#include <iostream>
#include "winsock2.h"
#include <string>
#include<stdio.h>
#include <vector>
//#include <sstream>
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/videoio.hpp"
#include <Kinect.h>
#include<stdlib.h>
#include<atlstr.h>
#include <windows.h>
#include <fstream>
#pragma comment(lib, "ws2_32.lib")
typedef struct point {
double x = 0;
double y = 0;
double z = 0;
int TrackingState = 0;
}Csvpoint;
using namespace cv;
using namespace std;
vector<vector<Csvpoint>> csvpoint;
vector<Csvpoint> pp;
char filename_skeleton[50];
int a = 0;
int b = 0;
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
if (pInterfaceToRelease != NULL)
{
pInterfaceToRelease->Release();
pInterfaceToRelease = NULL;
}
}
bool CmpTime(SYSTEMTIME &local_time, SYSTEMTIME &goal_time)
{
if (local_time.wHour == goal_time.wHour && local_time.wMinute == goal_time.wMinute && local_time.wSecond == goal_time.wSecond && local_time.wMilliseconds == goal_time.wMilliseconds)
return true;
else
return false;
}
void DrawBone(JointType b, JointType c, ICoordinateMapper*coordinatemapper, Joint joint[], Mat&a)
{
DepthSpacePoint d1, d2;
coordinatemapper->MapCameraPointToDepthSpace(joint[b].Position, &d1);
coordinatemapper->MapCameraPointToDepthSpace(joint[c].Position, &d2);
if (d1.X > 0 && d1.X < 512 && d1.Y>0 && d1.Y < 424 && d2.X>0 && d2.X < 512 && d2.Y>0 && d2.Y < 424)
line(a, Point(d1.X, d1.Y), Point(d2.X, d2.Y), Scalar(0, 255, 0, 255), 3);
else
line(a, Point(d1.X, d1.Y), Point(d2.X, d2.Y), Scalar(255, 255, 255, 255), 1);
circle(a, Point(d1.X, d1.Y), 2, Scalar(255, 255, 255, 255), 4);
circle(a, Point(d2.X, d2.Y), 2, Scalar(255, 255, 255, 255), 4);
}
struct RevInfo {
int n;//帧数
WORD wHour;
WORD wMinute;
WORD wSecond;
WORD wMilliseconds;
}rinfo;
void main()
{
HRESULT hResult = S_OK;
IKinectSensor *kinect;
GetDefaultKinectSensor(&kinect);
kinect->Open();
IBodyFrameSource*bodysource;
kinect->get_BodyFrameSource(&bodysource);
IBodyFrameReader*bodyreader;
bodysource->OpenReader(&bodyreader);
ICoordinateMapper* coordinatemapper;
kinect->get_CoordinateMapper(&coordinatemapper);
system("title skeleton source of Client3");//设置cmd窗口标题
system("color 0B");
SYSTEMTIME local_time = { 0 };
SYSTEMTIME goal_time = { 0 };
WSADATA wsaData;
int err;
//1.首先执行初始化Windows Socket库
err = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (err != 0)
{
cout << "Init Socket Failed::" << GetLastError() << endl;
return;
}
//2.创建Socket
SOCKET sockClient = socket(AF_INET, SOCK_STREAM, 0);
struct sockaddr_in addrServer;
addrServer.sin_addr.s_addr = inet_addr("101.76.217.177");
addrServer.sin_family = AF_INET;
addrServer.sin_port = htons(4399);
//3.连接Socket，第一个参数为客户端socket，第二个参数为服务器端地址
err = connect(sockClient, (struct sockaddr *)&addrServer, sizeof(addrServer));
if (err != 0)
{
cout << "Connect Error::" << GetLastError() << endl;
return;
}
else
{
cout << "连接成功!" << endl;
}
const int BUF_SIZE = 1024;
char recvBuf[BUF_SIZE];
ZeroMemory(recvBuf, BUF_SIZE);// 初始化
memset(&rinfo, 0, sizeof(rinfo));//清空结构体
recv(sockClient, recvBuf, BUF_SIZE, 0); // 接收数据
memcpy(&rinfo, recvBuf, sizeof(rinfo));//(3)把接收到的信息转换成结构体
goal_time.wHour = rinfo.wHour;
goal_time.wMinute = rinfo.wMinute;
goal_time.wSecond = rinfo.wSecond;
goal_time.wMilliseconds = rinfo.wMilliseconds;
_tprintf(_T("从服务端获取的目标时间\t: %02d:%02d:%02d.%03d\n"), goal_time.wHour, goal_time.wMinute, goal_time.wSecond, goal_time.wMilliseconds);
cout << endl << "从服务器接收到要获取帧数：" << rinfo.n << endl;
cout << "接收成功，等待目标时间开始执行" << endl;
while (1)
{
GetLocalTime(&local_time);
if (CmpTime(local_time, goal_time)) break;
}
while (a < rinfo.n)
{
Mat asd(424, 512, CV_8UC4);
IBodyFrame* bodyframe = nullptr;
hResult = bodyreader->AcquireLatestFrame(&bodyframe);
if (SUCCEEDED(hResult))
{
IBody* body[BODY_COUNT] = { 0 };
hResult = bodyframe->GetAndRefreshBodyData(BODY_COUNT, body);
if (SUCCEEDED(hResult))
{
for (int i = 0; i < BODY_COUNT; i++)
{
BOOLEAN tracked = false;
hResult = body[i]->get_IsTracked(&tracked);
if (SUCCEEDED(hResult) && tracked)
{
Joint joint[JointType_Count];
hResult = body[i]->GetJoints(JointType_Count, joint);
DepthSpacePoint depthspacepoint;
if (SUCCEEDED(hResult))
{ //可以记录骨架数据流csv
// Torso
DrawBone(JointType_Head, JointType_Neck, coordinatemapper, joint, asd);
DrawBone(JointType_Neck, JointType_SpineShoulder, coordinatemapper, joint, asd);
DrawBone(JointType_SpineShoulder, JointType_SpineMid, coordinatemapper, joint, asd);
DrawBone(JointType_SpineMid, JointType_SpineBase, coordinatemapper, joint, asd);
DrawBone(JointType_SpineShoulder, JointType_ShoulderRight, coordinatemapper, joint, asd);
DrawBone(JointType_SpineShoulder, JointType_ShoulderLeft, coordinatemapper, joint, asd);
DrawBone(JointType_SpineBase, JointType_HipRight, coordinatemapper, joint, asd);
DrawBone(JointType_SpineBase, JointType_HipLeft, coordinatemapper, joint, asd);
// Right Arm
DrawBone(JointType_ShoulderRight, JointType_ElbowRight, coordinatemapper, joint, asd);
DrawBone(JointType_ElbowRight, JointType_WristRight, coordinatemapper, joint, asd);
DrawBone(JointType_WristRight, JointType_HandRight, coordinatemapper, joint, asd);
DrawBone(JointType_HandRight, JointType_HandTipRight, coordinatemapper, joint, asd);
DrawBone(JointType_WristRight, JointType_ThumbRight, coordinatemapper, joint, asd);
// Left Arm
DrawBone(JointType_ShoulderLeft, JointType_ElbowLeft, coordinatemapper, joint, asd);
DrawBone(JointType_ElbowLeft, JointType_WristLeft, coordinatemapper, joint, asd);
DrawBone(JointType_WristLeft, JointType_HandLeft, coordinatemapper, joint, asd);
DrawBone(JointType_HandLeft, JointType_HandTipLeft, coordinatemapper, joint, asd);
DrawBone(JointType_WristLeft, JointType_ThumbLeft, coordinatemapper, joint, asd);
// Right Leg
DrawBone(JointType_HipRight, JointType_KneeRight, coordinatemapper, joint, asd);
DrawBone(JointType_KneeRight, JointType_AnkleRight, coordinatemapper, joint, asd);
DrawBone(JointType_AnkleRight, JointType_FootRight, coordinatemapper, joint, asd);
// Left Leg
DrawBone(JointType_HipLeft, JointType_KneeLeft, coordinatemapper, joint, asd);
DrawBone(JointType_KneeLeft, JointType_AnkleLeft, coordinatemapper, joint, asd);
DrawBone(JointType_AnkleLeft, JointType_FootLeft, coordinatemapper, joint, asd);
DepthSpacePoint d1, d2;
coordinatemapper->MapCameraPointToDepthSpace(joint[JointType_HandLeft].Position, &d1);
coordinatemapper->MapCameraPointToDepthSpace(joint[JointType_HandRight].Position, &d2);
HandState left;
body[i]->get_HandLeftState(&left);
HandState right;
body[i]->get_HandRightState(&right);
switch (left)
{
case HandState_Closed:
circle(asd, Point(d1.X, d1.Y), 10, Scalar(0, 0, 255, 1), 20); break;
case HandState_Open:
circle(asd, Point(d1.X, d1.Y), 10, Scalar(0, 255, 0, 1), 20); break;
case HandState_Lasso:
circle(asd, Point(d1.X, d1.Y), 10, Scalar(255, 0, 0, 1), 20); break;
default:
break;
}
switch (right)
{
case HandState_Closed:
circle(asd, Point(d2.X, d2.Y), 10, Scalar(0, 0, 255, 1), 20); break;
case HandState_Open:
circle(asd, Point(d2.X, d2.Y), 10, Scalar(0, 255, 0, 1), 20); break;
case HandState_Lasso:
circle(asd, Point(d2.X, d2.Y), 10, Scalar(255, 0, 0, 1), 20); break;
default:
break;
}
//一帧存入一维向量
std::vector<Csvpoint> pp;
for (int i = 0; i < 25; ++i) {
Csvpoint p;
p.x = joint[i].Position.X;
p.y = joint[i].Position.Y;
p.z = joint[i].Position.Z;
p.TrackingState = joint[i].TrackingState;
//cout << joint[i].Position.X<< joint[i].Position.Y<<joint[i].Position.Z;
pp.push_back(p);
}
csvpoint.push_back(pp);
pp.clear();
}
}
}
}
for (int count = 0; count < BODY_COUNT; count++)
{
SafeRelease(body[count]);
}
}
SafeRelease(bodyframe);
imshow("skeleton", asd);
sprintf(filename_skeleton, "ske//skeletonImg%d.jpg", a++);
imwrite(filename_skeleton, asd);
if (waitKey(33) == VK_ESCAPE)
{
break;
}
}
closesocket(sockClient);
WSACleanup();
std::cout << csvpoint.size() << std::endl;
std::ofstream ofile;
ofile.open("clent3.csv", std::ios::out | std::ios::trunc);
for (int i = 0; i < csvpoint.size(); i++)
{//外循环帧数
for (int j = 0; j < csvpoint[i].size(); j++)
{
ofile << "\"" << csvpoint[i][j].x << "," << csvpoint[i][j].y << "," << csvpoint[i][j].z << "," << csvpoint[i][j].TrackingState << "\"" << ",";
}
ofile << std::endl;
}
ofile.close();
csvpoint.clear();
SafeRelease(bodysource);
SafeRelease(bodyreader);
SafeRelease(coordinatemapper);
if (kinect)
{
kinect->Close();
}
SafeRelease(kinect);
destroyAllWindows();
//退出
system("pause");
}
