基于kinect控制智能小车

Question

刚开始入手kinect 对于平台的搭建不是很熟悉，对于体感控制智能小车 ，这个过程思路不是很了解。我是通过kinect studio和gesture builder创建了一个手势库，这一步我也不知道做对没,下面这一步完全不知道怎么从kinect入手"计算出人体骨骼节点的坐标，最终完成对人体骨骼节点的跟踪。骨骼信息的识别。根据骨骼节点的坐标和人体的姿态共同处理得到与之对应的指令"希望哪位可以详细的给我说一下思路，在kinect中完全不知道该怎么入手，在我卡在这里很久了谢谢

Answer 1

体感智能车的原理非常的简单，就是利用Kinect采集人体的姿体信息，然后通过蓝牙串口向Arduino发送字符命令。Arduino通过相应的字符命令控制双H桥电机驱动模块实现小车的前进后退等动作。项目主要用到小车底盘套件、蓝牙、控制器等…

Kinect与Arduino进行串口通信
下面进行Kinect的代码编写，我采用的是processing软件（最好使用低版本的），使用前需要安装Kinect驱动OpenNI_NITE_Installer-win32-0.27和kinect的链接库SimpleOpenNI-0.27
控制小车的代码如下：

import SimpleOpenNI.*;
    SimpleOpenNI  kinect;
 
    import processing.serial.*;
    Serial port;
 
    PFont myFont;
    String myStr;
    String Str_w;
    String Str_s;
    String Str_a;
    String Str_d;
    String Str_x;
    String Str_temp_NO;
    String Str_temp_Yes;
 
    PVector right_hand;
    PVector right_hip;
 
    PVector head;
 
    PVector left_hand;
    PVector left_hip;
 
    PVector difference;
    float   shouju;
    float   youtou;
    float   zuotou;
    float   youhip;
    float   zuohip;
 
    char ch_w= 'w';
    char ch_s= 's';
    char ch_a= 'a';
    char ch_d= 'd';
    char ch_x= 'x';
 
    void setup() 
    {
      size(640, 600);   
      kinect = new SimpleOpenNI(this); 
      kinect.enableDepth(); 
      kinect.enableRGB();  
      kinect.setMirror(true);  
      kinect.enableUser(SimpleOpenNI.SKEL_PROFILE_ALL); 
  
      myFont = createFont("黑体", 32); 
      myStr = "重庆文理学院机器人研究所"; 
      Str_w = "前进";
      Str_s = "后退";
      Str_a = "左转";
      Str_d = "右转";
      Str_x = "停止"; 
      Str_temp_NO = "未识别";
      Str_temp_Yes = "连接成功";
  
      right_hand = new PVector();
      right_hip = new PVector();
 
      head = new PVector();
 
      left_hand = new PVector();
      left_hip = new PVector();
  
      println(Serial.list());//定义串口
      String portName = Serial.list()[0];
      port = new Serial(this, portName, 115200);//波特率
    }
 
    void draw() 
    { 
      background(80,100,140);//
    kinect.update();
  
      //PImage depthImage = kinect.depthImage();
      //image(kinect.depthImage(),0, 0);  
      PImage rgbImage = kinect.rgbImage();  
      image(rgbImage, 0, 0); 
  
      fill(0,0,255); 
      textFont(myFont); 
      text(myStr, 100, 530);   
      text("www.cqwu.net" , 195, 565);
   
      IntVector userList = new IntVector();
      kinect.getUsers(userList);
 
      if (userList.size() > 0)
      {
        int userId = userList.get(0);
        onEndCalibration(userId, true);
 
        if ( kinect.isTrackingSkeleton(userId))
        {
            fill(0,0,255);
            textFont(myFont); 
            text(myStr, 100, 530);   
            text("www.cqwu.net " , 195, 565);
    
            fill(0, 255, 0);
            textSize(25);
            text(Str_temp_Yes, 270,30);
    
            kinect.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND,right_hand);
            kinect.convertRealWorldToProjective(right_hand, right_hand);
  
            kinect.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HIP,right_hip);
            kinect.convertRealWorldToProjective(right_hip, right_hip);
        
            kinect.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_HEAD,head);
            kinect.convertRealWorldToProjective(head, head);
    
            kinect.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HAND,left_hand);
            kinect.convertRealWorldToProjective(left_hand, left_hand);
          
            kinect.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HIP,left_hip);
            kinect.convertRealWorldToProjective(left_hip, left_hip);
    
           //textSize(20);
            difference = PVector.sub(right_hand, left_hand);
            shouju = difference.mag();
    // text("shouju: " + int(shouju), 20, 20);
     
            difference = PVector.sub(right_hand, head);
            youtou = difference.mag();
          //  text("youtou: " + int(youtou), 20, 45);
    
            difference = PVector.sub(left_hand, head);
            zuotou = difference.mag();
          //  text("zuotou: " + int(zuotou), 20, 70);
    
            difference = PVector.sub(right_hand, right_hip);
            youhip = difference.mag();
          //  text("youhip: " + int(youhip), 20, 95);
    
            difference = PVector.sub(left_hand, right_hip);
            zuohip = difference.mag();
         //  text("zuohip: " + int(zuohip), 20, 120); 
    
            fill(255, 255, 0);
            textSize(20);
            if(shouju>400 && youtou>200 && zuotou>200 && youhip>200 && zuohip>200)
            {
              text(Str_w, 20, 40);
              port.write(ch_w);
            }
            else if(shouju<200 && youtou<200 && zuotou<200 && youhip>200 && zuohip>200)
            {
              text(Str_s, 20, 40);
              port.write(ch_s); 
            }
            else if(shouju>300 && youtou>180 && zuotou>180 && youhip<150 && zuohip>250)
            {
              text(Str_a, 20, 40);
              port.write(ch_a); 
            }
            else if(shouju>300 && youtou>180 && zuotou>180 && youhip>200 && zuohip<150)
            {
              text(Str_d, 20, 40);
              port.write(ch_d); 
            }
            else if(shouju<250 && youtou>180 && zuotou>180 && youhip<180 && zuohip<180)
            {
              text(Str_x, 20, 40);
              port.write(ch_x); 
            }        
            /***************************************************************
            fill(255, 0, 0);
            ellipse(left_hip.x, left_hip.y, 15, 15);
            ellipse(left_hand.x, left_hand.y, 15, 15);
            ellipse(head.x, head.y, 15, 15);
            ellipse(right_hip.x, right_hip.y, 15, 15);
            ellipse(right_hand.x, right_hand.y, 15, 15);
            ****************************************************************/
            /****************************************************************
            stroke(0, 255, 0);
            strokeWeight(4);
            line(right_hand.x, right_hand.y, head.x, head.y);
            line(right_hand.x, right_hand.y, right_hip.x, right_hip.y);
            line(left_hand.x, left_hand.y, head.x, head.y);
            line(left_hand.x, left_hand.y, left_hip.x, left_hip.y);
            ****************************************************************/
        }
      }
      else
      {
          fill(255, 0, 0);
          textSize(25);
          text(Str_temp_NO, 280, 30);
      }
    }
 
    // user-tracking callbacks!
    void onNewUser(int userId) {
      println("start pose detection");
      kinect.startPoseDetection("Psi", userId);
    }
    void onEndCalibration(int userId, boolean successful) {
      if (successful) {
        println("  User calibrated !!!");
        kinect.startTrackingSkeleton(userId);
      }
      else {
        println("  Failed to calibrate user !!!");
        kinect.startPoseDetection("Psi", userId);
      }
    }
    void onStartPose(String pose, int userId) {
      println("Started pose for user");
      kinect.stopPoseDetection(userId);
      kinect.requestCalibrationSkeleton(userId, true);
    }