonEvent, INFINITE);
    //get skeleton data
    hr = NuiSkeletonGetNextFrame(0, &skeletonFrame);
    if( hr != S_OK )
        continue;
    NuiTransformSmooth(&skeletonFrame, NULL);
    //get color image data
    const NUI_IMAGE_FRAME * pImageFrame = NULL;
    hr = NuiImageStreamGetNextFrame(h2, 0, &pImageFrame );
    if( hr != S_OK )
        continue;

    INuiFrameTexture *pTexture = pImageFrame->pFrameTexture;
    NUI_LOCKED_RECT LockedRect;
    pTexture->LockRect( 0, &LockedRect, NULL, 0 );
    //Convert the color image to IplImage frame
    if(LockedRect.Pitch != 0)
        ConvertDataToIplImage(LockedRect, frame);
    //Draw skeleton points on frame     
    for(int i=0; i<6; i++){
        NUI_SKELETON_TRACKING_STATE trackingState = skeletonFrame.SkeletonData[i].eTrackingState;
        if (NUI_SKELETON_TRACKED == trackingState)
            for(int j=0; j<20; j++)
                cvCircle(frame,   
                         SkeletonToScreen(skeletonFrame.SkeletonData[i].SkeletonPositions[j],640, 480,pImageFrame),
                         4, CV_RGB(255,0,0),2);

    }
    cvShowImage("Frame",frame);
    NuiImageStreamReleaseFrame( h2, pImageFrame );
    cvWaitKey(30);
}

函数SkeletonToScreen()是：

 CvPoint SkeletonToScreen(Vector4 skeletonPoint, int width, int height, const
NUI_IMAGE_FRAME *imgFrame)
{
LONG x, y;
USHORT depth;
LONG ColorX, ColorY;
NuiTransformSkeletonToDepthImage(skeletonPoint, &x, &y, &depth);
NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(NUI_IMAGE_RESOLUTION_640x480,
                                                NUI_IMAGE_RESOLUTION_320x240,
                                                &imgFrame->ViewArea,
                                                x,
                                                y,
                                                depth,
                                                &ColorX,
                                                &ColorY);
float screenPointX = static_cast<float>(ColorX * width) / 640;
float screenPointY = static_cast<float>(ColorY * height) / 480; 
return cvPoint(screenPointX, screenPointY);
}

我的结果是http://www.dropbox.com/s/d0kudegrnecklel/my%20result.jpg。 Skeleton Basics-D2D结果为http://www.dropbox.com/s/y9rvvoxijv4rs28/the%20kinect%20explorer.jpg。

我们看到当手快速挥动时，Skeleton Basics-D2D很好地跟踪骨架点，但我的骨架点远离我的手和手腕。

Kinect SDK：跟踪骨架并使用OpenCv绘制它们的问题

0 个答案: