OpenNI开发的人体姿势跟踪 示例源码

【实例简介】使用OpenNI开发的人体姿势跟踪，通过跟踪人的右手动作，转动一个3D立方体。

需要下载安装 http://www.openni.org/wp-content/uploads/2013/07/OpenNI-Windows-x86-2.2.zip 

【实例截图】

【核心代码】

using System;
using System.Collections.Generic;
using System.Threading;
using OpenNI;

namespace WpfNIFullBodyTracking
{
    // Track one user who posed Psi, because the Draw the User is a hard work, so track one
    // at first.
    internal class UserTracker
    {

        #region Constructor

        public UserTracker()
        {
        }

        ~UserTracker()
        {
            StopTracking();
        }

        #endregion

        #region Properties

        public Dictionary<int, UserInfo> Users
        {
            get { return userDict; }
        }

        #endregion

        #region Public Methods

        public bool Initialize()
        {
            try
            {
                context = Context.CreateFromXmlFile(ConfigurationFile, out scriptNode);
                depthGenerator = (DepthGenerator)context.FindExistingNode(NodeType.Depth);
                userGenerator = new UserGenerator(context);
            }
            catch (Exception)
            {
                return false;
            }
            skeletonCap = userGenerator.SkeletonCapability;
            poseCap = userGenerator.PoseDetectionCapability;

            userGenerator.NewUser  = new EventHandler<NewUserEventArgs>(userGenerator_NewUser);
            userGenerator.LostUser  = new EventHandler<UserLostEventArgs>(userGenerator_LostUser);
            skeletonCap.CalibrationStart  = new EventHandler<CalibrationStartEventArgs>(SkeletonCapability_CalibrationStart);
            skeletonCap.CalibrationComplete  = new EventHandler<CalibrationProgressEventArgs>(SkeletonCapability_CalibrationComplete);
            skeletonCap.SetSkeletonProfile(SkeletonProfile.Upper);
            poseCap.PoseDetected  = new EventHandler<PoseDetectedEventArgs>(poseCap_PoseDetected);

            skeletonWorker = new Thread(SkeletonThreadFunc);

            return true;
        }

        public void StartTracking()
        {
            if (!bRunning)
            {
                bRunning = true;
                context.StartGeneratingAll();
                skeletonWorker.Start();
            }
        }

        public void StopTracking()
        {
            if (bRunning)
            {
                bRunning = false;
                context.StopGeneratingAll();
                skeletonWorker.Join();
                context.Release();
            }
        }

        #endregion

        #region Event Handlers

        void userGenerator_NewUser(object sender, NewUserEventArgs e)
        {
            UserInfo user = new UserInfo() { ID = e.ID };
            userDict.Add(e.ID, user);
            //userGenerator.SkeletonCapability.StartTracking(e.ID);
            if(currentUser == -1)
                poseCap.StartPoseDetection("Psi", e.ID);
        }

        void userGenerator_LostUser(object sender, UserLostEventArgs e)
        {
            if (userGenerator.SkeletonCapability.IsCalibrating(e.ID))
            {
                userGenerator.SkeletonCapability.AbortCalibration(e.ID);
            }

            userDict.Remove(e.ID);

            if (currentUser == e.ID)
            {
                currentUser = -1;
            }
        }

        void SkeletonCapability_CalibrationStart(object sender, CalibrationStartEventArgs e)
        {

        }

        void SkeletonCapability_CalibrationComplete(object sender, CalibrationProgressEventArgs e)
        {
            if (e.Status == CalibrationStatus.OK)
            {
                skeletonCap.StartTracking(e.ID);
            }
            else
            {
                poseCap.StartPoseDetection("Psi", e.ID);
            }

        }

        void poseCap_PoseDetected(object sender, PoseDetectedEventArgs e)
        {
            poseCap.StopPoseDetection(e.ID);
            if (currentUser == -1)
            {
                currentUser = e.ID;
                skeletonCap.RequestCalibration(e.ID, true);
            }

        }

        #endregion

        #region Private Helpers

        private void SkeletonThreadFunc()
        {
            while (bRunning)
            {
                try
                {
                    context.WaitAndUpdateAll();
                }
                catch (Exception)
                {
                }
                int[] userIDs = userGenerator.GetUsers();
                foreach (int i in userIDs)
                {
                    if (skeletonCap.IsTracking(i) && i == currentUser)
                    {

                        UpdateUser(i);
                    }
                }
            }
        }
        private void UpdateUser(int i)
        {
            Point3D point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.Head).Position;
            userDict[i].Head = depthGenerator.ConvertRealWorldToProjective(point);

            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.Neck).Position;
            userDict[i].Neck = depthGenerator.ConvertRealWorldToProjective(point);

            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.LeftShoulder).Position;
            userDict[i].LeftShoulder = depthGenerator.ConvertRealWorldToProjective(point);

            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.LeftElbow).Position;
            userDict[i].LeftElbow = depthGenerator.ConvertRealWorldToProjective(point);

            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.LeftHand).Position;
            userDict[i].LeftHand = depthGenerator.ConvertRealWorldToProjective(point);


            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.RightShoulder).Position;
            userDict[i].RightShoulder = depthGenerator.ConvertRealWorldToProjective(point);

            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.RightElbow).Position;
            userDict[i].RightElbow = depthGenerator.ConvertRealWorldToProjective(point);

            point = skeletonCap.GetSkeletonJointPosition(i, SkeletonJoint.RightHand).Position;
            userDict[i].RightHand = depthGenerator.ConvertRealWorldToProjective(point);

            OnUpdateEvent(new UserUpdateEventArgs(userDict[i], UserState.Update));
        }

        #endregion

        #region events

        public event EventHandler<UserUpdateEventArgs> Update;
        void OnUpdateEvent(UserUpdateEventArgs e)
        {
            if (Update != null)
            {
                Update.BeginInvoke(this, e, null, null);
            }
        }

        #endregion

        #region Fileds

        private Dictionary<int, UserInfo> userDict = new Dictionary<int, UserInfo>();
        private ScriptNode scriptNode = null;
        private Context context = null;
        private UserGenerator userGenerator = null;
        private SkeletonCapability skeletonCap = null;
        private DepthGenerator depthGenerator = null;
        private bool bRunning = false;
        private Thread skeletonWorker = null;
        private const string ConfigurationFile = @"../../SamplesConfig.xml";

        private PoseDetectionCapability poseCap = null;
        private int currentUser = -1;

        #endregion

    }
}