Azure Kinect 开发程序

程序来源 网络，待调试，仅供参考

#include<k4a/k4a.h>
#include<k4abt.h>
#include<iostream>
#define Max_bodies 5

using namespace std;

int main()
{
    int device_amount;//设备数目
    k4a_device_t device;//设备
    k4a_result_t device_result;//设备打开结果
    k4a_device_configuration_t deviceConfig;//设备参数
    k4a_capture_t sensor_capture;//计录设备的捕获信息
    k4a_wait_result_t get_capture_result;//计录各个设备的捕获是否成功
    k4a_image_t rgbImage = NULL;//记录从捕获得到的rgb图
    k4a_image_t depthImage = NULL;//记录从捕获得到的depth图
    k4a_calibration_t sensor_calibration;//校准信息
    k4abt_tracker_t tracker;//创建人体跟踪器
    k4abt_tracker_configuration_t tracker_config; //人体跟踪器参数

    int64_t get_colorImage_time;//时间戳的记录
    k4a_wait_result_t queue_capture_result;//计录设备的人体捕获入队是否返回值
    k4a_wait_result_t pop_frame_result;//计录设备的人体捕获出队是否返回值
    k4abt_frame_t body_frame;//有人图像的序列
    k4abt_skeleton_t skeleton[Max_bodies];//人体关节信息


    device_amount = k4a_device_get_installed_count();
    cout << "发现"<< device_amount <<"台设备！" << endl;
    if (device_amount == 0) return 1;
    else if (device_amount > 1) return 1;


    //打开设备
    device_result =  k4a_device_open(0, &device);
    cout << device_result << endl;
    cout << "打开设备成功" << endl;

    // 设置参数信息
    deviceConfig = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
    deviceConfig.depth_mode = K4A_DEPTH_MODE_NFOV_2X2BINNED;
    deviceConfig.color_resolution = K4A_COLOR_RESOLUTION_720P;
    deviceConfig.camera_fps = K4A_FRAMES_PER_SECOND_30;
    deviceConfig.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
    cout << "设置参数信息成功" << endl;

    //打开相机
    k4a_device_start_cameras(device, &deviceConfig);
    cout << "打开相机成功" << endl;

    //查询传感器校准
    k4a_device_get_calibration(device, deviceConfig.depth_mode, deviceConfig.color_resolution, &sensor_calibration);
    cout << "查询传感器校准成功" << endl;

    //创建人体跟踪器
    tracker_config = K4ABT_TRACKER_CONFIG_DEFAULT;
    k4abt_tracker_create(&sensor_calibration, tracker_config, &tracker);
    if (get_tracker_result == K4A_RESULT_SUCCEEDED) cout << "创建人体跟踪器成功" << endl;
    else { cout << "创建人体跟踪器失败" << endl; return 1; }

    while (true)
    {
        //从设备中获取捕获
        get_capture_result = k4a_device_get_capture(device, &sensor_capture, K4A_WAIT_INFINITE);

        if (get_capture_result == K4A_WAIT_RESULT_SUCCEEDED)
        {
            //从捕获中获取rgb图像
            rgbImage = k4a_capture_get_color_image(sensor_capture);

            //从捕获中获取深度图像
            depthImage = k4a_capture_get_depth_image(sensor_capture);

            //获取时间戳
            get_colorImage_time = k4a_image_get_device_timestamp_usec(rgbImage);
            cout << "时间戳是: " << get_colorImage_time << endl;

            //获取人体跟踪器入队返回结果
            queue_capture_result = k4abt_tracker_enqueue_capture(tracker, sensor_capture, K4A_WAIT_INFINITE);
            
            //释放捕获空间
            k4a_capture_release(sensor_capture);
            cout << "释放捕获成功" << endl;

            if (queue_capture_result == K4A_WAIT_RESULT_SUCCEEDED)
            {
                //获取人体跟踪器出队返回结果
                pop_frame_result = k4abt_tracker_pop_result(tracker, &body_frame, K4A_WAIT_INFINITE);
            
                if (pop_frame_result == K4A_WAIT_RESULT_SUCCEEDED)
                {
                    //从序列中得到观察人的数量
                    int num_bodies = k4abt_frame_get_num_bodies(body_frame);
                    cout << "观察到有 " << num_bodies << " 个人！" << endl;

                    if (num_bodies > 5) { cout << "超过5人！"; return 1; }

                    for (int m = 0; m < num_bodies; m++)
                    {
                        int result;

                        //从图像序列中获取关节信息
                        k4abt_frame_get_body_skeleton(body_frame, m, &skeleton[m]);
                        //cout << typeid(skeleton[m].joints->position.v).name() << endl;



                    }

                    //释放人像序列
                    k4abt_frame_release(body_frame);
                    cout << "释放人像序列成功" << endl;

                }

            }


        }
        
        //释放图像空间
        k4a_image_release(rgbImage);
        k4a_image_release(depthImage);

    }

    //注意下面结束的顺序
    //关闭人体跟踪器
    k4abt_tracker_shutdown(tracker);
    //销毁跟踪器
    k4abt_tracker_destroy(tracker);
    //停止相机
    k4a_device_stop_cameras(device);
    ///关闭设备
    k4a_device_close(device);

    cout << "关闭设备成功" << endl;
}