emgucv 抠图[通俗易懂]

大家好，又见面了，我是你们的朋友全栈君。

我的环境的KinectSDK2.0+EmguCV3.0.0

依旧还是WinFrom和ImageBox

因为需要用到BodyIndex的数据，但BodyIndex的分辨率和RGB图像的分辨率不同，所以需要用的CoordinateMap类中的坐标转换函数。

代码和注释如下：

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 using System;  
 using System.Collections.Generic;  
 using System.ComponentModel;  
 using System.Data;  
 using System.Drawing;  
 using System.Linq;  
 using System.Text;  
 using System.Windows.Forms;  
 using Microsoft.Kinect;  
 using Emgu.CV;  
 using Emgu.CV.Structure;  
 using Emgu.Util;  
   
 namespace Kinect_koutu_2  
 {  
     public partial class Form1 : Form  
     {  
         KinectSensor kinect = null;  
         MultiSourceFrameReader framereader = null;  
         FrameDescription fd = null;  
         FrameDescription cfd = null;  
         CoordinateMapper coordinate = null;  
         Image<Bgra, byte> colorimg = null;  
         DepthSpacePoint[] colorMappedToDepthPoints = null;  
         byte[] colordata = null;  
         public Form1()  
         {  
             InitializeComponent();  
             CvInvoke.UseOpenCL = true;  
             kinect = KinectSensor.GetDefault();  
             coordinate = kinect.CoordinateMapper;  
             framereader = kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color | FrameSourceTypes.BodyIndex);  
             framereader.MultiSourceFrameArrived += Framereader_MultiSourceFrameArrived;  
             fd = kinect.BodyIndexFrameSource.FrameDescription;  
             cfd = kinect.ColorFrameSource.FrameDescription;  
             colorMappedToDepthPoints = new DepthSpacePoint[cfd.Width * cfd.Height];  
             colorimg = new Image<Bgra, byte>(cfd.Width, cfd.Height);  
             colordata = new byte[colorimg.Bytes.Count<byte>()];  
             kinect.Open();  
         }  
         private void Framereader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)  
         {  
             MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();  
             if (multiSourceFrame == null)  
                 return;  
             ColorFrame cFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();  
             BodyIndexFrame bframe = multiSourceFrame.BodyIndexFrameReference.AcquireFrame();  
             DepthFrame dframe = multiSourceFrame.DepthFrameReference.AcquireFrame();  
             if (dframe == null || bframe == null || cFrame == null)  
             {  
                 Console.WriteLine(“null”);  
                 return;  
             }  
             cFrame.CopyConvertedFrameDataToArray(colordata, ColorImageFormat.Bgra);  
             //colorimg.Bytes = colordata;  
             //imageBox1.Image = colorimg;  
             using (KinectBuffer dB = dframe.LockImageBuffer())  
             {  
                 coordinate.MapColorFrameToDepthSpaceUsingIntPtr(dB.UnderlyingBuffer, dB.Size, colorMappedToDepthPoints);       //坐标转换并储存到数组  
             }  
               
             using (KinectBuffer kB = bframe.LockImageBuffer())  
             {  
                 ProcessBodyIndexFrameData(kB.UnderlyingBuffer);  
                 colorimg.Bytes = colordata;  
                 imageBox1.Image = colorimg;  
             }  
               
             dframe.Dispose();  
             cFrame.Dispose();  
             bframe.Dispose();  
         }  
   
         private unsafe void ProcessBodyIndexFrameData(IntPtr bodyIndexFrameData)  
         {  
             byte* frameData = (byte*)bodyIndexFrameData;  
             int colorMappedToDepthPointCount = this.colorMappedToDepthPoints.Length;  
             fixed (DepthSpacePoint* colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)  
             {  
                 for (int i = 0; i < colorMappedToDepthPointCount; ++i)  
                 {  
                     float colorMappedToDepthX = colorMappedToDepthPointsPointer[i].X;  
                     float colorMappedToDepthY = colorMappedToDepthPointsPointer[i].Y;  
                     int depthX = (int)(colorMappedToDepthX + 0.5f);         //colorimage的像素点的位置在景深图的对应位置  
                     int depthY = (int)(colorMappedToDepthY + 0.5f);  
                     if ((depthX >= 0) && (depthX < 512) && (depthY >= 0) && (depthY < 424))  
                     {  
                         int depthIndex = (depthY * 512) + depthX;  
                         if (frameData[depthIndex] ==255)             //在检测范围内frameData[depthIndex] !=255 为检测到人的像素点，不予以操作，并将其他像素点设置为黑色  
                         {  
                             colordata[i * 4] = 0;  
                             colordata[i * 4 + 1] = 0;  
                             colordata[i * 4 + 2] = 0;  
                             colordata[i * 4 + 3] = 255;  
                         }  
                     }  
                     else  
                     {  
                         colordata[i * 4] = 0;  
                         colordata[i * 4 + 1] = 0;  
                         colordata[i * 4 + 2] = 0;  
                         colordata[i * 4 + 3] = 255;  
                     }  
                 }  
             }  
         }  
   
         private void Form1_FormClosing(object sender, FormClosingEventArgs e)  
         {  
             if (this.kinect != null)  
             {  
                 this.kinect.Close();  
                 this.kinect = null;  
             }  
         }  
     }  
 }  