将骨架坐标导出为.csv文件 [英] Exporting skeleton coordinates into .csv file
问题描述
大家好。
Hi guys.
我是Kinect编程的新手，我一直在尝试用C＃编程Kinect大约4周。
I'm new to Kinect programming and I've been trying to programming Kinect in C# for about 4 weeks.
我想用Kinect做的是：
What I want to do with Kinect is to:
1. 显示人在移动时骨架上每个关节的坐标（或我想要显示的任何关节）。
1. show the coordinates of each joints(or whichever joints I want to show) on the skeleton while the person is moving.
2。将所有20个关节的骨架坐标保存到.csv文件中，这样我就可以使用这些坐标来表示和恢复人的移动，以便进行进一步的处理。
2. Saving the skeleton coordinates of all 20 joints into .csv file so I can using these coordinates to represent and recover the movement of person in order to do further process.
我已完成目标1.我可以显示骨骼上关节的坐标。至于目标2，我可以得到一个记录骨架数据的文件。我想要的是在一段时间内20个关节
的坐标。我希望我的.csv文件中列出所有这些坐标变化。但是问题是我得到的文件只有第一帧的20个关节的坐标。或者至少我认为这就是发生的事情。无论如何，我只得到一帧的坐标
。我在网上做了很多搜索，但我仍然没有解决方案。我找到了一个帖子，有人正在和我一起做类似的工作。这是链接：
I have done my goal 1. I can show the coordinates of joints on the skeleton. And as to goal 2, I can get a file which record the skeleton data. What I want is the the coordinates of 20 joints for a certain time period. I want all these coordinates variation listed in my .csv file. But the problem is the file I got has only the coordinates of 20 joints for the first frame. Or at least I think that is what happened. Anyway, I only got coordinates for one frame. I have done lots of search online and still I have no solution. I found an post that someone is working on the similar work with me. Here is the link:
http://social.msdn.microsoft.com/Forums/en-US/c6b1238e-d59d-45fa-a2cb-3d04c469c2fa/saving-skeletal-基于坐标到文件的kinect-explorer？forum = kinectsdknuiapi
http://social.msdn.microsoft.com/Forums/en-US/c6b1238e-d59d-45fa-a2cb-3d04c469c2fa/saving-skeletal-coordinates-to-file-based-on-kinect-explorer?forum=kinectsdknuiapi
在这篇文章中，有人建议应该 递增TotalFrames 以获得
除第一帧之外的其他帧的坐标。但这个TotalFrames的HECK是什么？!!我无处可寻。在他的代码中写这个的人，他甚至没有在他的代码中提出这个。他所做的只是他方法中的一个陈述：TotalFrames ++
...我无法理解。如果有人可以帮我解决这个问题，请帮助我。我已经好几天了解了这一点。
In this post, someone suggested that should incrementing TotalFrames in order to got coordinates of other frames except the first frame. But What the HECK is this TotalFrames?!! I couldn't find it anywhere. And the guy who wrote this in his code, he didn't even bring this up in his code. What he did is just one statement in his method: TotalFrames++ ... I couldn't possibly understand. If someone can help me out of this, please help me. It has been several days I tried to figure this out.
我写了一个名为ExportCSVFile（）的方法，我把它贴在底部。我在我的AllFramesReady事件处理程序中调用它。这是 ExportCSVFile（）方法：
I wrote a method called ExportCSVFile() and I posted it at the bottom. I called it in my AllFramesReady event handler. Here is ExportCSVFile() method:
private void ExportCSVFile(Skeleton skeleton)
{
StreamWriter headerWriter = new StreamWriter(@"C:\Users\JohnnySong\Desktop\SkeletonData.csv");
headerWriter.WriteLine("SkelId" + "," + "Joint Type" + "," + "Confidence" + "," + "X" + "," + "Y");
headerWriter.Close();
StreamWriter coordinatesWriter = new StreamWriter(@"C:\Users\JohnnySong\Desktop\SkeletonData.csv", true);
foreach (Joint joints in skeleton.Joints)
{
coordinatesWriter.WriteLine(skeleton.TrackingId + "," + joints.JointType + "," + joints.TrackingState +
"," + joints.Position.X + "," + joints.Position.Y);
}
coordinatesWriter.Close();
}这是我的代码：
And here is my code:
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using Microsoft.Kinect;
using Coding4Fun.Kinect.Wpf;
using System.IO;
namespace Skeleton_Joints_Coordinates
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
public MainWindow()
{
InitializeComponent();
}
bool closing = false;
const int skeletonCount = 6;
Skeleton[] allSkeletons = new Skeleton[skeletonCount];
private void Window_Loaded(object sender, RoutedEventArgs e)
{
kinectSensorChooser1.KinectSensorChanged += new DependencyPropertyChangedEventHandler(kinectSensorChooser1_KinectSensorChanged);
}
void kinectSensorChooser1_KinectSensorChanged(object sender, DependencyPropertyChangedEventArgs e)
{
KinectSensor old = (KinectSensor)e.OldValue;
StopKinect(old);
KinectSensor sensor = (KinectSensor)e.NewValue;
if (sensor == null)
{
return;
}
var parameters = new TransformSmoothParameters
{
Smoothing = 0.3f,
Correction = 0.0f,
Prediction = 0.0f,
JitterRadius = 1.0f,
MaxDeviationRadius = 0.5f
};
//sensor.SkeletonStream.Enable(parameters);
sensor.SkeletonStream.Enable();
sensor.AllFramesReady += new EventHandler<AllFramesReadyEventArgs>(sensor_AllFramesReady);
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
try
{
sensor.Start();
}
catch (System.IO.IOException)
{
kinectSensorChooser1.AppConflictOccurred();
}
}
void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (closing)
{
return;
}
//Get a skeleton
Skeleton first = GetFirstSkeleton(e);
if (first == null)
{
return;
}
// Set scaled position; TODO: show coordinates
//ScalePosition(headLabel, first.Joints[JointType.Head]);
ScalePosition(leftHandLabel, first.Joints[JointType.HandLeft]);
//ScalePosition(rightHandLabel, first.Joints[JointType.HandRight]);
//ScalePosition(spineEllipse, first.Joints[JointType.Spine]);
//ScalePosition(leftFootEllipse, first.Joints[JointType.FootLeft]);
//ScalePosition(rightFootEllipse, first.Joints[JointType.FootRight]);
// Obtain joints; print its coordinate out if it's tracked
// Head
//if (first.Joints[JointType.Head].TrackingState == JointTrackingState.Tracked)
//{
// headLabel.Content = "Head coordinate:" + first.Joints[JointType.Head].Position.X + "\n" +
// first.Joints[JointType.Head].Position.Y;
//}
// Left hand
if (first.Joints[JointType.HandLeft].TrackingState == JointTrackingState.Tracked)
{
leftHandLabel.Content = "LeftHand coordinate:" + first.Joints[JointType.HandLeft].Position.X + "\n" +
first.Joints[JointType.HandLeft].Position.Y;
}
// Right hand
//if (first.Joints[JointType.HandRight].TrackingState == JointTrackingState.Tracked)
//{
// rightHandLabel.Content = "RightHand coordinate:" + first.Joints[JointType.HandRight].Position.X + "\n" +
// first.Joints[JointType.HandRight].Position.Y;
//}
// Generate .csv file
ExportCSVFile(first);
GetCameraPoint(first, e);
}
void GetCameraPoint(Skeleton first, AllFramesReadyEventArgs e)
{
using (DepthImageFrame depth = e.OpenDepthImageFrame())
{
if (depth == null ||
kinectSensorChooser1.Kinect == null)
{
return;
}
//Map a joint location to a point on the depth map
// Head
DepthImagePoint headDepthPoint =
depth.MapFromSkeletonPoint(first.Joints[JointType.Head].Position);
// Left hand
DepthImagePoint leftHandDepthPoint =
depth.MapFromSkeletonPoint(first.Joints[JointType.HandLeft].Position);
// Right hand
DepthImagePoint rightHandDepthPoint =
depth.MapFromSkeletonPoint(first.Joints[JointType.HandRight].Position);
//// Spine
//DepthImagePoint spineDepthPoint =
// depth.MapFromSkeletonPoint(first.Joints[JointType.Spine].Position);
//// Left foot
//DepthImagePoint leftFootDepthPoint =
// depth.MapFromSkeletonPoint(first.Joints[JointType.FootLeft].Position);
//// Right foot
//DepthImagePoint rightFootDepthPoint =
// depth.MapFromSkeletonPoint(first.Joints[JointType.FootRight].Position);
//Map a depth point to a point on the color image
// Head
ColorImagePoint headColorPoint =
depth.MapToColorImagePoint(headDepthPoint.X, headDepthPoint.Y,
ColorImageFormat.RgbResolution640x480Fps30);
// Left hand
ColorImagePoint leftHandColorPoint =
depth.MapToColorImagePoint(leftHandDepthPoint.X, leftHandDepthPoint.Y,
ColorImageFormat.RgbResolution640x480Fps30);
// Right hand
ColorImagePoint rightHandColorPoint =
depth.MapToColorImagePoint(rightHandDepthPoint.X, rightHandDepthPoint.Y,
ColorImageFormat.RgbResolution640x480Fps30);
//// Spine
//ColorImagePoint spineColorPoint =
// depth.MapToColorImagePoint(spineDepthPoint.X, spineDepthPoint.Y,
// ColorImageFormat.RgbResolution640x480Fps30);
//// Left Foot
//ColorImagePoint leftFootColorPoint =
// depth.MapToColorImagePoint(leftFootDepthPoint.X, leftFootDepthPoint.Y,
// ColorImageFormat.RgbResolution640x480Fps30);
//// Right Foot
//ColorImagePoint rightFootColorPoint =
// depth.MapToColorImagePoint(rightFootDepthPoint.X, rightFootDepthPoint.Y,
// ColorImageFormat.RgbResolution640x480Fps30);
//Set location
//CameraPosition(headLabel, headColorPoint);
CameraPosition(leftHandLabel, leftHandColorPoint);
//CameraPosition(rightHandLabel, rightHandColorPoint);
//CameraPosition(spineEllipse, spineColorPoint);
//CameraPosition(leftFootEllipse, leftFootColorPoint);
//CameraPosition(rightFootEllipse, rightFootColorPoint);
// If using this to get coordinates, you'll get the colorData-mapped skeleton coordinates
//{
// leftHandLabel.Content = leftHandColorPoint.X + "\n" + leftHandColorPoint.Y;
//}
}
}
Skeleton GetFirstSkeleton(AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
if (skeletonFrameData == null)
{
return null;
}
skeletonFrameData.CopySkeletonDataTo(allSkeletons);
//get the first tracked skeleton
Skeleton first = (from s in allSkeletons
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
return first;
}
}
private void StopKinect(KinectSensor sensor)
{
if (sensor != null)
{
if (sensor.IsRunning)
{
//stop sensor
sensor.Stop();
//stop audio if not null
if (sensor.AudioSource != null)
{
sensor.AudioSource.Stop();
}
}
}
}
private void CameraPosition(FrameworkElement element, ColorImagePoint point)
{
//Divide by 2 for width and height so point is right in the middle
// instead of in top/left corner
Canvas.SetLeft(element, point.X - element.Width / 2);
Canvas.SetTop(element, point.Y - element.Height / 2);
}
private void ScalePosition(FrameworkElement element, Joint joint)
{
//convert the value to X/Y
Joint scaledJoint = joint.ScaleTo(1280, 720);
//convert & scale (.3 = means 1/3 of joint distance)
//Joint scaledJoint = joint.ScaleTo(1280, 720, .3f, .3f);
Canvas.SetLeft(element, scaledJoint.Position.X);
Canvas.SetTop(element, scaledJoint.Position.Y);
}
private void ExportCSVFile(Skeleton skeleton)
{
StreamWriter headerWriter = new StreamWriter(@"C:\Users\JohnnySong\Desktop\SkeletonData.csv");
headerWriter.WriteLine("SkelId" + "," + "Joint Type" + "," + "Confidence" + "," + "X" + "," + "Y");
headerWriter.Close();
StreamWriter coordinatesWriter = new StreamWriter(@"C:\Users\JohnnySong\Desktop\SkeletonData.csv", true);
foreach (Joint joints in skeleton.Joints)
{
coordinatesWriter.WriteLine(skeleton.TrackingId + "," + joints.JointType + "," + joints.TrackingState +
"," + joints.Position.X + "," + joints.Position.Y);
}
coordinatesWriter.Close();
}
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
closing = true;
StopKinect(kinectSensorChooser1.Kinect);
}
}
}
再次，如果你可以帮助我，请帮我解决这个问题。我很感激！谢谢！
Again, if you could help me, please help me out of this. I'm grateful for that! Thanks!
推荐答案
查看Vangos的工作
Check out Vangos' work below
http://pterneas.com/2014/05/06/understanding-kinect-coordinate-mapping/
http://pterneas.com/2014/05/06/understanding-kinect-coordinate-mapping/
他向一个人展示并提供一个GitHub链接他做的节目在屏幕上显示关节。从那里开始，当程序循环遍历每个关节时，打印到联合位置只需要很短的一步。
He shows, and provides a GitHub link, to a program he made to show joints on the screen. From there it's just a short step to printing to file the joint positions as the program loops through each joint.
希望它有所帮助！
这篇关于将骨架坐标导出为.csv文件的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！
