如何同时跟踪具有多个关节的关节

本文关键字：何同时 跟踪 | 更新日期: 2023-09-27 17:51:23

我正在编写一个代码来跟踪具有两个Kinects的骨架的所有关节的坐标。这是我目前掌握的代码。它每帧向控制台输出关节的坐标。然而，这只适用于第二款Kinect。我从代码中遗漏了一些非常简单的东西，使其打印到两个kinect的控制台，但我无法弄清楚。

class Program
{
    static void Main(string[] args)
    {
        var connectedSensors = new List<KinectSensor>();
        int sensors = 0;
        foreach(KinectSensor sensor in KinectSensor.KinectSensors){
            if (sensor == null)
            {
                Console.WriteLine("No Kinect sensor connected :(");
                return;
            }
            connectedSensors.Add(sensor);
            sensors += 1;
        }
        foreach(KinectSensor s in connectedSensors){
            Tracker tracker = new Tracker(s, sensors);
            s.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
            s.Start();
            while (Char.ToLowerInvariant(Console.ReadKey().KeyChar) != 'q') { }
            s.Stop();
        }
    }
}
class Tracker
{
    private int skeletonId;
    private Skeleton[] skeletons;
    public Tracker(KinectSensor sensor, int sensorNr)
    {
        skeletonId = sensorNr;
        sensor.SkeletonFrameReady += SensorSkeletonFrameReady;
        sensor.SkeletonStream.Enable();
    }

    private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
    {
        using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
        {
            if (skeletonFrame != null)
            {
                if (this.skeletons == null)
                {
                    this.skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
                }
                skeletonFrame.CopySkeletonDataTo(this.skeletons);
                Skeleton skeleton = this.skeletons.Where(s => s.TrackingState == SkeletonTrackingState.Tracked).FirstOrDefault();
                if (skeleton != null)
                {
                    foreach (Joint j in skeleton.Joints)
                    {
                        if (j.TrackingState == JointTrackingState.Tracked || j.TrackingState == JointTrackingState.Inferred)
                            Console.WriteLine("SENSOR "+ skeletonId +"'t "+j.JointType + "'t " + j.Position.X + "'t " + j.Position.Y + "'t " + j.Position.Z);
                        else
                            Console.WriteLine("SENSOR " + skeletonId + "'t " + j.JointType + "'t 0't 0't 0");
                    }
                }
            }
        }
    }
}

如何同时跟踪具有多个关节的关节

你的循环

foreach(KinectSensor s in connectedSensors)
{
   Tracker tracker = new Tracker(s, sensors);
   s.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
   s.Start();
   while (Char.ToLowerInvariant(Console.ReadKey().KeyChar) != 'q') { }
   s.Stop();
}

启动第一个传感器，等待您按"q"并停止第一个传感器。第二个传感器启动。这就是你想要的吗?

如果您想同时运行两个传感器，您应该尝试如下操作:

foreach(KinectSensor s in connectedSensors)
{
   Tracker tracker = new Tracker(s, sensors);
   s.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
   s.Start();
}
while (Char.ToLowerInvariant(Console.ReadKey().KeyChar) != 'q') { }
foreach(KinectSensor s in connectedSensors)
{
   s.Stop();
}

您传递的传感器构造函数参数将始终是最后一个传感器的编号:

 Tracker tracker = new Tracker(s, sensors);

你需要在循环中使用另一个变量，或者使用常规的for循环:

   for(int i=0; i < sensors; i += 1){
        KinectSensor s = connectedSensors[i];
        Tracker tracker = new Tracker(s, i); //the second parameter here is the one you needed to fix.
        s.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
        s.Start();
        while (Char.ToLowerInvariant(Console.ReadKey().KeyChar) != 'q') { }
        s.Stop();
    }
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