Azure Kinect 人体跟踪关节

Vertira2024-10-01 21:21

Azure Kinect 人体跟踪关节

azure kinect dk 提取人体骨骼

要在Azure Kinect DK上提取人体骨骼，你需要使用Azure Kinect SDK和OpenPose库。以下是一个简化的代码示例，展示如何集成这两个库来提取骨骼关键点：

首先，确保你已经安装了Azure Kinect SDK和OpenPose。

#include <k4a/k4a.h>
#include <openpose/flags.h>
#include <openpose/pose/poseExtractor.hpp>
#include <openpose/pose/poseRenderer.hpp>
#include <openpose/net/net.hpp>
 
// 初始化Azure Kinect传感器
k4a::device device = k4a::device::open(K4A_DEVICE_DEFAULT);
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config.color_resolution = K4A_COLOR_RESOLUTION_720P;
config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
config.camera_fps = K4A_FRAMES_PER_SECOND_30;
 
k4a::capture capture;
k4a::image color_image;
k4a::image depth_image;
 
// 加载OpenPose模型
FLAGS_model_folder = "path_to_openpose_models";
poseExtractor::Param param;
poseExtractor::Extractor extractor(&param);
 
// 循环获取帧
while (true)
{
    device.get_capture(&capture);
    color_image = capture.get_color_image();
    depth_image = capture.get_depth_image();
 
    if (!color_image || !depth_image)
    {
        std::cerr << "Failed to get images." << std::endl;
        continue;
    }
 
    // 将图像数据转换为OpenPose可以处理的数据结构
    const auto& frame_datum = op::datum::createFromColorImage(color_image);
    std::vector<std::shared_ptr<op::Datum>> datums = {std::make_shared<op::Datum>(frame_datum)};
 
    // 提取骨骼关键点
    extractor.extract(datums);
 
    // 处理骨骼关键点，例如渲染到图像上
    op::PoseRenderer renderer;
    renderer.render(datums[0]->poseKeypoints);
 
    // 显示结果或保存结果
    // ...
 
    // 释放资源
    capture.reset();
}
 
// 关闭设备
device.close();