一、kinect开发的一个流程图
1、我们可以知道一个简单的框架就是几部分
（1）选择使用的kinect传感器
KinectSensor.KinectSensors[]
（2）打开需要的数据流
_kinect.DepthStream.Enable();
_kinect.ColorStream.Enable();
_kinect.SkeletonStream.Enable();
（3）注册事件
其实就是主要的算法在这里体现。
有个小窍门：VS的CodeSnippet快速生成事件代码，如在代码“_kinect.DepthFrameReady+=”后面连续按两次“Tab”键，就会生成相应的时间并处理相应的代码。
二、初始化、启用kinect设备
代码如下，记得要声明一个私有成员变量_kinect，并在MainWindow()里面调用。
KinectSensor _kinect;
private void startKinect()
{
if(KinectSensor.KinectSensors.Count>)
{
//选择第一个kinect设备
_kinect = KinectSensor.KinectSensors[];
MessageBox.Show("Kinect目前状态为：" + _kinect.Status);
//初始化设定，启用彩色图像，深度图像和骨骼追踪
_kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
_kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
_kinect.SkeletonStream.Enable();
//注册时间，该方法将保证彩色图像，深度图像和骨骼图像的同步
_kinect.AllFramesReady += _kinect_AllFramesReady;
//启动kinect
_kinect.Start();
}
else
{
MessageBox.Show("没有发现任何kinect设备");
}
}
void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
}
三、彩色图像流数据处理
1、在MainWindows窗体上新增一个Image控件，命名为imageCamera
2、在_kinect_AllFramesReady事件处理中增加如下代码、
//显示彩色摄像头
using(ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if(colorFrame == null)
{
return;
} byte[] pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels); //BGR32格式图片一个像素为4个字节
int stride = colorFrame.Width * ;
ImageCamera.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height, , , PixelFormats.Bgr32, null, pixels, stride); }
BGR32图像的1像素对应4字节（32位），分别是B,G,R，阿尔法通道（透明度）。
BitmapSource.Create是一个从数组到二维矩阵的过程。
Stride为图片步长，代表图片一行像素所占的字节数，为摄像头传输图片的宽度乘以4，
DPI，越高越清晰，普通的显示器就是96差不多。
3、效果图
四、深度数据捕获
1、定义深度图像的有效视角范围。
const float MaxDepthDistance = ;
const float MinDepthDistance = ;
const float MaxDepthDistanceOffest = MaxDepthDistance - MinDepthDistance; private const int RedIndex = ;
private const int GreenIndex = ;
private const int BlueIndex = ;
2、代码
private byte[]convertDepthFrameToColorFrame(DepthImageFrame depthFrame)
{
short[] rawDepthData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(rawDepthData); Byte[] piexls = new byte[depthFrame.Height * depthFrame.Width * ]; for(int depthIndex = ,colorIndex=;depthIndex<rawDepthData.Length&&colorIndex<piexls.Length;depthIndex++,colorIndex+=)
{
int player = rawDepthData[depthIndex] & DepthImageFrame.PlayerIndexBitmask; int depth = rawDepthData[depthIndex];
if(depth<=)
{
piexls[colorIndex + BlueIndex] = ;
piexls[colorIndex + GreenIndex] = ;
piexls[colorIndex + RedIndex] = ;
}
else if(depth>&&depth<)
{
piexls[colorIndex + BlueIndex] = ;
piexls[colorIndex + GreenIndex] = ;
piexls[colorIndex + RedIndex] = ;
}
else if(depth>)
{
piexls[colorIndex + BlueIndex] = ;
piexls[colorIndex + GreenIndex] = ;
piexls[colorIndex + RedIndex] = ;
} byte intensity = CalculateIntensityFromDepth(depth);
piexls[colorIndex + BlueIndex] = intensity;
piexls[colorIndex + GreenIndex] = intensity;
piexls[colorIndex + RedIndex] = intensity; if(player>)
{
piexls[colorIndex + BlueIndex] = Colors.LightGreen.B;
piexls[colorIndex + GreenIndex] = Colors.LightGreen.G;
piexls[colorIndex + RedIndex] = Colors.LightGreen.R;
}
}
return piexls;
} void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
//显示彩色摄像头
using(ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if(colorFrame == null)
{
return;
} byte[] pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels); //BGR32格式图片一个像素为4个字节
int stride = colorFrame.Width * ;
ImageCamera.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height, , , PixelFormats.Bgr32, null, pixels, stride); } using(DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if(depthFrame==null)
{
return;
} byte[] piexls = convertDepthFrameToColorFrame(depthFrame); int stride = depthFrame.Width * ;
imageDepth.Source = BitmapSource.Create(depthFrame.Width, depthFrame.Height, , , PixelFormats.Bgr32, null, piexls, stride); }
3、效果图
五、骨骼追踪
1、首先注释掉我们之前注册的时间，重新注册一个彩色数据流时间和一个骨骼事件，然后添加如下代码
private Skeleton[] skeletons;
void _kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
bool isSkeletonDataEeady = false;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if(skeletonFrame!=null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
isSkeletonDataEeady = true;
} } if(isSkeletonDataEeady==true)
{
Skeleton currentSkeleton = (from s in skeletons where s.TrackingState == SkeletonTrackingState.Tracked select s).FirstOrDefault();
if(currentSkeleton !=null)
{
lockHeadWithSpot(currentSkeleton);
} }
} void lockHeadWithSpot(Skeleton s)
{
Joint head = s.Joints[JointType.Head];
ColorImagePoint colorPoint = _kinect.MapSkeletonPointToColor(head.Position, _kinect.ColorStream.Format); Point p = new Point((int)(ImageCamera.Width * colorPoint.X / _kinect.ColorStream.FrameWidth),
(int)(ImageCamera.Height * colorPoint.Y / _kinect.ColorStream.FrameHeight)); Canvas.SetLeft(ellipseHead, p.X);
Canvas.SetRight(ellipseHead, p.Y);
} void _kinect_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame == null)
{
return;
} byte[] pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels); //BGR32格式图片一个像素为4个字节
int stride = colorFrame.Width * ;
ImageCamera.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height, , , PixelFormats.Bgr32, null, pixels, stride); } }
2、效果图
六关闭kinect设备
private void stopKinect()
{
if(_kinect != null)
{
if(_kinect.Status== KinectStatus.Connected)
{
_kinect.Stop();
}
}
}
