windows下用kinect V2 识别人体骨骼

    #include <iostream>
    #include <opencv2\imgproc.hpp>  //opencv头文件
    #include <opencv2\calib3d.hpp>
    #include <opencv2\highgui.hpp>
    #include <Kinect.h> //Kinect头文件
    
    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);
    }
    }