body basics的demo


下面我们来一个比较复杂的,bodybasic的显示。这个就是显示骨骼数据。

这里我就只做备注,不自己写demo了

//------------------------------------------------------------------------------
// <copyright file="MainWindow.xaml.cs" company="Microsoft">
//     Copyright (c) Microsoft Corporation.  All rights reserved.
// </copyright>
//------------------------------------------------------------------------------

namespace Microsoft.Samples.Kinect.BodyBasics
{
    using System;
    using System.Collections.Generic;
    using System.ComponentModel;
    using System.Diagnostics;
    using System.Globalization;
    using System.IO;
    using System.Windows;
    using System.Windows.Media;
    using System.Windows.Media.Imaging;
    using Microsoft.Kinect;

    /// <summary>
    /// Interaction logic for MainWindow
    /// </summary>
    public partial class MainWindow : Window, INotifyPropertyChanged
    {
        /// <summary>
        /// Radius of drawn hand circles
        /// </summary>
        ///显示手的范围-圆角的尺寸
        private const double HandSize = 30;

        /// <summary>
        /// Thickness of drawn joint lines
        /// </summary>
        /// 线的粗细
        private const double JointThickness = 3;

        /// <summary>
        /// Thickness of clip edge rectangles
        /// </summary>
        /// 线的角度
        private const double ClipBoundsThickness = 10;

        /// <summary>
        /// Constant for clamping Z values of camera space points from being negative
        /// </summary>
        /// z轴的位置
        private const float InferredZPositionClamp = 0.1f;

        /// <summary>
        /// Brush used for drawing hands that are currently tracked as closed
        /// </summary>
        /// 当手闭合时的颜色
        private readonly Brush handClosedBrush = new SolidColorBrush(Color.FromArgb(128, 255, 0, 0));

        /// <summary>
        /// Brush used for drawing hands that are currently tracked as opened
        /// </summary>
        /// 手张开时的颜色
        private readonly Brush handOpenBrush = new SolidColorBrush(Color.FromArgb(128, 0, 255, 0));

        /// <summary>
        /// Brush used for drawing hands that are currently tracked as in lasso (pointer) position
        /// </summary>
        /// 链接点的颜色
        private readonly Brush handLassoBrush = new SolidColorBrush(Color.FromArgb(128, 0, 0, 255));

        /// <summary>
        /// Brush used for drawing joints that are currently tracked
        /// </summary>
        /// 骨骼的颜色
        private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));

        /// <summary>
        /// Brush used for drawing joints that are currently inferred
        /// </summary>        
        /// 当前推断出的用于绘制关节的画笔
        private readonly Brush inferredJointBrush = Brushes.Yellow;

        /// <summary>
        /// Pen used for drawing bones that are currently inferred
        /// </summary>   
        /// 用于绘制当前推断的骨骼的笔
        private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);

        /// <summary>
        /// Drawing group for body rendering output
        /// </summary>
        /// drawinggroup对象
        private DrawingGroup drawingGroup;

        /// <summary>
        /// Drawing image that we will display
        /// </summary>
        /// image对象
        private DrawingImage imageSource;

        /// <summary>
        /// Active Kinect sensor
        /// </summary>
        /// 传感器对象
        private KinectSensor kinectSensor = null;

        /// <summary>
        /// Coordinate mapper to map one type of point to another
        /// </summary>
        /// 坐标映射器将一种类型的点映射到另一种类型
        private CoordinateMapper coordinateMapper = null;

        /// <summary>
        /// Reader for body frames
        /// </summary>
        /// 身体结构的对象
        private BodyFrameReader bodyFrameReader = null;

        /// <summary>
        /// Array for the bodies
        /// </summary>
        /// 身体的数组
        private Body[] bodies = null;

        /// <summary>
        /// definition of bones
        /// </summary>
        /// 骨头的定义
        private List<Tuple<JointType, JointType>> bones;

        /// <summary>
        /// Width of display (depth space)
        /// </summary>
        /// 显示的高度
        private int displayWidth;

        /// <summary>
        /// Height of display (depth space)
        /// </summary>
        /// 显示的宽度
        private int displayHeight;

        /// <summary>
        /// List of colors for each body tracked
        /// </summary>
        /// 身体的颜色
        private List<Pen> bodyColors;

        /// <summary>
        /// Current status text to display
        /// </summary>
        private string statusText = null;

        /// <summary>
        /// Initializes a new instance of the MainWindow class.
        /// </summary>
        public MainWindow()
        {
            // one sensor is currently supported 获取传感对象
            this.kinectSensor = KinectSensor.GetDefault();

            // get the coordinate mapper 获取坐标映射
            this.coordinateMapper = this.kinectSensor.CoordinateMapper;

            // get the depth (display) extents 获取深度数据
            FrameDescription frameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;

            // get size of joint space 获取
            this.displayWidth = frameDescription.Width;
            this.displayHeight = frameDescription.Height;

            // open the reader for the body frames 获取关节空间的大小
            this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();

            // a bone defined as a line between two joints 新建关节list
            this.bones = new List<Tuple<JointType, JointType>>();

            // Torso 躯干
            this.bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipLeft));

            // Right Arm 右手
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.ThumbRight));

            // Left Arm 左手
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));

            // Right Leg 右腿
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleRight, JointType.FootRight));

            // Left Leg 左腿
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));

            // populate body colors, one for each BodyIndex  因为kinect支持同时标注多个人,我们每个人都标注一个颜色
            this.bodyColors = new List<Pen>();

            this.bodyColors.Add(new Pen(Brushes.Red, 6));
            this.bodyColors.Add(new Pen(Brushes.Orange, 6));
            this.bodyColors.Add(new Pen(Brushes.Green, 6));
            this.bodyColors.Add(new Pen(Brushes.Blue, 6));
            this.bodyColors.Add(new Pen(Brushes.Indigo, 6));
            this.bodyColors.Add(new Pen(Brushes.Violet, 6));

            // set IsAvailableChanged event notifier   传感器发生变化的调用的数据
            this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;

            // open the sensor  打开传感器
            this.kinectSensor.Open();

            // set the status text  状态文字
            this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText
                                                            : Properties.Resources.NoSensorStatusText;

            // Create the drawing group we'll use for drawing  创建绘画组用来绘画
            this.drawingGroup = new DrawingGroup();

            // Create an image source that we can use in our image control 用drawinggroup来作为控制器
            this.imageSource = new DrawingImage(this.drawingGroup);

            // use the window object as the view model in this simple example
            this.DataContext = this;

            // initialize the components (controls) of the window
            this.InitializeComponent();
        }

        /// <summary>
        /// INotifyPropertyChangedPropertyChanged event to allow window controls to bind to changeable data
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Gets the bitmap to display
        /// </summary>
        public ImageSource ImageSource
        {
            get
            {
                return this.imageSource;
            }
        }

        /// <summary>
        /// Gets or sets the current status text to display
        /// </summary>
        public string StatusText
        {
            get
            {
                return this.statusText;
            }

            set
            {
                if (this.statusText != value)
                {
                    this.statusText = value;

                    // notify any bound elements that the text has changed
                    if (this.PropertyChanged != null)
                    {
                        this.PropertyChanged(this, new PropertyChangedEventArgs("StatusText"));
                    }
                }
            }
        }

        /// <summary>
        /// Execute start up tasks
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void MainWindow_Loaded(object sender, RoutedEventArgs e)
        {
            if (this.bodyFrameReader != null)
            {
                //当有数据到来时调用的函数
                this.bodyFrameReader.FrameArrived += this.Reader_FrameArrived;
            }
        }

        /// <summary>
        /// Execute shutdown tasks
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void MainWindow_Closing(object sender, CancelEventArgs e)
        {
            if (this.bodyFrameReader != null)
            {
                // BodyFrameReader is IDisposable
                this.bodyFrameReader.Dispose();
                this.bodyFrameReader = null;
            }

            if (this.kinectSensor != null)
            {
                this.kinectSensor.Close();
                this.kinectSensor = null;
            }
        }

        /// <summary>
        /// Handles the body frame data arriving from the sensor
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        /// 处理获取到的数据
        private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
        {
            //是否获取到了数据
            bool dataReceived = false;

            using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
            {
                if (bodyFrame != null)
                {
                    //判断身体数据是否为空
                    if (this.bodies == null)
                    {
                        this.bodies = new Body[bodyFrame.BodyCount];
                    }

                    // The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
                    // As long as those body objects are not disposed and not set to null in the array,
                    // those body objects will be re-used.
                    //获取并刷新数据
                    bodyFrame.GetAndRefreshBodyData(this.bodies);
                    dataReceived = true;
                }
            }

            if (dataReceived)
            {
                using (DrawingContext dc = this.drawingGroup.Open())
                {
                    // Draw a transparent background to set the render size
                    //初始时绘制一个背景
                    dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));

                    int penIndex = 0;
                    //遍历每一个身体(遍历每一个人)
                    foreach (Body body in this.bodies)
                    {
                        //每个人一种颜色
                        Pen drawPen = this.bodyColors[penIndex++];

                        //身体是否跟踪到了
                        if (body.IsTracked)
                        {
                            //绘制修剪边缘(就是当要失去跟踪的时候显示红框
                            this.DrawClippedEdges(body, dc);

                            //红外传感器的的关节数据
                            IReadOnlyDictionary<JointType, Joint> joints = body.Joints;

                            // convert the joint points to depth (display) space
                            //吧关节点转换为深度的数据
                            Dictionary<JointType, Point> jointPoints = new Dictionary<JointType, Point>();

                            //获取每一个关节
                            foreach (JointType jointType in joints.Keys)
                            {
                                // sometimes the depth(Z) of an inferred joint may show as negative 深度可能为负数
                                // clamp down to 0.1f to prevent coordinatemapper from returning (-Infinity, -Infinity)
                                // 钳位到0.1f以防止坐标映射器返回(-Infinity,-Infinity)---有点看不懂。。。,应该是避免z轴为负的时候的处理时间
                                CameraSpacePoint position = joints[jointType].Position;
                                if (position.Z < 0)
                                {
                                    position.Z = InferredZPositionClamp;
                                }

                                //深度点数据
                                DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(position);
                                jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
                            }

                            //绘制身体
                            this.DrawBody(joints, jointPoints, dc, drawPen);

                            //绘制手
                            this.DrawHand(body.HandLeftState, jointPoints[JointType.HandLeft], dc);
                            this.DrawHand(body.HandRightState, jointPoints[JointType.HandRight], dc);
                        }
                    }

                    // prevent drawing outside of our render area
                    //防止在渲染区域之外绘制
                    this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
                }
            }
        }

        /// <summary>
        /// Draws a body
        /// </summary>
        /// <param name="joints">joints to draw</param>
        /// <param name="jointPoints">translated positions of joints to draw</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// <param name="drawingPen">specifies color to draw a specific body</param>
        /// 绘制身体
        private void DrawBody(IReadOnlyDictionary<JointType, Joint> joints, IDictionary<JointType, Point> jointPoints, DrawingContext drawingContext, Pen drawingPen)
        {
            // Draw the bones
            //绘制骨头
            foreach (var bone in this.bones)
            {
                this.DrawBone(joints, jointPoints, bone.Item1, bone.Item2, drawingContext, drawingPen);
            }

            // Draw the joints
            //绘制关节
            foreach (JointType jointType in joints.Keys)
            {
                Brush drawBrush = null;

                TrackingState trackingState = joints[jointType].TrackingState;
                //判断关节的跟踪状态
                if (trackingState == TrackingState.Tracked)
                {
                    drawBrush = this.trackedJointBrush;
                }
                else if (trackingState == TrackingState.Inferred)
                {
                    drawBrush = this.inferredJointBrush;
                }

                if (drawBrush != null)
                {
                    //绘制关节(绘制点
                    drawingContext.DrawEllipse(drawBrush, null, jointPoints[jointType], JointThickness, JointThickness);
                }
            }
        }

        /// <summary>
        /// Draws one bone of a body (joint to joint)
        /// </summary>
        /// <param name="joints">joints to draw</param>
        /// <param name="jointPoints">translated positions of joints to draw</param>
        /// <param name="jointType0">first joint of bone to draw</param>
        /// <param name="jointType1">second joint of bone to draw</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// /// <param name="drawingPen">specifies color to draw a specific bone</param>
        /// 绘制骨头
        private void DrawBone(IReadOnlyDictionary<JointType, Joint> joints, IDictionary<JointType, Point> jointPoints, JointType jointType0, JointType jointType1, DrawingContext drawingContext, Pen drawingPen)
        {
            Joint joint0 = joints[jointType0];
            Joint joint1 = joints[jointType1];

            // If we can't find either of these joints, exit
            //如果无法发现下面的关节就退出
            if (joint0.TrackingState == TrackingState.NotTracked ||
                joint1.TrackingState == TrackingState.NotTracked)
            {
                return;
            }

            // We assume all drawn bones are inferred unless BOTH joints are tracked
            //我们假设所有的关节都是推断出的,除非同时跟踪两个关节
            Pen drawPen = this.inferredBonePen;
            if ((joint0.TrackingState == TrackingState.Tracked) && (joint1.TrackingState == TrackingState.Tracked))
            {
                drawPen = drawingPen;
            }

            //这里就是绘制直线了
            drawingContext.DrawLine(drawPen, jointPoints[jointType0], jointPoints[jointType1]);
        }

        /// <summary>
        /// Draws a hand symbol if the hand is tracked: red circle = closed, green circle = opened; blue circle = lasso
        /// </summary>
        /// <param name="handState">state of the hand</param>
        /// <param name="handPosition">position of the hand</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// 绘制手
        private void DrawHand(HandState handState, Point handPosition, DrawingContext drawingContext)
        {
            //手的状态不同就绘制不同的内容
            switch (handState)
            {
                case HandState.Closed:
                    //手闭合和打开都是显示不同的状态
                    drawingContext.DrawEllipse(this.handClosedBrush, null, handPosition, HandSize, HandSize);
                    break;

                case HandState.Open:
                    drawingContext.DrawEllipse(this.handOpenBrush, null, handPosition, HandSize, HandSize);
                    break;

                case HandState.Lasso:
                    drawingContext.DrawEllipse(this.handLassoBrush, null, handPosition, HandSize, HandSize);
                    break;
            }
        }

        /// <summary>
        /// Draws indicators to show which edges are clipping body data
        /// </summary>
        /// <param name="body">body to draw clipping information for</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// 绘制椭圆
        private void DrawClippedEdges(Body body, DrawingContext drawingContext)
        {
            FrameEdges clippedEdges = body.ClippedEdges;

            if (clippedEdges.HasFlag(FrameEdges.Bottom))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, this.displayHeight - ClipBoundsThickness, this.displayWidth, ClipBoundsThickness));
            }

            if (clippedEdges.HasFlag(FrameEdges.Top))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, 0, this.displayWidth, ClipBoundsThickness));
            }

            if (clippedEdges.HasFlag(FrameEdges.Left))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, 0, ClipBoundsThickness, this.displayHeight));
            }

            if (clippedEdges.HasFlag(FrameEdges.Right))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(this.displayWidth - ClipBoundsThickness, 0, ClipBoundsThickness, this.displayHeight));
            }
        }

        /// <summary>
        /// Handles the event which the sensor becomes unavailable (E.g. paused, closed, unplugged).
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void Sensor_IsAvailableChanged(object sender, IsAvailableChangedEventArgs e)
        {
            // on failure, set the status text
            this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText
                                                            : Properties.Resources.SensorNotAvailableStatusText;
        }
    }
}

文章作者: 小游
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