使用Kinect

2023-06-17 09:22| 来源: 网络整理| 查看: 265

运行之前，需要先去Microsoft官网下载并安装Kinect V2的SDK：

Kinect for Windows SDK 2.0 - Microsoft

接着，开始从下面的网址下载Kinect V2相机的Python版本功能包pykinect2：

pykinect2-Kinect-V2-SDK-Python版本下载

再通过本地安装指令，将上面的功能包安装到自己的Python运行环境中：

pip install '+ path' # ‘+ path’替换为自己下载的功能包所在的本地路径

将这些依赖安装好：

import csv import pygame from pykinect2 import PyKinectRuntime, PyKinectV2 from pykinect2.PyKinectV2 import *

之后即可开始运行程序：

import csv import pygame from pykinect2 import PyKinectRuntime, PyKinectV2 from pykinect2.PyKinectV2 import * # 初始化Pygame pygame.init() # 设置窗口尺寸 width, height = 960, 540 size = (width, height) screen = pygame.display.set_mode(size) pygame.display.set_caption("PyKinect2 Body Tracking") # 创建Kinect实例 kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Body) # 创建CSV文件 with open('skeleton_data.csv', 'w', newline='') as csvfile: writer = csv.writer(csvfile) joint_ids = [joint_id for joint_id in range(0, PyKinectV2.JointType_Count)] header = ['Frame'] + [f'Joint {joint_id+1} X' for joint_id in joint_ids] + [f'Joint {joint_id+1} Y' for joint_id in joint_ids] + [f'Joint {joint_id+1} Z' for joint_id in joint_ids] writer.writerow(header) # 写入表头 # 游戏主循环 running = True frame_count = 0 frame_rate = 30 # 帧率设定为30帧/秒 interval = 1.0 / frame_rate # 计算每帧的时间间隔 last_time = pygame.time.get_ticks() / 1000.0 # 上一帧的时间戳 tracked_body_index = None # 跟踪的人体索引 while running: # 处理事件 for event in pygame.event.get(): if event.type == pygame.QUIT: running = False # 获取骨架数据 if kinect.has_new_body_frame(): bodies = kinect.get_last_body_frame().bodies if bodies is not None: # 寻找正在跟踪的人体 for i in range(0, kinect.max_body_count): body = bodies[i] if body.is_tracked: tracked_body_index = i break # 跟踪到人体后才进行数据记录 if tracked_body_index is not None: # 计算当前时间戳 current_time = pygame.time.get_ticks() / 1000.0 # 根据时间间隔记录数据 if current_time - last_time >= interval: body = bodies[tracked_body_index] frame_data = [] # 存储关节坐标数据 for joint_id in range(0, PyKinectV2.JointType_Count): joint = body.joints[joint_id] frame_data.extend([joint.Position.x, joint.Position.y, joint.Position.z]) # 调整关节坐标数据的排列顺序 rearranged_data = [] for joint_id in range(1, PyKinectV2.JointType_Count+1): rearranged_data.extend(frame_data[(joint_id-1)*3 : joint_id*3]) # 写入CSV文件 writer.writerow([frame_count+1] + rearranged_data) # 打印关节数据 print(f"Frame: {frame_count+1}, Joint Positions: {rearranged_data}") # 更新上一帧的时间戳 last_time = current_time # 帧数加1 frame_count += 1 # 清空屏幕 screen.fill((0, 0, 0)) # 绘制骨架连线图 if tracked_body_index is not None: joints = bodies[tracked_body_index].joints # 定义骨架连线关系 bone_connections = [ (JointType_Head, JointType_Neck), (JointType_Neck, JointType_SpineShoulder), (JointType_SpineShoulder, JointType_SpineMid), (JointType_SpineMid, JointType_SpineBase), (JointType_SpineShoulder, JointType_ShoulderRight), (JointType_SpineShoulder, JointType_ShoulderLeft), (JointType_ShoulderRight, JointType_ElbowRight), (JointType_ElbowRight, JointType_WristRight), (JointType_WristRight, JointType_HandRight), (JointType_ShoulderLeft, JointType_ElbowLeft), (JointType_ElbowLeft, JointType_WristLeft), (JointType_WristLeft, JointType_HandLeft), (JointType_SpineBase, JointType_HipRight), (JointType_SpineBase, JointType_HipLeft), (JointType_HipRight, JointType_KneeRight), (JointType_KneeRight, JointType_AnkleRight), (JointType_AnkleRight, JointType_FootRight), (JointType_HipLeft, JointType_KneeLeft), (JointType_KneeLeft, JointType_AnkleLeft), (JointType_AnkleLeft, JointType_FootLeft) ] # 绘制骨架连线 for connection in bone_connections: joint1 = joints[connection[0]] joint2 = joints[connection[1]] if joint1.TrackingState == TrackingState_Tracked and joint2.TrackingState == TrackingState_Tracked: joint1_pos = kinect.body_joint_to_color_space(joint1) joint2_pos = kinect.body_joint_to_color_space(joint2) pygame.draw.line(screen, (255, 0, 0), (joint1_pos.x, joint1_pos.y), (joint2_pos.x, joint2_pos.y), 5) # 更新屏幕显示 pygame.display.flip() # 退出Pygame pygame.quit() # 释放Kinect资源 kinect.close()

其中，设置获取数据的频率为30帧/秒，按照时序将25个骨架识别点的坐标，以“Joint1X、Joint2X、...、Joint25X、Joint1Y、Joint2Y.....Joint25Z”的顺序，按行逐帧存储在csv文件中。

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