之前想了個很拉風的名字《用kinect玩穿越》，但是現在功能還不是很完善，細節處理也不是很好，臉皮沒有足夠的厚，所以呢還是叫換背景吧。
???? 這里面包含兩個技術要點：
一、摳出活動人物
????? 在微軟的SDK里深度圖像的前3位即0-2位就包含有玩家信息，所以提取很方便，可以參考博客http://www.cnblogs.com/yangecnu/archive/2012/04/04/KinectSDK_Depth_Image_Processing_Part1.html
而在openni下深度圖的每一位也是兩個字節16位，但沒有包含這方面的信息，所以就要找其他的方法來實現，在網上找了很久也沒有看到有人做了這方面的例子，反過頭來還得找openni的用戶手冊，發現有Scene Analyzer和User Generator可能可以達到我的要求。
?? （1）Scene Analyzer：Get Label Map: Provides a map in which each pixel has a meaningful label （它有一個區分前景和背景的功能，但我沒有具體去測試）
???（2）User Generator ：Get User Pixels: Provides the pixels that represent the user. The output is a map of the pixels of the entire scene, where the pixels that represent the body are labeled User ID.（它有一個通過用戶的ID，來獲得用戶掩碼的功能，我就是用這個函數來做的）
??? 它的具體函數原型為：GetUserPixels (XnUserID user, SceneMetaData &smd) const
傳入的參數為用戶的ID和場景圖像的引用。
?
二、變換背景
???? 變換背景的方法為先將要更換的背景圖片存入到一個圖像數組，然后通過一個索引值index來獲取不同的背景圖像，那么這個索引值怎么改變呢，這里我用到了一個簡單的手勢識別，揮右手index加1，揮左手index減1（這里的手勢識別是通過骨骼數據的判斷來做的具體參考我的上一篇博客），最后將人物圖像疊加到背景圖片上，就可以實現說是的換背景功能了。說了這么多，先上圖吧。
實驗結果圖：
?圖片很模糊是因為投影儀的效果不好。可以看出由于沒做邊緣融合，圖像邊緣有很多的鋸齒。但做得好的話，設定好人物出現的區域和大小，真的會有穿越的感覺，哈哈！！
代碼：
View Code ??1?/*********************************************************************************************
??2?//從采集的視頻中扣出人物圖像,并疊加在背景上
??3?
??4?*******************************************************************************************/
??5?#include?<stdlib.h>???
??6?#include?<iostream>???
??7?#include?<vector>???
??8???
??9?#include?<XnCppWrapper.h>???
?10?#include?<XnModuleCppInterface.h>????
?11?#include?"cv.h"???
?12?#include?"highgui.h"???
?13?
?14?
?15?#include?<windows.h>
?16?
?17?using?namespace?std;??
?18?using?namespace?cv;??
?19???
?20??
?21???
?22?//【1】??三個生成器
?23?xn::UserGenerator?userGenerator;??
?24?xn::DepthGenerator?depthGenerator;??
?25?xn::ImageGenerator?imageGenerator;??
?26???
?27?/*?
?28?????XN_SKEL_HEAD??????????=?1,????XN_SKEL_NECK????????????=?2,?
?29???XN_SKEL_TORSO?????????=?3,????XN_SKEL_WAIST???????????=?4,?
?30?????XN_SKEL_LEFT_COLLAR????????=?5,????XN_SKEL_LEFT_SHOULDER????????=?6,?
?31???XN_SKEL_LEFT_ELBOW????????=?7,??XN_SKEL_LEFT_WRIST??????????=?8,?
?32???XN_SKEL_LEFT_HAND??????????=?9,????XN_SKEL_LEFT_FINGERTIP????=10,?
?33?????XN_SKEL_RIGHT_COLLAR????=11,????XN_SKEL_RIGHT_SHOULDER????=12,?
?34???XN_SKEL_RIGHT_ELBOW????????=13,??XN_SKEL_RIGHT_WRIST??????????=14,?
?35???XN_SKEL_RIGHT_HAND??????=15,????XN_SKEL_RIGHT_FINGERTIP????=16,?
?36?????XN_SKEL_LEFT_HIP??????????=17,????XN_SKEL_LEFT_KNEE????????????=18,?
?37???XN_SKEL_LEFT_ANKLE????????=19,??XN_SKEL_LEFT_FOOT????????????=20,?
?38???XN_SKEL_RIGHT_HIP??????????=21,????XN_SKEL_RIGHT_KNEE??????????=22,?
?39?????XN_SKEL_RIGHT_ANKLE????????=23,????XN_SKEL_RIGHT_FOOT??????????=24?????
?40?*/??
?41?//a?line?will?be?drawn?between?start?point?and?corresponding?end?point???
?42?int?startSkelPoints[14]={1,2,6,6,12,17,6,7,12,13,17,18,21,22};??
?43?int?endSkelPoints[14]={2,3,12,21,17,21,7,9,13,15,18,20,22,24};??
?44?
?45?//識別函數
?46?void?recogGesture(XnPoint3D??skelPointsIn[24],?int?flag,unsigned?int&?imgIndex);
?47?
?48???
?49?//?callback?function?of?user?generator:?new?user??//回調函數1?new?user?
?50?void?XN_CALLBACK_TYPE?NewUser(?xn::UserGenerator&?generator,?XnUserID?user,void*?pCookie?)??
?51?{??
?52?????cout?<<?"New?user?identified:?"?<<?user?<<?endl;??
?53?????//userGenerator.GetSkeletonCap().LoadCalibrationDataFromFile(?user,?"UserCalibration.txt"?);???
?54?????generator.GetPoseDetectionCap().StartPoseDetection("Psi",?user);??
?55?}??
?56???
?57?//?callback?function?of?user?generator:?lost?user???//回調函數2?lost?user
?58?void?XN_CALLBACK_TYPE?LostUser(?xn::UserGenerator&?generator,?XnUserID?user,void*?pCookie?)??
?59?{??
?60?????cout?<<?"User?"?<<?user?<<?"?lost"?<<?endl;??
?61?}??
?62???
?63?//?callback?function?of?skeleton:?calibration?start???//回調函數3?calibration?start
?64?void?XN_CALLBACK_TYPE?CalibrationStart(?xn::SkeletonCapability&?skeleton,XnUserID?user,void*?pCookie?)??
?65?{??
?66?????cout?<<?"Calibration?start?for?user?"?<<??user?<<?endl;??
?67?}??
?68???
?69?//?callback?function?of?skeleton:?calibration?end????//回調函數4?calibraton
?70?void?XN_CALLBACK_TYPE?CalibrationEnd(?xn::SkeletonCapability&?skeleton,XnUserID?user,XnCalibrationStatus?calibrationError,void*?pCookie?)??
?71?{??
?72?????cout?<<?"Calibration?complete?for?user?"?<<??user?<<?",?";??
?73?????if(?calibrationError==XN_CALIBRATION_STATUS_OK?)??
?74?????{??
?75?????????cout?<<?"Success"?<<?endl;??
?76?????????skeleton.StartTracking(?user?);??
?77?????????//userGenerator.GetSkeletonCap().SaveCalibrationDataToFile(user,?"UserCalibration.txt"?);???
?78?????}??
?79?????else??
?80?????{??
?81?????????cout?<<?"Failure"?<<?endl;??
?82?????????//For?the?current?version?of?OpenNI,?only?Psi?pose?is?available??//重新調用姿勢檢測函數
?83?????????((xn::UserGenerator*)pCookie)->GetPoseDetectionCap().StartPoseDetection(?"Psi",?user?);??
?84?????}??
?85?}??
?86???
?87?//?callback?function?of?pose?detection:?pose?start???//回調函數5?姿勢檢測，現只支持Psi姿勢
?88?void?XN_CALLBACK_TYPE?PoseDetected(?xn::PoseDetectionCapability&?poseDetection,const?XnChar*?strPose,XnUserID?user,void*?pCookie)??
?89?{??
?90?????cout?<<?"Pose?"?<<?strPose?<<?"?detected?for?user?"?<<??user?<<?endl;??
?91?????((xn::UserGenerator*)pCookie)->GetSkeletonCap().RequestCalibration(?user,?FALSE?);??
?92?????poseDetection.StopPoseDetection(?user?);??
?93?}??
?94???
?95?void?clearImg(IplImage*?inputimg)??
?96?{??
?97?????CvFont?font;??
?98?????cvInitFont(?&font,?CV_FONT_VECTOR0,1,?1,?0,?3,?5);??
?99?????memset(inputimg->imageData,255,640*480*3);??
100?}??
101???
102???
103?int?main(?int?argc,?char**?argv?)??
104?{??
105?????char?key=0;??
106???
107????unsigned?int?imageBGIndex?=?0;?//背景圖片的序號
108?????//?initial?context???
109?????xn::Context?context;??
110?????context.Init();??
111?????xn::ImageMetaData?imageMD;//openni中的圖像數據??
112?????
113?????//場景人物掩碼數據
114?????xn::SceneMetaData?sceneMD;//人物掩碼數據
115?
116?????//背景圖片數組
117?????IplImage*?imgSceneBGs[10];
118?
119?????char?imageBGnames[50];?//背景圖片名字
120?
121?????for(int?i=0;i<10;i++)?
122?????{
123?????????sprintf(imageBGnames,"d:\\pic\\%d.jpg",i);
124?????????IplImage*?imgBackground?=?cvLoadImage(imageBGnames,1);
125?????????imgSceneBGs[i]?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//給這10個指針分配內存
126?
127?????????cvResize(imgBackground,imgSceneBGs[i],CV_INTER_LINEAR);//改變背景圖像大小,存入數組
128?????}
129???
130?????IplImage*?cameraImg=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);??
131?
132?????IplImage*?imgScene16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);//人物掩碼原始數據
133?
134?????IplImage*?imgSceneShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);//人物掩碼顯示數據
135?
136?????IplImage*?imgSceneRGB?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//人物RGB顯示數據
137?
138?????
139?
140?????//IplImage*?imgSceneBG?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//背景RGB顯示數據
141?????
142?
143?????IplImage*?imgMerge?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//融合圖像
144?
145?????cvNamedWindow("311B實驗室",0);??
146?????//cvNamedWindow("FIGURE",0);
147?
148?????//?map?output?mode???
149?????XnMapOutputMode?mapMode;??
150?????mapMode.nXRes?=?640;??
151?????mapMode.nYRes?=?480;??
152?????mapMode.nFPS?=?30;??
153???
154?????//?create?generator???
155?????depthGenerator.Create(?context?);??
156?????depthGenerator.SetMapOutputMode(?mapMode?);??
157?????imageGenerator.Create(?context?);??
158?????userGenerator.Create(?context?);??
159???
160???//【2】???
161?????//?Register?callback?functions?of?user?generator?//為userGenerator注冊回調函數?
162?????XnCallbackHandle?userCBHandle;??
163?????userGenerator.RegisterUserCallbacks(?NewUser,?LostUser,?NULL,?userCBHandle?);??
164???
165???//【3】???
166?????//?Register?callback?functions?of?skeleton?capability??//為skeletonCap骨架校正注冊回調函數?
167?????xn::SkeletonCapability?skeletonCap?=?userGenerator.GetSkeletonCap();??
168?????skeletonCap.SetSkeletonProfile(?XN_SKEL_PROFILE_ALL?);??
169?????XnCallbackHandle?calibCBHandle;??
170?????skeletonCap.RegisterToCalibrationStart(?CalibrationStart,&userGenerator,?calibCBHandle?);??
171?????skeletonCap.RegisterToCalibrationComplete(?CalibrationEnd,&userGenerator,?calibCBHandle?);??
172???
173???//【4】???
174?????//?Register?callback?functions?of?Pose?Detection?capability???
175?????XnCallbackHandle?poseCBHandle;??
176?????userGenerator.GetPoseDetectionCap().RegisterToPoseDetected(?PoseDetected,&userGenerator,?poseCBHandle?);??
177???
178?
179?????//【4-1】矯正視角
180??????depthGenerator.GetAlternativeViewPointCap().SetViewPoint(?imageGenerator?);
181?????//?start?generate?data???
182?????context.StartGeneratingAll();??
183?
184?????
185?
186?????while(?key!=27?)??
187?????{??
188?????????context.WaitAndUpdateAll();??
189???
190?????????imageGenerator.GetMetaData(imageMD);??
191?????????memcpy(cameraImg->imageData,imageMD.Data(),640*480*3);??
192?????????cvCvtColor(cameraImg,cameraImg,CV_RGB2BGR);??
193?????????//?get?users???
194?????????XnUInt16?userCounts?=?userGenerator.GetNumberOfUsers();??
195?????????if(?userCounts?>?0?)??
196?????????{??
197?????????????XnUserID*?userID?=?new?XnUserID[userCounts];??
198?????????????userGenerator.GetUsers(?userID,?userCounts?);??
199?
200?????????????
201?????????????for(?int?i?=?0;?i?<?userCounts;?++i?)?//循環每個用戶?
202?????????????{??
203?
204?
205?????????????????//獲取用戶掩碼的圖像
206?????????????????userGenerator.GetUserPixels(userID[i],sceneMD);
207?????????????????memcpy(imgScene16u->imageData,sceneMD.Data(),640*480*2);//復制內存
208?????????????????cvConvertScale(imgScene16u,imgSceneShow,255/4.0,0);
209?
210?
211?
212?????????????????//【5】???
213?????????????????//?if?is?tracking?skeleton???
214?????????????????if(?skeletonCap.IsTracking(?userID[i]?)?)??
215?????????????????{??
216?????????????????????XnPoint3D?skelPointsIn[24],skelPointsOut[24];??
217?????????????????????XnSkeletonJointTransformation?mJointTran;??
218?????????????????????for(int?iter=0;iter<24;iter++)??
219?????????????????????{??
220?????????????????????????//XnSkeletonJoint?from?1?to?24?????????????
221?????????????????????????????????????????????????skeletonCap.GetSkeletonJoint(?userID[i],XnSkeletonJoint(iter+1),?mJointTran?);??
222?????????????????????????skelPointsIn[iter]=mJointTran.position.position;??
223?
224?????????????????????????
225?????????????????????}??
226?
227?????????????????????//識別動作并發送按鍵消息
228??????????????????????recogGesture(skelPointsIn,?i%2,imageBGIndex);
229?
230?????????????????????//將數據轉換到投影坐標系
231?????????????????????depthGenerator.ConvertRealWorldToProjective(24,skelPointsIn,skelPointsOut);??
232?
233?????????????????????//【6】畫圖???
234?????????????????/*????for(int?d=0;d<1;d++)??
235?????????????????????{??
236?????????????????????????CvPoint?startpoint?=?cvPoint(skelPointsOut[startSkelPoints[d]-1].X,skelPointsOut[startSkelPoints[d]-1].Y);??
237?????????????????????????CvPoint?endpoint?=?cvPoint(skelPointsOut[endSkelPoints[d]-1].X,skelPointsOut[endSkelPoints[d]-1].Y);??
238???????????????
239?????????????????????????cvCircle(cameraImg,startpoint,5,CV_RGB(0,0,255),12);??
240????????????????????????//?cvCircle(cameraImg,endpoint,3,CV_RGB(0,0,255),12);??
241????????????????????????//?cvLine(cameraImg,startpoint,endpoint,CV_RGB(0,0,255),4);??
242?????????????????????}??*/
243?????????????????}??
244?????????????}??
245?????????????delete?[]?userID;??
246?????????}??
247?????????//memset(imgSceneRGB->imageData,0,640*480*3);?//顯示數據清0
248?????????
249?????????//cvCopy(cameraImg,imgSceneRGB,imgSceneShow);
250?
251?????????cvCopy(imgSceneBGs[imageBGIndex%10],imgMerge);?//選擇一個背景并復制背景圖像
252?
253?????????//cvAdd(imgMerge,?cameraImg,imgMerge,imgSceneShow);//加入摳出的人物圖像
254?????????
255?????????cvCopy(cameraImg,imgMerge,imgSceneShow);//加入摳出的人物圖像
256?
257?????????cvShowImage("311B實驗室",imgMerge);??
258?????????//cvShowImage("FIGURE",imgSceneShow);
259???
260?????????key=cvWaitKey(30);??
261?????????
262???
263?????}??
264?????//?stop?and?shutdown???
265?????cvDestroyWindow("Camera");??
266?????cvReleaseImage(&cameraImg);??
267?????context.StopGeneratingAll();??
268?????context.Shutdown();??
269???
270?????return?0;??
271?}??
272?
273?/*********************************************************************************************
274?//動作識別函數，
275?（根據骨架坐標點識別動作，并觸發相應的虛擬按鍵，后期這兩個功能需要用兩個函數實現）
276?//輸入：skelPointsIn[24]骨骼數據，用戶標識?flag，背景圖片序號
277?
278?**********************************************************************************************/
279?void?recogGesture(XnPoint3D??skelPointsIn[24],?int?flag,unsigned?int&?imgIndex)
280?{
281?????????????????????
282?????????//上一幀手的z坐標
283????????static??float?preLeftHandZ,?preRightHandZ;
284?????
285?????????//獲取頭和右手的坐標點
286?????????XnPoint3D?skelPointHead,skelPointRightHand,skelPointLeftHand;
287?????????//軀干中心
288?????????XnPoint3D?skelPointTorso;
289?????????//XnPoint3D?skelPointRightTip;
290?????????skelPointHead?=?skelPointsIn[XN_SKEL_HEAD-1];
291?????????skelPointRightHand?=?skelPointsIn[XN_SKEL_RIGHT_HAND-1];
292?????????skelPointLeftHand?=?skelPointsIn[XN_SKEL_LEFT_HAND-1];
293?
294?????????//軀干中心點數據
295?????????skelPointTorso?=?skelPointsIn[XN_SKEL_TORSO-1];
296??????????
297??????????
298?????????//判斷右手出拳動作
299?????????if(skelPointHead.Z-skelPointRightHand.Z>400.0&&//?大于頭部坐標一定位置
300?????????????skelPointHead.Z-preRightHandZ<=400.0&&
301?????????????skelPointRightHand.Y-skelPointTorso.Y>50)//高于軀干中心100
302?????????????{
303?????????????????/*//發送按鍵->
304?????????????????keybd_event(37,0,0,0);
305?????????????????Sleep(15);?//不知道有沒有用？？
306?????????????????keybd_event(37,0,KEYEVENTF_KEYUP,0);*/
307?????????????????++imgIndex?;
308?????????????
309?????????????????????????
310?????????????}
311?
312?????????//判斷左手出拳動作
313?????????if(skelPointHead.Z?-skelPointLeftHand.Z?>400.0&&//大于頭部Z坐標480
314?????????????skelPointHead.Z?-preLeftHandZ<=400.0&&
315?????????????skelPointLeftHand.Y-skelPointTorso.Y>50)//高于軀干中心100
316?????????{
317?
318?
319?????????????/*????//發送按鍵<-
320?????????????keybd_event(39,0,0,0);
321?????????????Sleep(15);
322?????????????keybd_event(39,0,KEYEVENTF_KEYUP,0);*/
323?
324?????????????--imgIndex;
325?
326?????????????????????????
327?????????}
328?
329?????????//判斷前進動作，兩手低下向前
330?????/*if(skelPointHead.Z-skelPointRightHand.Z>150&&skelPointHead.Z-skelPointLeftHand.Z>150&&//雙手手Z<頭Z200
331?????????????skelPointTorso.Y-skelPointRightHand.Y>150&&skelPointTorso.Y-skelPointLeftHand.Y>150)?//雙手Y低于軀干Y200
332?????????????
333?????????{
334?????
335?????????????//發送按鍵F5
336?????????????keybd_event(116,0,0,0);
337?????????????Sleep(15);
338?????????????keybd_event(116,0,KEYEVENTF_KEYUP,0);
339?????????
340?????????}*/
341?
342?????????//判斷后退動作，兩手低下向后
343?
344?????/*????????if(skelPointRightHand.Z-skelPointHead.Z>150&&skelPointLeftHand.Z-skelPointHead.Z>150&&?//雙手手Z>頭Z200
345?????????????skelPointTorso.Y-skelPointRightHand.Y>150&&skelPointTorso.Y-skelPointLeftHand.Y>150)//雙手Y低于軀干Y200
346?????????{
347?????????????//發送按鍵A
348?????????????keybd_event('A',0,0,0);
349?????????????Sleep(5);
350?????????????keybd_event('A',0,KEYEVENTF_KEYUP,0);
351?????????
352?????????
353?????????*/
354?????????????
355?????????//保留手坐標的歷史數據
356?????????preLeftHandZ?=?skelPointLeftHand.Z;
357?????????preRightHandZ?=?skelPointRightHand.Z;
358?????
359?
360?}
??2?//從采集的視頻中扣出人物圖像,并疊加在背景上
??3?
??4?*******************************************************************************************/
??5?#include?<stdlib.h>???
??6?#include?<iostream>???
??7?#include?<vector>???
??8???
??9?#include?<XnCppWrapper.h>???
?10?#include?<XnModuleCppInterface.h>????
?11?#include?"cv.h"???
?12?#include?"highgui.h"???
?13?
?14?
?15?#include?<windows.h>
?16?
?17?using?namespace?std;??
?18?using?namespace?cv;??
?19???
?20??
?21???
?22?//【1】??三個生成器
?23?xn::UserGenerator?userGenerator;??
?24?xn::DepthGenerator?depthGenerator;??
?25?xn::ImageGenerator?imageGenerator;??
?26???
?27?/*?
?28?????XN_SKEL_HEAD??????????=?1,????XN_SKEL_NECK????????????=?2,?
?29???XN_SKEL_TORSO?????????=?3,????XN_SKEL_WAIST???????????=?4,?
?30?????XN_SKEL_LEFT_COLLAR????????=?5,????XN_SKEL_LEFT_SHOULDER????????=?6,?
?31???XN_SKEL_LEFT_ELBOW????????=?7,??XN_SKEL_LEFT_WRIST??????????=?8,?
?32???XN_SKEL_LEFT_HAND??????????=?9,????XN_SKEL_LEFT_FINGERTIP????=10,?
?33?????XN_SKEL_RIGHT_COLLAR????=11,????XN_SKEL_RIGHT_SHOULDER????=12,?
?34???XN_SKEL_RIGHT_ELBOW????????=13,??XN_SKEL_RIGHT_WRIST??????????=14,?
?35???XN_SKEL_RIGHT_HAND??????=15,????XN_SKEL_RIGHT_FINGERTIP????=16,?
?36?????XN_SKEL_LEFT_HIP??????????=17,????XN_SKEL_LEFT_KNEE????????????=18,?
?37???XN_SKEL_LEFT_ANKLE????????=19,??XN_SKEL_LEFT_FOOT????????????=20,?
?38???XN_SKEL_RIGHT_HIP??????????=21,????XN_SKEL_RIGHT_KNEE??????????=22,?
?39?????XN_SKEL_RIGHT_ANKLE????????=23,????XN_SKEL_RIGHT_FOOT??????????=24?????
?40?*/??
?41?//a?line?will?be?drawn?between?start?point?and?corresponding?end?point???
?42?int?startSkelPoints[14]={1,2,6,6,12,17,6,7,12,13,17,18,21,22};??
?43?int?endSkelPoints[14]={2,3,12,21,17,21,7,9,13,15,18,20,22,24};??
?44?
?45?//識別函數
?46?void?recogGesture(XnPoint3D??skelPointsIn[24],?int?flag,unsigned?int&?imgIndex);
?47?
?48???
?49?//?callback?function?of?user?generator:?new?user??//回調函數1?new?user?
?50?void?XN_CALLBACK_TYPE?NewUser(?xn::UserGenerator&?generator,?XnUserID?user,void*?pCookie?)??
?51?{??
?52?????cout?<<?"New?user?identified:?"?<<?user?<<?endl;??
?53?????//userGenerator.GetSkeletonCap().LoadCalibrationDataFromFile(?user,?"UserCalibration.txt"?);???
?54?????generator.GetPoseDetectionCap().StartPoseDetection("Psi",?user);??
?55?}??
?56???
?57?//?callback?function?of?user?generator:?lost?user???//回調函數2?lost?user
?58?void?XN_CALLBACK_TYPE?LostUser(?xn::UserGenerator&?generator,?XnUserID?user,void*?pCookie?)??
?59?{??
?60?????cout?<<?"User?"?<<?user?<<?"?lost"?<<?endl;??
?61?}??
?62???
?63?//?callback?function?of?skeleton:?calibration?start???//回調函數3?calibration?start
?64?void?XN_CALLBACK_TYPE?CalibrationStart(?xn::SkeletonCapability&?skeleton,XnUserID?user,void*?pCookie?)??
?65?{??
?66?????cout?<<?"Calibration?start?for?user?"?<<??user?<<?endl;??
?67?}??
?68???
?69?//?callback?function?of?skeleton:?calibration?end????//回調函數4?calibraton
?70?void?XN_CALLBACK_TYPE?CalibrationEnd(?xn::SkeletonCapability&?skeleton,XnUserID?user,XnCalibrationStatus?calibrationError,void*?pCookie?)??
?71?{??
?72?????cout?<<?"Calibration?complete?for?user?"?<<??user?<<?",?";??
?73?????if(?calibrationError==XN_CALIBRATION_STATUS_OK?)??
?74?????{??
?75?????????cout?<<?"Success"?<<?endl;??
?76?????????skeleton.StartTracking(?user?);??
?77?????????//userGenerator.GetSkeletonCap().SaveCalibrationDataToFile(user,?"UserCalibration.txt"?);???
?78?????}??
?79?????else??
?80?????{??
?81?????????cout?<<?"Failure"?<<?endl;??
?82?????????//For?the?current?version?of?OpenNI,?only?Psi?pose?is?available??//重新調用姿勢檢測函數
?83?????????((xn::UserGenerator*)pCookie)->GetPoseDetectionCap().StartPoseDetection(?"Psi",?user?);??
?84?????}??
?85?}??
?86???
?87?//?callback?function?of?pose?detection:?pose?start???//回調函數5?姿勢檢測，現只支持Psi姿勢
?88?void?XN_CALLBACK_TYPE?PoseDetected(?xn::PoseDetectionCapability&?poseDetection,const?XnChar*?strPose,XnUserID?user,void*?pCookie)??
?89?{??
?90?????cout?<<?"Pose?"?<<?strPose?<<?"?detected?for?user?"?<<??user?<<?endl;??
?91?????((xn::UserGenerator*)pCookie)->GetSkeletonCap().RequestCalibration(?user,?FALSE?);??
?92?????poseDetection.StopPoseDetection(?user?);??
?93?}??
?94???
?95?void?clearImg(IplImage*?inputimg)??
?96?{??
?97?????CvFont?font;??
?98?????cvInitFont(?&font,?CV_FONT_VECTOR0,1,?1,?0,?3,?5);??
?99?????memset(inputimg->imageData,255,640*480*3);??
100?}??
101???
102???
103?int?main(?int?argc,?char**?argv?)??
104?{??
105?????char?key=0;??
106???
107????unsigned?int?imageBGIndex?=?0;?//背景圖片的序號
108?????//?initial?context???
109?????xn::Context?context;??
110?????context.Init();??
111?????xn::ImageMetaData?imageMD;//openni中的圖像數據??
112?????
113?????//場景人物掩碼數據
114?????xn::SceneMetaData?sceneMD;//人物掩碼數據
115?
116?????//背景圖片數組
117?????IplImage*?imgSceneBGs[10];
118?
119?????char?imageBGnames[50];?//背景圖片名字
120?
121?????for(int?i=0;i<10;i++)?
122?????{
123?????????sprintf(imageBGnames,"d:\\pic\\%d.jpg",i);
124?????????IplImage*?imgBackground?=?cvLoadImage(imageBGnames,1);
125?????????imgSceneBGs[i]?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//給這10個指針分配內存
126?
127?????????cvResize(imgBackground,imgSceneBGs[i],CV_INTER_LINEAR);//改變背景圖像大小,存入數組
128?????}
129???
130?????IplImage*?cameraImg=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);??
131?
132?????IplImage*?imgScene16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);//人物掩碼原始數據
133?
134?????IplImage*?imgSceneShow=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);//人物掩碼顯示數據
135?
136?????IplImage*?imgSceneRGB?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//人物RGB顯示數據
137?
138?????
139?
140?????//IplImage*?imgSceneBG?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//背景RGB顯示數據
141?????
142?
143?????IplImage*?imgMerge?=?cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);//融合圖像
144?
145?????cvNamedWindow("311B實驗室",0);??
146?????//cvNamedWindow("FIGURE",0);
147?
148?????//?map?output?mode???
149?????XnMapOutputMode?mapMode;??
150?????mapMode.nXRes?=?640;??
151?????mapMode.nYRes?=?480;??
152?????mapMode.nFPS?=?30;??
153???
154?????//?create?generator???
155?????depthGenerator.Create(?context?);??
156?????depthGenerator.SetMapOutputMode(?mapMode?);??
157?????imageGenerator.Create(?context?);??
158?????userGenerator.Create(?context?);??
159???
160???//【2】???
161?????//?Register?callback?functions?of?user?generator?//為userGenerator注冊回調函數?
162?????XnCallbackHandle?userCBHandle;??
163?????userGenerator.RegisterUserCallbacks(?NewUser,?LostUser,?NULL,?userCBHandle?);??
164???
165???//【3】???
166?????//?Register?callback?functions?of?skeleton?capability??//為skeletonCap骨架校正注冊回調函數?
167?????xn::SkeletonCapability?skeletonCap?=?userGenerator.GetSkeletonCap();??
168?????skeletonCap.SetSkeletonProfile(?XN_SKEL_PROFILE_ALL?);??
169?????XnCallbackHandle?calibCBHandle;??
170?????skeletonCap.RegisterToCalibrationStart(?CalibrationStart,&userGenerator,?calibCBHandle?);??
171?????skeletonCap.RegisterToCalibrationComplete(?CalibrationEnd,&userGenerator,?calibCBHandle?);??
172???
173???//【4】???
174?????//?Register?callback?functions?of?Pose?Detection?capability???
175?????XnCallbackHandle?poseCBHandle;??
176?????userGenerator.GetPoseDetectionCap().RegisterToPoseDetected(?PoseDetected,&userGenerator,?poseCBHandle?);??
177???
178?
179?????//【4-1】矯正視角
180??????depthGenerator.GetAlternativeViewPointCap().SetViewPoint(?imageGenerator?);
181?????//?start?generate?data???
182?????context.StartGeneratingAll();??
183?
184?????
185?
186?????while(?key!=27?)??
187?????{??
188?????????context.WaitAndUpdateAll();??
189???
190?????????imageGenerator.GetMetaData(imageMD);??
191?????????memcpy(cameraImg->imageData,imageMD.Data(),640*480*3);??
192?????????cvCvtColor(cameraImg,cameraImg,CV_RGB2BGR);??
193?????????//?get?users???
194?????????XnUInt16?userCounts?=?userGenerator.GetNumberOfUsers();??
195?????????if(?userCounts?>?0?)??
196?????????{??
197?????????????XnUserID*?userID?=?new?XnUserID[userCounts];??
198?????????????userGenerator.GetUsers(?userID,?userCounts?);??
199?
200?????????????
201?????????????for(?int?i?=?0;?i?<?userCounts;?++i?)?//循環每個用戶?
202?????????????{??
203?
204?
205?????????????????//獲取用戶掩碼的圖像
206?????????????????userGenerator.GetUserPixels(userID[i],sceneMD);
207?????????????????memcpy(imgScene16u->imageData,sceneMD.Data(),640*480*2);//復制內存
208?????????????????cvConvertScale(imgScene16u,imgSceneShow,255/4.0,0);
209?
210?
211?
212?????????????????//【5】???
213?????????????????//?if?is?tracking?skeleton???
214?????????????????if(?skeletonCap.IsTracking(?userID[i]?)?)??
215?????????????????{??
216?????????????????????XnPoint3D?skelPointsIn[24],skelPointsOut[24];??
217?????????????????????XnSkeletonJointTransformation?mJointTran;??
218?????????????????????for(int?iter=0;iter<24;iter++)??
219?????????????????????{??
220?????????????????????????//XnSkeletonJoint?from?1?to?24?????????????
221?????????????????????????????????????????????????skeletonCap.GetSkeletonJoint(?userID[i],XnSkeletonJoint(iter+1),?mJointTran?);??
222?????????????????????????skelPointsIn[iter]=mJointTran.position.position;??
223?
224?????????????????????????
225?????????????????????}??
226?
227?????????????????????//識別動作并發送按鍵消息
228??????????????????????recogGesture(skelPointsIn,?i%2,imageBGIndex);
229?
230?????????????????????//將數據轉換到投影坐標系
231?????????????????????depthGenerator.ConvertRealWorldToProjective(24,skelPointsIn,skelPointsOut);??
232?
233?????????????????????//【6】畫圖???
234?????????????????/*????for(int?d=0;d<1;d++)??
235?????????????????????{??
236?????????????????????????CvPoint?startpoint?=?cvPoint(skelPointsOut[startSkelPoints[d]-1].X,skelPointsOut[startSkelPoints[d]-1].Y);??
237?????????????????????????CvPoint?endpoint?=?cvPoint(skelPointsOut[endSkelPoints[d]-1].X,skelPointsOut[endSkelPoints[d]-1].Y);??
238???????????????
239?????????????????????????cvCircle(cameraImg,startpoint,5,CV_RGB(0,0,255),12);??
240????????????????????????//?cvCircle(cameraImg,endpoint,3,CV_RGB(0,0,255),12);??
241????????????????????????//?cvLine(cameraImg,startpoint,endpoint,CV_RGB(0,0,255),4);??
242?????????????????????}??*/
243?????????????????}??
244?????????????}??
245?????????????delete?[]?userID;??
246?????????}??
247?????????//memset(imgSceneRGB->imageData,0,640*480*3);?//顯示數據清0
248?????????
249?????????//cvCopy(cameraImg,imgSceneRGB,imgSceneShow);
250?
251?????????cvCopy(imgSceneBGs[imageBGIndex%10],imgMerge);?//選擇一個背景并復制背景圖像
252?
253?????????//cvAdd(imgMerge,?cameraImg,imgMerge,imgSceneShow);//加入摳出的人物圖像
254?????????
255?????????cvCopy(cameraImg,imgMerge,imgSceneShow);//加入摳出的人物圖像
256?
257?????????cvShowImage("311B實驗室",imgMerge);??
258?????????//cvShowImage("FIGURE",imgSceneShow);
259???
260?????????key=cvWaitKey(30);??
261?????????
262???
263?????}??
264?????//?stop?and?shutdown???
265?????cvDestroyWindow("Camera");??
266?????cvReleaseImage(&cameraImg);??
267?????context.StopGeneratingAll();??
268?????context.Shutdown();??
269???
270?????return?0;??
271?}??
272?
273?/*********************************************************************************************
274?//動作識別函數，
275?（根據骨架坐標點識別動作，并觸發相應的虛擬按鍵，后期這兩個功能需要用兩個函數實現）
276?//輸入：skelPointsIn[24]骨骼數據，用戶標識?flag，背景圖片序號
277?
278?**********************************************************************************************/
279?void?recogGesture(XnPoint3D??skelPointsIn[24],?int?flag,unsigned?int&?imgIndex)
280?{
281?????????????????????
282?????????//上一幀手的z坐標
283????????static??float?preLeftHandZ,?preRightHandZ;
284?????
285?????????//獲取頭和右手的坐標點
286?????????XnPoint3D?skelPointHead,skelPointRightHand,skelPointLeftHand;
287?????????//軀干中心
288?????????XnPoint3D?skelPointTorso;
289?????????//XnPoint3D?skelPointRightTip;
290?????????skelPointHead?=?skelPointsIn[XN_SKEL_HEAD-1];
291?????????skelPointRightHand?=?skelPointsIn[XN_SKEL_RIGHT_HAND-1];
292?????????skelPointLeftHand?=?skelPointsIn[XN_SKEL_LEFT_HAND-1];
293?
294?????????//軀干中心點數據
295?????????skelPointTorso?=?skelPointsIn[XN_SKEL_TORSO-1];
296??????????
297??????????
298?????????//判斷右手出拳動作
299?????????if(skelPointHead.Z-skelPointRightHand.Z>400.0&&//?大于頭部坐標一定位置
300?????????????skelPointHead.Z-preRightHandZ<=400.0&&
301?????????????skelPointRightHand.Y-skelPointTorso.Y>50)//高于軀干中心100
302?????????????{
303?????????????????/*//發送按鍵->
304?????????????????keybd_event(37,0,0,0);
305?????????????????Sleep(15);?//不知道有沒有用？？
306?????????????????keybd_event(37,0,KEYEVENTF_KEYUP,0);*/
307?????????????????++imgIndex?;
308?????????????
309?????????????????????????
310?????????????}
311?
312?????????//判斷左手出拳動作
313?????????if(skelPointHead.Z?-skelPointLeftHand.Z?>400.0&&//大于頭部Z坐標480
314?????????????skelPointHead.Z?-preLeftHandZ<=400.0&&
315?????????????skelPointLeftHand.Y-skelPointTorso.Y>50)//高于軀干中心100
316?????????{
317?
318?
319?????????????/*????//發送按鍵<-
320?????????????keybd_event(39,0,0,0);
321?????????????Sleep(15);
322?????????????keybd_event(39,0,KEYEVENTF_KEYUP,0);*/
323?
324?????????????--imgIndex;
325?
326?????????????????????????
327?????????}
328?
329?????????//判斷前進動作，兩手低下向前
330?????/*if(skelPointHead.Z-skelPointRightHand.Z>150&&skelPointHead.Z-skelPointLeftHand.Z>150&&//雙手手Z<頭Z200
331?????????????skelPointTorso.Y-skelPointRightHand.Y>150&&skelPointTorso.Y-skelPointLeftHand.Y>150)?//雙手Y低于軀干Y200
332?????????????
333?????????{
334?????
335?????????????//發送按鍵F5
336?????????????keybd_event(116,0,0,0);
337?????????????Sleep(15);
338?????????????keybd_event(116,0,KEYEVENTF_KEYUP,0);
339?????????
340?????????}*/
341?
342?????????//判斷后退動作，兩手低下向后
343?
344?????/*????????if(skelPointRightHand.Z-skelPointHead.Z>150&&skelPointLeftHand.Z-skelPointHead.Z>150&&?//雙手手Z>頭Z200
345?????????????skelPointTorso.Y-skelPointRightHand.Y>150&&skelPointTorso.Y-skelPointLeftHand.Y>150)//雙手Y低于軀干Y200
346?????????{
347?????????????//發送按鍵A
348?????????????keybd_event('A',0,0,0);
349?????????????Sleep(5);
350?????????????keybd_event('A',0,KEYEVENTF_KEYUP,0);
351?????????
352?????????
353?????????*/
354?????????????
355?????????//保留手坐標的歷史數據
356?????????preLeftHandZ?=?skelPointLeftHand.Z;
357?????????preRightHandZ?=?skelPointRightHand.Z;
358?????
359?
360?}
代碼沒時間來整理優化，寫的比較粗糙，歡迎大家拍磚。其中骨骼數據提取參考了小斤的博客http://blog.csdn.net/chenxin_130/article/details/6950480。
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重定義問題的解決)
