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Kinect學習（七）：綜合提取彩色、深度、人體骨骼點前言代碼結果參考資料

前言

前面的部落格中介紹了如何通過Kinect獲得彩色圖像、深度圖像以及人體骨骼點：

  • Kinect學習（三）：擷取RGB顔色資料
  • Kinect學習（四）：提取深度資料
  • Kinect學習（五）：提取帶使用者ID的深度資料
  • Kinect學習（六）：提取人體關節點資料

這次要将這幾者綜合起來，同時從Kinect那裡拿來這些資料。

代碼

這裡的代碼隻是将前面幾篇部落格中的内容整合了一下，就不做過多說明了。

#include <Windows.h>
#include <iostream>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

typedef struct structBGR {
    BYTE blue;
    BYTE green;
    BYTE red;
    BYTE player;
} BGR;

bool tracked[NUI_SKELETON_COUNT] = { FALSE };
cv::Point skeletonPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cv::Point(, ) };
cv::Point colorPoint[NUI_SKELETON_COUNT][NUI_SKELETON_POSITION_COUNT] = { cv::Point(, ) };

void getColorImage(HANDLE & colorStreamHandle, cv::Mat & colorImg);
BGR Depth2RGB(USHORT depthID);
void getDepthImage(HANDLE & depthStreamHandle, cv::Mat & depthImg, cv::Mat & mask);
void drawSkeleton(cv::Mat &img, cv::Point pointSet[], int which_one);
void getSkeletonImage(cv::Mat & skeletonImg, cv::Mat & colorImg);

int main(int argc, char* argv[])
{
    cv::Mat colorImg;
    colorImg.create(, , CV_8UC3);
    cv::Mat depthImg;
    depthImg.create(, , CV_8UC3);
    cv::Mat skeletonImg;
    skeletonImg.create(, , CV_8UC3);
    cv::Mat mask;
    mask.create(, , CV_8UC3);

    HANDLE colorEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
    HANDLE depthEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
    HANDLE skeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

    HANDLE colorStreamHandle = NULL;
    HANDLE depthStreamHandle = NULL;

    HRESULT hr;

    hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX
        | NUI_INITIALIZE_FLAG_USES_SKELETON);
    if (FAILED(hr))
    {
        cout << "Nui initialize failed." << endl;
        return hr;
    }

    hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, , , colorEvent, &colorStreamHandle);
    if (FAILED(hr))
    {
        cout << "Can not open color stream." << endl;
        return hr;
    }

    hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, , , depthEvent, &depthStreamHandle);
    if (FAILED(hr))
    {
        cout << "Can not open depth stream." << endl;
        return hr;
    }

    hr = NuiSkeletonTrackingEnable(skeletonEvent, );
    if (FAILED(hr))
    {
        cout << "Can not enable skeleton tracking." << endl;
        return hr;
    }

    cv::namedWindow("mask", CV_WINDOW_AUTOSIZE);
    cv::namedWindow("colorImg", CV_WINDOW_AUTOSIZE);
    cv::namedWindow("depthImg", CV_WINDOW_AUTOSIZE);
    cv::namedWindow("skeletonImg", CV_WINDOW_AUTOSIZE);

    while ()
    {
        if (WaitForSingleObject(colorEvent, ) == )
        {
            getColorImage(colorStreamHandle, colorImg);
        }

        if (WaitForSingleObject(depthEvent, ) == )
        {
            getDepthImage(depthStreamHandle, depthImg, mask);
        }

        if (WaitForSingleObject(skeletonEvent, ) == )
        {
            getSkeletonImage(skeletonImg, colorImg);
        }

        cv::imshow("mask", mask);
        cv::imshow("colorImg", colorImg);
        cv::imshow("depthImg", depthImg);
        cv::imshow("skeletonImg", skeletonImg);


        if (cv::waitKey() == )
            break;
    }

    NuiShutdown();
    cv::destroyAllWindows();


    return ;
}

void getColorImage(HANDLE & colorStreamHandle, cv::Mat & colorImg)
{
    const NUI_IMAGE_FRAME * pImageFrame = NULL;

    HRESULT hr = NuiImageStreamGetNextFrame(colorStreamHandle, , &pImageFrame);
    if (FAILED(hr))
    {
        cout << "Could not get color image" << endl;
        NuiShutdown();
        return;
    }

    INuiFrameTexture * pTexture = pImageFrame->pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    pTexture->LockRect(, &LockedRect, NULL, );

    if (LockedRect.Pitch != )
    {
        for (int i = ; i < colorImg.rows; i++)
        {
            uchar *ptr = colorImg.ptr<uchar>(i);    //第i行的指針

                                            //每個位元組代表一個顔色資訊，直接使用uchar
            uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
            for (int j = ;j < colorImg.cols;j++)
            {
                //内部資料是4個位元組，0-1-2是BGR，第4個現在未使用
                ptr[ * j] = pBuffer[ * j];
                ptr[ * j + ] = pBuffer[ * j + ];
                ptr[ * j + ] = pBuffer[ * j + ];
            }
        }
    }
    else
    {
        cout << "捕獲彩色圖像出錯" << endl;
    }

    pTexture->UnlockRect();
    NuiImageStreamReleaseFrame(colorStreamHandle, pImageFrame);
}

// 處理深度資料的每一個像素，如果屬于同一個使用者的ID，那麼像素就标為同種顔色，不同的使用者，  
// 其ID不一樣，顔色的标示也不一樣，如果不屬于某個使用者的像素，那麼就采用原來的深度值
BGR Depth2RGB(USHORT depthID)
{
    //每像素共16bit的資訊，其中最低3位是ID（所捕捉到的人的ID），剩下的13位才是資訊 
    USHORT realDepth = (depthID & ) >> ; //深度資訊，高13位
    USHORT player = depthID & ;   //提取使用者ID資訊，低3位

                                        //因為提取的資訊是距離資訊，為了便于顯示，這裡歸一化為0-255
    BYTE depth = (BYTE)( * realDepth / );

    BGR color_data;
    color_data.blue = color_data.green = color_data.red = ;

    color_data.player = player;

    //RGB三個通道的值都是相等的話，就是灰階的  
    //Kinect系統能夠處理辨識傳感器前多至6個人物的資訊，但同一時刻最多隻有2個玩家可被追蹤（即骨骼跟蹤）
    switch (player)
    {
    case :
        color_data.blue = depth / ;
        color_data.green = depth / ;
        color_data.red = depth / ;
        break;
    case :
        color_data.blue = depth;
        break;
    case :
        color_data.green = depth;
        break;
    case :
        color_data.red = depth;
        break;
    case :
        color_data.blue = depth;
        color_data.green = depth;
        color_data.red = depth / ;
        break;
    case :
        color_data.blue = depth;
        color_data.green = depth / ;
        color_data.red = depth;
        break;
    case :
        color_data.blue = depth / ;
        color_data.green = depth;
        color_data.red = depth;
        break;
    }

    return color_data;
}

void getDepthImage(HANDLE & depthStreamHandle, cv::Mat & depthImg, cv::Mat & mask)
{
    const NUI_IMAGE_FRAME * pImageFrame = NULL;
    HRESULT hr = NuiImageStreamGetNextFrame(depthStreamHandle, , &pImageFrame);
    if (FAILED(hr))
    {
        cout << "Could not get depth image" << endl;
        NuiShutdown();
        return;
    }

    INuiFrameTexture * pTexture = pImageFrame->pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    pTexture->LockRect(, &LockedRect, NULL, );
    if (LockedRect.Pitch != )
    {
        for (int i = ;i < depthImg.rows;i++)
        {
            uchar * ptr = depthImg.ptr<uchar>(i);
            uchar * ptr_mask = mask.ptr<uchar>(i);

            uchar *pBufferRun = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;
            USHORT * pBuffer = (USHORT*)pBufferRun;

            for (int j = ;j < depthImg.cols;j++)
            {
                // ptr[j] = 255 - (uchar)(255 * pBuffer[j] / 0x0fff);   //直接将資料歸一化處理
                // ptr[j] = (uchar)(255 * pBuffer[j] / 0x0fff); //直接将資料歸一化處理

                BGR rgb = Depth2RGB(pBuffer[j]);
                ptr[ * j] = rgb.blue;
                ptr[ * j + ] = rgb.green;
                ptr[ * j + ] = rgb.red;

                switch (rgb.player)
                {
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                case :
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                default:
                    ptr_mask[ * j] = ;
                    ptr_mask[ * j + ] = ;
                    ptr_mask[ * j + ] = ;
                    break;
                }
            }
        }
    }
    else
    {
        cout << "捕獲深度圖像出錯" << endl;
    }

    pTexture->UnlockRect();
    NuiImageStreamReleaseFrame(depthStreamHandle, pImageFrame);

}

void drawSkeleton(cv::Mat &img, cv::Point pointSet[], int which_one)
{
    cv::Scalar color;
    switch (which_one)
    {
    case :
        color = cv::Scalar(, , );
        break;
    case :
        color = cv::Scalar(, , );
        break;
    case :
        color = cv::Scalar(, , );
        break;
    case :
        color = cv::Scalar(, , );
        break;
    case :
        color = cv::Scalar(, , );
        break;
    case :
        color = cv::Scalar(, , );
        break;
    }

    // 脊柱
    if ((pointSet[NUI_SKELETON_POSITION_HEAD].x !=  || pointSet[NUI_SKELETON_POSITION_HEAD].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_HEAD], pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], color, );

    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_SPINE].x !=  || pointSet[NUI_SKELETON_POSITION_SPINE].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SPINE], color, );

    if ((pointSet[NUI_SKELETON_POSITION_SPINE].x !=  || pointSet[NUI_SKELETON_POSITION_SPINE].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_SPINE], pointSet[NUI_SKELETON_POSITION_HIP_CENTER], color, );

    // 左上肢
    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_SHOULDER_LEFT], pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_ELBOW_LEFT], pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_WRIST_LEFT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_HAND_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_HAND_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_WRIST_LEFT], pointSet[NUI_SKELETON_POSITION_HAND_LEFT], color, );

    // 右上肢
    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_SHOULDER_CENTER], pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_SHOULDER_RIGHT], pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_ELBOW_RIGHT], pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_HAND_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_WRIST_RIGHT], pointSet[NUI_SKELETON_POSITION_HAND_RIGHT], color, );

    // 左下肢
    if ((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_LEFT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_HIP_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_LEFT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_HIP_LEFT], pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_KNEE_LEFT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_KNEE_LEFT], pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].x !=  || pointSet[NUI_SKELETON_POSITION_FOOT_LEFT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_ANKLE_LEFT], pointSet[NUI_SKELETON_POSITION_FOOT_LEFT], color, );

    // 右下肢
    if ((pointSet[NUI_SKELETON_POSITION_HIP_CENTER].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_CENTER].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_HIP_CENTER], pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_HIP_RIGHT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_HIP_RIGHT], pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_KNEE_RIGHT], pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], color, );

    if ((pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT].y != ) &&
        (pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].x !=  || pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT].y != ))
        cv::line(img, pointSet[NUI_SKELETON_POSITION_ANKLE_RIGHT], pointSet[NUI_SKELETON_POSITION_FOOT_RIGHT], color, );
}

void getSkeletonImage(cv::Mat & skeletonImg, cv::Mat & colorImg)
{
    NUI_SKELETON_FRAME skeletonFrame = {  };   //骨骼幀的定義 
    bool foundSkeleton = false;

    HRESULT hr = NuiSkeletonGetNextFrame(, &skeletonFrame);
    if (SUCCEEDED(hr))
    {
        //NUI_SKELETON_COUNT是檢測到的骨骼數（即，跟蹤到的人數）
        for (int i = ;i < NUI_SKELETON_COUNT;i++)
        {
            NUI_SKELETON_TRACKING_STATE trackingState = skeletonFrame.SkeletonData[i].eTrackingState;

            // Kinect最多檢測到6個人，但隻能跟蹤2個人的骨骼，再檢查是否跟蹤到了
            if (trackingState == NUI_SKELETON_TRACKED)
            {
                foundSkeleton = true;
            }
        }
    }

    if (!foundSkeleton)
    {
        return;
    }

    NuiTransformSmooth(&skeletonFrame, NULL);
    skeletonImg.setTo();

    for (int i = ;i < NUI_SKELETON_COUNT;i++)
    {
        // 判斷是否是一個正确骨骼的條件：骨骼被跟蹤到并且肩部中心（頸部位置）必須跟蹤到
        if (skeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED && skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_SHOULDER_CENTER] != NUI_SKELETON_POSITION_NOT_TRACKED)
        {
            float fx, fy;
            // 拿到所有跟蹤到的關節點的坐标，并轉換為我們的深度空間的坐标，因為我們是在深度圖像中  
            // 把這些關節點标記出來的  
            // NUI_SKELETON_POSITION_COUNT為跟蹤到的一個骨骼的關節點的數目，為20
            for (int j = ;j < NUI_SKELETON_POSITION_COUNT;j++)
            {
                NuiTransformSkeletonToDepthImage(skeletonFrame.SkeletonData[i].SkeletonPositions[j], &fx, &fy);
                skeletonPoint[i][j].x = (int)fx;
                skeletonPoint[i][j].y = (int)fy;
            }

            for (int j = ;j < NUI_SKELETON_POSITION_COUNT;j++)
            {
                if (skeletonFrame.SkeletonData[i].eSkeletonPositionTrackingState[j] != NUI_SKELETON_POSITION_NOT_TRACKED)
                {
                    cv::circle(skeletonImg, skeletonPoint[i][j], , cv::Scalar(, , ), , , );
                    tracked[i] = true;

                    // 在彩色圖中也繪制骨骼關鍵點
                    LONG color_x, color_y;
                    NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_640x480, ,
                        skeletonPoint[i][j].x, skeletonPoint[i][j].y, , &color_x, &color_y);
                    colorPoint[i][j].x = (int)color_x;
                    colorPoint[i][j].y = (int)color_y;
                    cv::circle(colorImg, colorPoint[i][j], , cv::Scalar(, , ), , , );
                }
            }

            drawSkeleton(skeletonImg, skeletonPoint[i], i);
            drawSkeleton(colorImg, colorPoint[i], i);
        }
    }

}

結果

Kinect學習（七）：綜合提取彩色、深度、人體骨骼點前言代碼結果參考資料
Kinect學習（七）：綜合提取彩色、深度、人體骨骼點前言代碼結果參考資料
Kinect學習（七）：綜合提取彩色、深度、人體骨骼點前言代碼結果參考資料

（由于有我同學的照片，是以打了碼）

參考資料

  1. https://blog.csdn.net/zouxy09/article/details/8163265
  2. https://blog.csdn.net/timebomb/article/details/7169372
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