Kinect测量人体身高的程序

对着书上敲得，从中体会kinect骨骼识别与深度识别的原理。大体原理是懂了，但有些细节还没有完全弄明白。

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using Microsoft.Kinect;

namespace KinectMeasure
{
    /// <summary>
    /// MainWindow.xaml 的交互逻辑
    /// </summary>
    public partial class MainWindow : Window
    {
        private KinectSensor kinect;
        public MainWindow()
        {
            InitializeComponent();
        }
        private void startKinect()
        {
            if (KinectSensor.KinectSensors.Count > 0)
            {
                kinect = KinectSensor.KinectSensors[0];
                kinect.DepthStream.Enable();
                kinect.SkeletonStream.Enable();
                kinect.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(kinect_DepthFrameReady);
                kinect.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(kinect_SkeletonFrameReady);
                kinect.Start();
            }
        }
        private void stopKinect()
        {
            if (kinect != null)
            {
                if (kinect.Status == KinectStatus.Connected)
                {
                    kinect.Stop();
                }
            }
        }
        Skeleton GetClosetSkeleton(SkeletonFrame frame)
        {
            frame.CopySkeletonDataTo(allSkeletons);
            Skeleton closestSkeleton = (from s in allSkeletons
                                        where s.TrackingState == SkeletonTrackingState.Tracked && s.Joints[JointType.Head].TrackingState == JointTrackingState.Tracked
                                        select s).OrderBy(s => s.Joints[JointType.Head].Position.Z).FirstOrDefault();//这……这是what?
            return closestSkeleton;
        }
        void kinect_SkeletonFrameReady(object sensor, SkeletonFrameReadyEventArgs e)
        {
            using (SkeletonFrame SFrame = e.OpenSkeletonFrame())
            {
                if (SFrame == null)
                    return;
                Skeleton s = GetClosetSkeleton(SFrame);
                if (s == null)
                    return;
                if (s.ClippedEdges == FrameEdges.None)
                    return;
                SkeletonPoint head = s.Joints[JointType.Head].Position;//头
                SkeletonPoint centerShoulder = s.Joints[JointType.ShoulderCenter].Position;//肩
                SkeletonPoint leftFoot = s.Joints[JointType.FootLeft].Position;//左脚
                float height = Math.Abs(head.Y - leftFoot.Y);//身高
                float heightEx = Math.Abs(head.Y - centerShoulder.Y) + 0.1f;//头高？
                float realHeightViaskeleton = height + heightEx;//计算出的真实高度
                labelHeightViaSkeleton.Content = realHeightViaskeleton.ToString();
            }
        }
        const int MaxSkeletonTrackingCount=6;//最多可以同时跟踪的用户数
        private Skeleton[]allSkeletons=new Skeleton[MaxSkeletonTrackingCount];//用户骨骼的集合
        void kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
        {
            using (DepthImageFrame DFrame = e.OpenDepthImageFrame())
            {
                if (DFrame != null)
                {
                    short[] pixelData = new short[kinect.DepthStream.FramePixelDataLength];
                    DFrame.CopyPixelDataTo(pixelData);
                    MessureSpecifiedPlayerSize(DFrame,pixelData);
                    BitmapSource source = BitmapSource.Create(640, 480, 969, 96, PixelFormats.Gray16, null, pixelData, 640 * 2);
                    imageDepth.Source = source;
                }
            }
        }
        private static readonly double HorizontalPoVTanA = Math.Tan(57.0 / 2.0 * Math.PI / 180);
        private void MessureSpecifiedPlayerSize(DepthImageFrame depthFrame,short[] pixelData)
        {
            int depth;
            int playerIndex;
            int pixelIndex;
            int bytesPerPixel = depthFrame.BytesPerPixel;//这是what?
            int depthSum = 0;
            int depthCount = 0;
            //身体各个部位的深度
            int depthPixelBodyLeft = int.MaxValue;
            int depthPixelBodyRight = int.MinValue;
            int depthPixelBodyBottom = int.MaxValue;
            int depthPixelBodyTop = int.MinValue;
            for(int row = 0; row < depthFrame.Height; row++)
            {
                for (int col = 0; col < depthFrame.Width; col++)
                {
                    pixelIndex=col+(row*depthFrame.Width);
                    depth = pixelData[pixelIndex] >> DepthImageFrame.PlayerIndexBitmaskWidth;//获得此处的深度数据
                    playerIndex=(pixelData[pixelIndex]&DepthImageFrame.PlayerIndexBitmask);//判断此处是否为用户
                    //注：该代码仅支持一个用户测量
                    if (depth != 0 && playerIndex != 0)
                    {
                        depthCount++;//非0的深度
                        depthSum += depth;//总深度
                        depthPixelBodyLeft = Math.Min(depthPixelBodyLeft, col);
                        depthPixelBodyRight = Math.Max(depthPixelBodyRight, col);
                        depthPixelBodyBottom = Math.Min(depthPixelBodyBottom, row);
                        depthPixelBodyTop = Math.Max(depthPixelBodyTop, row);
                    }
                }
            }
            if (depthCount != 0)
            {
                double avgDepth = depthSum / depthCount;
                int pixelWidth = Math.Abs(depthPixelBodyRight - depthPixelBodyLeft);
                int pixelHeight = Math.Abs(depthPixelBodyTop - depthPixelBodyBottom);
                double realHeightViaDepth = (2 * avgDepth * HorizontalPoVTanA * pixelHeight) / depthFrame.Width;//depthFrame.Wdith是计算机中框架的宽度
                labelHeightViaSkeleton.Content = realHeightViaDepth.ToString();
            }
        }
        private void Window_Loaded(object sender, RoutedEventArgs e)
        {
            startKinect();
        }

        private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
        {
            stopKinect();
        }
    }
}