使用Kinect进行NXT手势控制 [英] NXT gesture control with Kinect
本文介绍了使用Kinect进行NXT手势控制的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！
问题描述
您好，
我的名字是Levin我来自德国，我去了一所技术学校。
我用Kinect传感器制作了一个项目NXT Mindstorm，使用手势我操纵了NXT。
但是现在我遇到了问题。
如果Kinect识别出我的骨架它将无法工作，但当我用右手握住我的头部NXT驱动器时。 />
抱歉，如果拼写错误:(
提前致谢！
现在我的C＃代码：
Hello,
my name is Levin I''m from germany and I go to a technical school.
I have made a project with the Kinect Sensor and the NXT Mindstorm, using gesture I steered the NXT.
But now I have a problem.
If the Kinect recognizes my skeleton it will not work, but when I hold my right hand over my Head the NXT drive.
Sorry if I have errors in spelling :(
Thanks in advance!
Now here my C# Code:
using System;
using System.IO;
using System.Linq;
using System.Text;
using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using Microsoft.Kinect;
using AForge;
using AForge.Robotics.Lego;
namespace KinectDemo1
{
public partial class MainWindow : Window
{
public MainWindow()
{
InitializeComponent();
}
public KinectSensor sensor;
public NXTBrick nxt = new NXTBrick();
private void Window_Loaded(object sender, RoutedEventArgs e)
{
this.drawingGroup = new DrawingGroup();//Skeleton
this.imageSource = new DrawingImage(this.drawingGroup);//Skeleton
image3.Source = this.imageSource;//Skeleton
foreach (var potentialSensor in KinectSensor.KinectSensors)//Skeleton
{
if (potentialSensor.Status == KinectStatus.Connected)
{
sensor = potentialSensor;
break;
}
}
sensor = (from Sensor in KinectSensor.KinectSensors where Sensor.Status == KinectStatus.Connected select Sensor).FirstOrDefault();
if (sensor != null)
{
label9.Content = "Kinect ist verbunden!";
sensor.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(r_ColorFrameReady);//RGB-Bild
sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);//RGB-Bild
sensor.SkeletonStream.Enable();//Skeleton
sensor.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(SensorSkeletonFrameReady);
sensor.SkeletonFrameReady += this.SensorSkeletonFrameReady;//Skeleton
sensor.Start();
}
else
{
label9.Content = "Kinect nicht verbunden!";
MessageBox.Show("Keine Kinect angeschlossen.", "Fehler", MessageBoxButton.OK, MessageBoxImage.Hand);
}
//Akkustand des Mindstorm Roboter
nxt.Connect("COM3");
int Akkustand;
if (nxt.GetBatteryPower(out Akkustand))
{
label6.Content = Akkustand.ToString();
progressBar1.Value = Akkustand;
}
//NXT verbunden?
if (nxt.Connect("COM3"))
{
label8.Content = "Mindstorm ist verbunden!";
}
}
private void Window_Closed(object sender, EventArgs e)
{
if (sensor != null)
{
sensor.Stop();
sensor.Dispose();
}
}
#region RGB-Bild der Kinect
void r_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)// Ausgabe des RGB Bildes
{
using (ColorImageFrame frame = e.OpenColorImageFrame())// Werte von der Kamera werden ausgegeben
{
if (frame == null)
return;
byte[] buffer = new byte[frame.PixelDataLength];// Pixeldatengröße wird errstellt
frame.CopyPixelDataTo(buffer);
image1.Source = BitmapSource.Create(frame.Width, frame.Height, 96, 96, PixelFormats.Bgr32, null, buffer, frame.Width * frame.BytesPerPixel);
}
}
#endregion
#region SkeletonView
private const float RenderWidth = 800.0f; //Größenfaktor (je größer die Zahl desto kleiner das Skeleton)
private const float RenderHeight = 600.0f;//Größenfaktor (je größer die Zahl desto kleiner das Skeleton)
private const double JointThickness = 3;//Größenfaktor (je größer die Zahl desto größer die Gelenkzeichnungen)
private const double BodyCenterThickness = 10;
private const double ClipBoundsThickness = 10;
private readonly Brush centerPointBrush = Brushes.Blue;
private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));
private readonly Brush inferredJointBrush = Brushes.Yellow;
private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);
private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);
private DrawingGroup drawingGroup;
private DrawingImage imageSource;
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
this.nxtDrive(skel);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
{
this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);
this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
foreach (Joint joint in skeleton.Joints)
{
Brush drawBrush = null;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
}
else if (joint.TrackingState == JointTrackingState.Inferred)
{
drawBrush = this.inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
}
private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
{
DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
return new Point(depthPoint.X, depthPoint.Y);
}
private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
{
Joint joint0 = skeleton.Joints[jointType0];
Joint joint1 = skeleton.Joints[jointType1];
if (joint0.TrackingState == JointTrackingState.NotTracked ||
joint1.TrackingState == JointTrackingState.NotTracked)
{
return;
}
if (joint0.TrackingState == JointTrackingState.Inferred &&
joint1.TrackingState == JointTrackingState.Inferred)
{
return;
}
Pen drawPen = this.inferredBonePen;
if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
{
drawPen = this.trackedBonePen;
}
drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
}
#endregion
#region Manuelle fahrt des Mindstorm Roboter
// Vorwärts
private void button1_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 100;
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
private void button1_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
// Rückwärts
private void button2_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = -100;
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
private void button2_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
// Links
private void button3_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
motorState.Power = 100;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
motorState.Power = -100;
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
private void button3_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
// Rechts
private void button4_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
motorState.Power = -100;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
motorState.Power = 100;
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
private void button4_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
// Schießen
private void button5_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 360;
motorState.Power = 90;
nxt.SetMotorState(NXTBrick.Motor.A, motorState);
}
private void button5_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
{
nxt.Connect("COM3");
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
#endregion
#region nxtDrive
private void nxtDrive(Skeleton skeleton)
{
SkeletonPoint headPos = skeleton.Joints[JointType.Head].Position;
SkeletonPoint righthandPos = skeleton.Joints[JointType.HandRight].Position;
SkeletonPoint lefthandPos = skeleton.Joints[JointType.HandLeft].Position;
bool LinkeHandÜberKopf = (headPos.Y < lefthandPos.Y);
bool RechteHandÜberKopf = (headPos.Y < righthandPos.Y);
if (nxt.Connect("COM3"))
{
if (RechteHandÜberKopf && LinkeHandÜberKopf)
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 100;
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
else
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
if (RechteHandÜberKopf)
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 100;
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
nxt.SetMotorState(NXTBrick.Motor.C, motorState);
}
else
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
if (LinkeHandÜberKopf)
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 100;
motorState.TurnRatio = 50;
motorState.Mode = NXTBrick.MotorMode.On;
motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
motorState.RunState = NXTBrick.MotorRunState.Running;
motorState.TachoLimit = 0;
nxt.SetMotorState(NXTBrick.Motor.B, motorState);
}
else
{
NXTBrick.MotorState motorState = new NXTBrick.MotorState();
motorState.Power = 0;
nxt.SetMotorState(NXTBrick.Motor.All, motorState);
}
}
else
{
MessageBox.Show("Es besteht keine Bluetooth verbindung zum Mindstorm!", "Fehler", MessageBoxButton.OK, MessageBoxImage.Warning);
}
}
#endregion
}
}推荐答案
<pre lang="c#">#region SkeletonView
private const float RenderWidth = 800.0f; //Größenfaktor (je größer die Zahl desto kleiner das Skeleton)
private const float RenderHeight = 600.0f;//Größenfaktor (je größer die Zahl desto kleiner das Skeleton)
private const double JointThickness = 3;//Größenfaktor (je größer die Zahl desto größer die Gelenkzeichnungen)
private const double BodyCenterThickness = 10;
private const double ClipBoundsThickness = 10;
private readonly Brush centerPointBrush = Brushes.Blue;
private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));
private readonly Brush inferredJointBrush = Brushes.Yellow;
private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);
private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);
private DrawingGroup drawingGroup;
private DrawingImage imageSource;
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
this.nxtDrive(skel);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
{
this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);
this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
foreach (Joint joint in skeleton.Joints)
{
Brush drawBrush = null;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
}
else if (joint.TrackingState == JointTrackingState.Inferred)
{
drawBrush = this.inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
}
private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
{
DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
return new Point(depthPoint.X, depthPoint.Y);
}
private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
{
Joint joint0 = skeleton.Joints[jointType0];
Joint joint1 = skeleton.Joints[jointType1];
if (joint0.TrackingState == JointTrackingState.NotTracked ||
joint1.TrackingState == JointTrackingState.NotTracked)
{
return;
}
if (joint0.TrackingState == JointTrackingState.Inferred &&
joint1.TrackingState == JointTrackingState.Inferred)
{
return;
}
Pen drawPen = this.inferredBonePen;
if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
{
drawPen = this.trackedBonePen;
}
drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
}
#endregionhey,
if i debug the program it works.
But when i stand in front of the camera and the camera recognizes me than the picture hangs.
Still the gesture are detected and the NXT drive but the picture hangs on further.
hey,
if i debug the program it works.
But when i stand in front of the camera and the camera recognizes me than the picture hangs.
Still the gesture are detected and the NXT drive but the picture hangs on further.
这篇关于使用Kinect进行NXT手势控制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！
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