Azure Kinect DK相机安装配置：https://blog.csdn.net/y18771025420/article/details/113468859
OpenCV安装： https://blog.csdn.net/y18771025420/article/details/110373449
人体跟踪SDK下载
百度云
链接：https://pan.baidu.com/s/1h_j9yJIbi-1gv7Yus7iIKA
提取码：l0j5
官网
https://www.nuget.org/packages/Microsoft.Azure.Kinect.BodyTracking/1.0.1
CSDN
https://download.csdn.net/download/y18771025420/15464987
安装和使用
安装
下载后直接安装即可
使用
- 打开安装路径所在文件夹，找到下图所示文件，打开k4abt_simple_3d_viewer.exe
- 如果没有足够强大的 GPU 但仍想测试结果，可以通过以下命令在命令行中启动 Azure Kinect 人体跟踪查看器：\tools\k4abt_simple_3d_viewer.exe CPU
- 显示结果如下
关节位置信息获取
#include <stdio.h>
#include <stdlib.h>
#include <k4a/k4a.h>
#include <k4abt.h>
// OpenCV
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#define VERIFY(result, error) \
if(result != K4A_RESULT_SUCCEEDED) \
{ \
printf("%s \n - (File: %s, Function: %s, Line: %d)\n", error, __FILE__, __FUNCTION__, __LINE__); \
exit(1); \
} \
int main()
{
//定义身高
float UPPER_BODY; //上身长度
float body_angel; //上身倾角
k4a_device_t device = NULL;
VERIFY(k4a_device_open(0, &device), "Open K4A Device failed!");
// Start camera. Make sure depth camera is enabled.
k4a_device_configuration_t deviceConfig = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
deviceConfig.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
deviceConfig.color_resolution = K4A_COLOR_RESOLUTION_OFF;
VERIFY(k4a_device_start_cameras(device, &deviceConfig), "Start K4A cameras failed!");
k4a_calibration_t sensor_calibration;
VERIFY(k4a_device_get_calibration(device, deviceConfig.depth_mode, deviceConfig.color_resolution, &sensor_calibration),
"Get depth camera calibration failed!");
k4abt_tracker_t tracker = NULL;
k4abt_tracker_configuration_t tracker_config = K4ABT_TRACKER_CONFIG_DEFAULT;
VERIFY(k4abt_tracker_create(&sensor_calibration, tracker_config, &tracker), "Body tracker initialization failed!");
cv::Mat cv_rgbImage_with_alpha;
cv::Mat cv_rgbImage_no_alpha;
cv::Mat cv_depth;
cv::Mat cv_depth_8U;
int frame_count = 0;
do
{
k4a_capture_t sensor_capture;
k4a_wait_result_t get_capture_result = k4a_device_get_capture(device, &sensor_capture, K4A_WAIT_INFINITE);
//获取RGB和depth图像
k4a_image_t rgbImage = k4a_capture_get_color_image(sensor_capture);
k4a_image_t depthImage = k4a_capture_get_depth_image(sensor_capture);
//RGB
cv_rgbImage_with_alpha = cv::Mat(k4a_image_get_height_pixels(rgbImage), k4a_image_get_width_pixels(rgbImage), CV_8UC4, k4a_image_get_buffer(rgbImage));
cvtColor(cv_rgbImage_with_alpha, cv_rgbImage_no_alpha, cv::COLOR_BGRA2BGR);
//depth
cv_depth = cv::Mat(k4a_image_get_height_pixels(depthImage), k4a_image_get_width_pixels(depthImage), CV_16U, k4a_image_get_buffer(depthImage), k4a_image_get_stride_bytes(depthImage));
cv_depth.convertTo(cv_depth_8U, CV_8U, 1);
if (get_capture_result == K4A_WAIT_RESULT_SUCCEEDED)
{
frame_count++;
k4a_wait_result_t queue_capture_result = k4abt_tracker_enqueue_capture(tracker, sensor_capture, K4A_WAIT_INFINITE);
k4a_capture_release(sensor_capture); // Remember to release the sensor capture once you finish using it
if (queue_capture_result == K4A_WAIT_RESULT_TIMEOUT)
{
// It should never hit timeout when K4A_WAIT_INFINITE is set.
printf("Error! Add capture to tracker process queue timeout!\n");
break;
}
else if (queue_capture_result == K4A_WAIT_RESULT_FAILED)
{
printf("Error! Add capture to tracker process queue failed!\n");
break;
}
k4abt_frame_t body_frame = NULL;
k4a_wait_result_t pop_frame_result = k4abt_tracker_pop_result(tracker, &body_frame, K4A_WAIT_INFINITE);
if (pop_frame_result == K4A_WAIT_RESULT_SUCCEEDED)
{
// Successfully popped the body tracking result. Start your processing
size_t num_bodies = k4abt_frame_get_num_bodies(body_frame);
printf("%zu bodies are detected!\n", num_bodies);
for (size_t i = 0; i < num_bodies; i++)
{
k4abt_skeleton_t skeleton;
k4abt_frame_get_body_skeleton(body_frame, i, &skeleton);
//std::cout << typeid(skeleton.joints->position.v).name();
k4a_float2_t P_HEAD_2D;
k4a_float2_t P_NECK_2D;
k4a_float2_t P_CHEST_2D;
k4a_float2_t P_HIP_2D;
k4a_float2_t P_CLAVICLE_RIGHT_2D;
k4a_float2_t P_CLAVICLE_LEFT_2D;
k4a_float2_t P_HIP_RIGHT_2D;
k4a_float2_t P_HIP_LEFT_2D;
k4a_float2_t P_KNEE_LEFT_2D;
k4a_float2_t P_KNEE_RIGHT_2D;
int result;
//头部
k4abt_joint_t P_HEAD = skeleton.joints[K4ABT_JOINT_NOSE];
//3D转2D，并在color中画出
k4a_calibration_3d_to_2d(&sensor_calibration, &P_HEAD.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_HEAD_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_HEAD_2D.xy.x, P_HEAD_2D.xy.y), 3, cv::Scalar(0, 255, 255));
//颈部
k4abt_joint_t P_NECK = skeleton.joints[K4ABT_JOINT_NECK];
//3D转2D，并在color中画出
k4a_calibration_3d_to_2d(&sensor_calibration, &P_NECK.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_CHEST_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_CHEST_2D.xy.x, P_CHEST_2D.xy.y), 3, cv::Scalar(0, 255, 255));
//胸部
k4abt_joint_t P_CHEST = skeleton.joints[K4ABT_JOINT_SPINE_CHEST];
//3D转2D，并在color中画出
k4a_calibration_3d_to_2d(&sensor_calibration, &P_CHEST.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_NECK_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_NECK_2D.xy.x, P_NECK_2D.xy.y), 3, cv::Scalar(0, 255, 255));
//髋部
k4abt_joint_t P_HIP = skeleton.joints[K4ABT_JOINT_PELVIS];
//3D转2D，并在color中画出
k4a_calibration_3d_to_2d(&sensor_calibration, &P_HIP.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_HIP_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_HIP_2D.xy.x, P_HIP_2D.xy.y), 3, cv::Scalar(0, 255, 255));
//右肩（计算上身倾角需要）
k4abt_joint_t P_CLAVICLE_RIGHT = skeleton.joints[K4ABT_JOINT_CLAVICLE_RIGHT];
//3D转2D，并在color中画出
k4a_calibration_3d_to_2d(&sensor_calibration, &P_CLAVICLE_RIGHT.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_CLAVICLE_RIGHT_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_CLAVICLE_RIGHT_2D.xy.x, P_CLAVICLE_RIGHT_2D.xy.y), 3, cv::Scalar(0, 255, 255));
//右髋（计算上身倾角需要）
k4abt_joint_t P_HIP_RIGHT = skeleton.joints[K4ABT_JOINT_HIP_RIGHT];
//3D转2D，并在color中画出,并画出右肩到右髋的连线
k4a_calibration_3d_to_2d(&sensor_calibration, &P_HIP_RIGHT.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_HIP_RIGHT_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_HIP_RIGHT_2D.xy.x, P_HIP_RIGHT_2D.xy.y), 3, cv::Scalar(0, 255, 255));
cv::line(cv_rgbImage_no_alpha, cv::Point(P_CLAVICLE_RIGHT_2D.xy.x, P_CLAVICLE_RIGHT_2D.xy.y), cv::Point(P_HIP_RIGHT_2D.xy.x, P_HIP_RIGHT_2D.xy.y), cv::Scalar(0, 0, 255), 2);
//右膝（计算上身倾角需要）
k4abt_joint_t P_KNEE_RIGHT = skeleton.joints[K4ABT_JOINT_KNEE_RIGHT];
//3D转2D，并在color中画出,并画出右肩到右膝、右髋到右膝的连线
k4a_calibration_3d_to_2d(&sensor_calibration, &P_KNEE_RIGHT.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_KNEE_RIGHT_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_KNEE_RIGHT_2D.xy.x, P_KNEE_RIGHT_2D.xy.y), 3, cv::Scalar(0, 255, 255));
cv::line(cv_rgbImage_no_alpha, cv::Point(P_CLAVICLE_RIGHT_2D.xy.x, P_CLAVICLE_RIGHT_2D.xy.y), cv::Point(P_KNEE_RIGHT_2D.xy.x, P_KNEE_RIGHT_2D.xy.y), cv::Scalar(0, 0, 255), 2);
cv::line(cv_rgbImage_no_alpha, cv::Point(P_HIP_RIGHT_2D.xy.x, P_HIP_RIGHT_2D.xy.y), cv::Point(P_KNEE_RIGHT_2D.xy.x, P_KNEE_RIGHT_2D.xy.y), cv::Scalar(0, 0, 255), 2);
//左肩（计算上身倾角需要）
k4abt_joint_t P_CLAVICLE_LEFT = skeleton.joints[K4ABT_JOINT_CLAVICLE_LEFT];
//3D转2D，并在color中画出
k4a_calibration_3d_to_2d(&sensor_calibration, &P_CLAVICLE_LEFT.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_CLAVICLE_LEFT_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_CLAVICLE_LEFT_2D.xy.x, P_CLAVICLE_LEFT_2D.xy.y), 3, cv::Scalar(0, 255, 255));
//左髋（计算上身倾角需要）
k4abt_joint_t P_HIP_LEFT = skeleton.joints[K4ABT_JOINT_HIP_LEFT];
//3D转2D，并在color中画出,并画出左肩到左髋的连线
k4a_calibration_3d_to_2d(&sensor_calibration, &P_HIP_LEFT.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_HIP_LEFT_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_HIP_LEFT_2D.xy.x, P_HIP_LEFT_2D.xy.y), 3, cv::Scalar(0, 255, 255));
cv::line(cv_rgbImage_no_alpha, cv::Point(P_HIP_LEFT_2D.xy.x, P_HIP_LEFT_2D.xy.y), cv::Point(P_CLAVICLE_LEFT_2D.xy.x, P_CLAVICLE_LEFT_2D.xy.y), cv::Scalar(0, 0, 255), 2);
//左膝（计算上身倾角需要）
k4abt_joint_t P_KNEE_LEFT = skeleton.joints[K4ABT_JOINT_KNEE_LEFT];
//3D转2D，并在color中画出,并画出左肩到左膝、左髋到左膝的连线
k4a_calibration_3d_to_2d(&sensor_calibration, &P_KNEE_LEFT.position, K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &P_KNEE_LEFT_2D, &result);
cv::circle(cv_rgbImage_no_alpha, cv::Point(P_KNEE_LEFT_2D.xy.x, P_KNEE_LEFT_2D.xy.y), 3, cv::Scalar(0, 255, 255));
cv::line(cv_rgbImage_no_alpha, cv::Point(P_CLAVICLE_LEFT_2D.xy.x, P_CLAVICLE_LEFT_2D.xy.y), cv::Point(P_KNEE_LEFT_2D.xy.x, P_KNEE_LEFT_2D.xy.y), cv::Scalar(0, 0, 255), 2);
cv::line(cv_rgbImage_no_alpha, cv::Point(P_HIP_LEFT_2D.xy.x, P_HIP_LEFT_2D.xy.y), cv::Point(P_KNEE_LEFT_2D.xy.x, P_KNEE_LEFT_2D.xy.y), cv::Scalar(0, 0, 255), 2);
//输出头部关键点坐标（skeleton.joints_HEAD->position.v为头部坐标点，数据结构float[3]）
char text_head[50];
std::cout << "头部坐标：";
for (size_t i = 0; i < 3; i++)
{
std::cout << P_HEAD.position.v[i] << " ";
}
printf("\n");
//输出颈部关键点坐标
std::cout << "颈部坐标：";
for (size_t i = 0; i < 3; i++)
{
std::cout << P_NECK.position.v[i] << " ";
}
printf("\n");
//输出胸部关键点坐标
std::cout << "胸部坐标：";
for (size_t i = 0; i < 3; i++)
{
std::cout << P_CHEST.position.v[i] << " ";
}
printf("\n");
//输出髋部关键点坐标
std::cout << "髋部坐标：";
for (size_t i = 0; i < 3; i++)
{
std::cout << P_HIP.position.v[i] << " ";
}
printf("\n");
//估算人体身高
UPPER_BODY = sqrt(pow((P_NECK.position.xyz.x - P_HIP.position.xyz.x), 2) + pow((P_NECK.position.xyz.y - P_HIP.position.xyz.y), 2) + pow((P_NECK.position.xyz.z - P_HIP.position.xyz.z), 2));
float HEIGHT = UPPER_BODY * 1770 / 518;
std::cout << "估算身高高度是;" << HEIGHT << std::endl;
//估算上身倾角
float ang_clavicetohip_right = sqrt(pow((P_CLAVICLE_RIGHT.position.xyz.x - P_HIP_RIGHT.position.xyz.x), 2) + pow((P_CLAVICLE_RIGHT.position.xyz.y - P_HIP_RIGHT.position.xyz.y), 2) + pow((P_CLAVICLE_RIGHT.position.xyz.z - P_HIP_RIGHT.position.xyz.z), 2));
float ang_clavicetohip_left = sqrt(pow((P_CLAVICLE_LEFT.position.xyz.x - P_HIP_LEFT.position.xyz.x), 2) + pow((P_CLAVICLE_LEFT.position.xyz.y - P_HIP_LEFT.position.xyz.y), 2) + pow((P_CLAVICLE_LEFT.position.xyz.z - P_HIP_LEFT.position.xyz.z), 2));
float ang_hiptoknee_right = sqrt(pow((P_HIP_RIGHT.position.xyz.x - P_KNEE_RIGHT.position.xyz.x), 2) + pow((P_HIP_RIGHT.position.xyz.y - P_KNEE_RIGHT.position.xyz.y), 2) + pow((P_HIP_RIGHT.position.xyz.z - P_KNEE_RIGHT.position.xyz.z), 2));
float ang_hiptoknee_left = sqrt(pow((P_HIP_LEFT.position.xyz.x - P_KNEE_LEFT.position.xyz.x), 2) + pow((P_HIP_LEFT.position.xyz.y - P_KNEE_LEFT.position.xyz.y), 2) + pow((P_HIP_LEFT.position.xyz.z - P_KNEE_LEFT.position.xyz.z), 2));
float ang_clavicetoknee_right = sqrt(pow((P_CLAVICLE_RIGHT.position.xyz.x - P_KNEE_RIGHT.position.xyz.x), 2) + pow((P_CLAVICLE_RIGHT.position.xyz.y - P_KNEE_RIGHT.position.xyz.y), 2) + pow((P_CLAVICLE_RIGHT.position.xyz.z - P_KNEE_RIGHT.position.xyz.z), 2));
float ang_clavicetoknee_left = sqrt(pow((P_CLAVICLE_LEFT.position.xyz.x - P_KNEE_LEFT.position.xyz.x), 2) + pow((P_CLAVICLE_LEFT.position.xyz.y - P_KNEE_LEFT.position.xyz.y), 2) + pow((P_CLAVICLE_LEFT.position.xyz.z - P_KNEE_LEFT.position.xyz.z), 2));
float body_angel_right = acos((ang_clavicetohip_right * ang_clavicetohip_right + ang_hiptoknee_right * ang_hiptoknee_right - ang_clavicetoknee_right * ang_clavicetoknee_right) / (2 * ang_clavicetohip_right * ang_hiptoknee_right)) * 180.0 / 3.1415926;
float body_angel_left = acos((ang_clavicetohip_left * ang_clavicetohip_left + ang_hiptoknee_left * ang_hiptoknee_left - ang_clavicetoknee_left * ang_clavicetoknee_left) / (2 * ang_clavicetohip_left * ang_hiptoknee_left)) * 180.0 / 3.1415926;
body_angel = (body_angel_right + body_angel_left) / 2;
std::cout << "估算上身倾角是;" << body_angel << std::endl;
uint32_t id = k4abt_frame_get_body_id(body_frame, i);
}
printf("%zu bodies are detected!\n", num_bodies);
k4abt_frame_release(body_frame); // Remember to release the body frame once you finish using it
}
else if (pop_frame_result == K4A_WAIT_RESULT_TIMEOUT)
{
// It should never hit timeout when K4A_WAIT_INFINITE is set.
printf("Error! Pop body frame result timeout!\n");
break;
}
else
{
printf("Pop body frame result failed!\n");
break;
}
}
else if (get_capture_result == K4A_WAIT_RESULT_TIMEOUT)
{
// It should never hit time out when K4A_WAIT_INFINITE is set.
printf("Error! Get depth frame time out!\n");
break;
}
else
{
printf("Get depth capture returned error: %d\n", get_capture_result);
break;
}
} while (frame_count < 100);
printf("Finished body tracking processing!\n");
k4abt_tracker_shutdown(tracker);
k4abt_tracker_destroy(tracker);
k4a_device_stop_cameras(device);
k4a_device_close(device);
return 0;
}
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