kinect2.0控制鼠标

#include <cv.h> #include <highgui.h> #include <Kinect.h> #include<WinUser.h> #pragma comment ( lib, "kinect20.lib" ) # pragma comment(lib,"user32.lib" ) using namespace std; using namespace cv; //释放接口需要自己定义 template<class Interface> inline void SafeRelease(Interface *& pInterfaceToRelease) { if (pInterfaceToRelease != NULL){ pInterfaceToRelease->Release(); pInterfaceToRelease = NULL; } } void DrawBone(Mat& SkeletonImage, CvPoint pointSet[], const Joint* pJoints, int whichone, JointType joint0, JointType joint1); void drawSkeleton(Mat& SkeletonImage, CvPoint pointSet[], const Joint* pJoints, int whichone); int main(int argc, char **argv[]) { //OpenCV中开启CPU的硬件指令优化功能函数 setUseOptimized(true); // Sensor IKinectSensor* pSensor; HRESULT hResult = S_OK; hResult = GetDefaultKinectSensor(&pSensor); if (FAILED(hResult)){ std::cerr << "Error : GetDefaultKinectSensor" << std::endl; return -1; } hResult = pSensor->Open(); if (FAILED(hResult)){ std::cerr << "Error : IKinectSensor::Open()" << std::endl; return -1; } //Source IDepthFrameSource *pDepthrSource; hResult = pSensor->get_DepthFrameSource(&pDepthrSource); if (FAILED(hResult)){ std::cerr << "Error : IKinectSensor::get_DepthFrameSource()" << std::endl; } IBodyFrameSource* pBodySource; hResult = pSensor->get_BodyFrameSource(&pBodySource); if (FAILED(hResult)){ std::cerr << "Error : IKinectSensor::get_BodyFrameSource()" << std::endl; return -1; } // Reader IDepthFrameReader*pDepthReader; hResult = pDepthrSource->OpenReader(&pDepthReader); if (FAILED(hResult)){ std::cerr << "Error : IDepthFrameReader::OpenReader()" << std::endl; return -1; } IBodyFrameReader* pBodyReader; hResult = pBodySource->OpenReader(&pBodyReader); if (FAILED(hResult)){ std::cerr << "Error : IBodyFrameSource::OpenReader()" << std::endl; return -1; } // Description IFrameDescription* pDescription; hResult = pDepthrSource->get_FrameDescription(&pDescription); if (FAILED(hResult)){ std::cerr << "Error : IDepthFrameSource::get_FrameDescription()" << std::endl; return -1; } int width = 0; int height = 0; pDescription->get_Width(&width); pDescription->get_Height(&height); UINT16 *data = new UINT16[width*height]; cv::Mat bufferMat(height, width, CV_8UC1); cv::Mat bodyMat(height / 2, width / 2, CV_8UC4); cv::namedWindow("Body"); // Color Table cv::Vec3b color[BODY_COUNT]; color[0] = cv::Vec3b(255, 0, 0); color[1] = cv::Vec3b(0, 255, 0); color[2] = cv::Vec3b(0, 0, 255); color[3] = cv::Vec3b(255, 255, 0); color[4] = cv::Vec3b(255, 0, 255); color[5] = cv::Vec3b(0, 255, 255); // Coordinate Mapper ICoordinateMapper* pCoordinateMapper; hResult = pSensor->get_CoordinateMapper(&pCoordinateMapper); if (FAILED(hResult)){ std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl; return -1; } while (1){ // Frame IDepthFrame*pDepthframe; hResult = pDepthReader->AcquireLatestFrame(&pDepthframe); if (SUCCEEDED(hResult)) { pDepthframe->CopyFrameDataToArray(height*width, data); for (int i = 0; i < width*height; i++) { byte intensity = (byte)(data[i] >> 3); //类型的转换,data内的值即为距离 reinterpret_cast<BYTE*>(bufferMat.data)[i] = intensity; } } //更新骨骼帧 IBodyFrame* pBodyFrame = nullptr; hResult = pBodyReader->AcquireLatestFrame(&pBodyFrame); if (SUCCEEDED(hResult)){ IBody* pBody[BODY_COUNT] = { 0 }; //更新骨骼数据 hResult = pBodyFrame->GetAndRefreshBodyData(BODY_COUNT, pBody); if (SUCCEEDED(hResult)){ for (int count = 0; count < BODY_COUNT; count++){ BOOLEAN bTracked = false; hResult = pBody[count]->get_IsTracked(&bTracked); if (SUCCEEDED(hResult) && bTracked){ Joint joint[JointType::JointType_Count]; hResult = pBody[count]->GetJoints(JointType::JointType_Count, joint); if (SUCCEEDED(hResult)){ // Left Hand State HandState leftHandState = HandState::HandState_Unknown; hResult = pBody[count]->get_HandLeftState(&leftHandState); if (SUCCEEDED(hResult)){ DepthSpacePoint depthSpacePoint = { 0 }; hResult = pCoordinateMapper->MapCameraPointToDepthSpace(joint[JointType::JointType_HandLeft].Position,&depthSpacePoint ); if (SUCCEEDED(hResult)){ int x = static_cast<int>(depthSpacePoint.X); int y = static_cast<int>(depthSpacePoint.Y); if ((x >= 0) && (x < width) && (y >= 0) && (y < height)){ if (leftHandState == HandState::HandState_Open){ // cv::circle(bufferMat, cv::Point(x, y), 75, cv::Scalar(0, 128, 0), 5, CV_AA); } else if (leftHandState == HandState::HandState_Closed){ // cv::circle(bufferMat, cv::Point(x, y), 75, cv::Scalar(0, 0, 128), 5, CV_AA); } else if (leftHandState == HandState::HandState_Lasso){ // cv::circle(bufferMat, cv::Point(x, y), 75, cv::Scalar(128, 128, 0), 5, CV_AA); } } } } // Right Hand State HandState rightHandState = HandState::HandState_Unknown; hResult = pBody[count]->get_HandRightState(&rightHandState); if (SUCCEEDED(hResult)){ DepthSpacePoint depthSpacePoint = { 0 }; hResult = pCoordinateMapper->MapCameraPointToDepthSpace(joint[JointType::JointType_HandRight].Position, &depthSpacePoint); if (SUCCEEDED(hResult)){ int x = static_cast<int>(depthSpacePoint.X); int y = static_cast<int>(depthSpacePoint.Y); mouse_event(MOUSEEVENTF_ABSOLUTE | MOUSEEVENTF_MOVE, (depthSpacePoint.X - 160) * 65536 / 640 * 2, (depthSpacePoint.Y - 120) * 65536 / 480 * 2, 0, 0); if ((x >= 0) && (x < width) && (y >= 0) && (y < height)){ if (rightHandState == HandState::HandState_Open){ cv::circle(bufferMat, cv::Point(x, y), 50, cv::Scalar(0, 128, 0), 5, CV_AA); } else if (rightHandState == HandState::HandState_Closed){ cv::circle(bufferMat, cv::Point(x, y), 50, cv::Scalar(0, 0, 128), 5, CV_AA); } else if (rightHandState == HandState::HandState_Lasso){ cv::circle(bufferMat, cv::Point(x, y), 50, cv::Scalar(128, 128, 0), 5, CV_AA); } } } } CvPoint skeletonPoint[BODY_COUNT][JointType_Count] = { cvPoint(0, 0) }; // Joint for (int type = 0; type < JointType::JointType_Count; type++){ DepthSpacePoint depthSpacePoint = { 0 }; pCoordinateMapper->MapCameraPointToDepthSpace(joint[type].Position, &depthSpacePoint); int x = static_cast<int>(depthSpacePoint.X); int y = static_cast<int>(depthSpacePoint.Y); skeletonPoint[count][type].x = x; skeletonPoint[count][type].y = y; if ((x >= 0) && (x < width) && (y >= 0) && (y < height)){ cv::circle(bufferMat, cv::Point(x, y), 5, static_cast< cv::Scalar >(color[count]), -1, CV_AA); } } //画骨骼 drawSkeleton(bufferMat, skeletonPoint[count], joint, count); } } } cv::resize(bufferMat, bodyMat, cv::Size(), 0.5, 0.5); } for (int count = 0; count < BODY_COUNT; count++){ SafeRelease(pBody[count]); } } SafeRelease(pDepthframe); SafeRelease(pBodyFrame); waitKey(1); cv::imshow("Body", bodyMat); } SafeRelease(pDepthrSource); SafeRelease(pDepthReader); SafeRelease(pDescription); SafeRelease(pBodySource); // done with body frame reader SafeRelease(pBodyReader); SafeRelease(pDescription); // done with coordinate mapper SafeRelease(pCoordinateMapper); if (pSensor){ pSensor->Close(); } SafeRelease(pSensor); return 0; } void DrawBone(Mat& SkeletonImage, CvPoint po