MicroSoft Azure Kinect DK 如何通过OpenCV展示视频流，并且在人脸处绘制椭圆形
1.安装依赖：在Solution Explorer 点击右键 ->Manager Nuget Package For Solution，安装以下3个依赖
Microsoft.Azure.Kinect.BodyTracking
Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime
Microsoft.Azure.Kinect.Sensor
2.在Visual Studio 新建空白C++项目，执行以下代码
常见缩写
k4a：Kinect For Azure
k4abt：Kinect For Azure Body Tracking
3.注意事项：检查内存占用是否持续增加，确保在适当地方释放内存
深度传感器和彩色相机之间矫正：深度传感器和彩色相机之间坐标轴原点不一样，单位也不一样。分别是毫米和像素点。所以用到了k4a_calibration_3d_to_2d，以彩色相机为基准来校准。校准函数的使用方法见 Azure Kinect DK官网。
#include <stdio.h>
#include <stdlib.h>
#include <k4a/k4a.h>
#include <k4abt.h>
#include <iostream>
#include <fstream>
using namespace std;
#include <map>
#include <opencv2/opencv.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 getRealTimeImageStream() {
/* getRealTimeImageStream();*/
// 初始化 Azure Kinect DK
k4a_device_t device = NULL;
k4a_device_configuration_t camera_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
camera_config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
camera_config.color_resolution = K4A_COLOR_RESOLUTION_2160P;
camera_config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; // No need for depth during calibration
camera_config.camera_fps = K4A_FRAMES_PER_SECOND_15; // Don't use all USB bandwidth
camera_config.subordinate_delay_off_master_usec = 0; // Must be zero for master
camera_config.synchronized_images_only = true;
VERIFY(k4a_device_open(0, &device), "Open K4A Device failed!");
VERIFY(k4a_device_start_cameras(device, &camera_config), "Start K4A cameras failed!");
k4a_calibration_t sensor_calibration;
VERIFY(k4a_device_get_calibration(device, camera_config.depth_mode, camera_config.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!");
// 准备捕获器
// 循环读取视频帧
while (true)
{
k4a_capture_t capture = NULL;
// 等待 Azure Kinect DK 准备就绪
k4a_wait_result_t wait_result = k4a_device_get_capture(device, &capture, K4A_WAIT_INFINITE);
if (wait_result == K4A_WAIT_RESULT_SUCCEEDED)
{
// 获取颜色帧
// 获取颜色帧
k4a_image_t color_image = k4a_capture_get_color_image(capture);
// 将颜色帧转换为 OpenCV 格式
cv::Mat color_mat(k4a_image_get_height_pixels(color_image), k4a_image_get_width_pixels(color_image),
CV_8UC4, k4a_image_get_buffer(color_image));
// 处理颜色帧
// ...
k4a_wait_result_t queue_capture_result = k4abt_tracker_enqueue_capture(tracker, capture, K4A_WAIT_INFINITE);
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
const int num_bodies = k4abt_frame_get_num_bodies(body_frame);
k4abt_joint_t* joints = new k4abt_joint_t[num_bodies];
for (size_t i = 0; i < num_bodies; i++)
{
k4abt_skeleton_t skeleton;
k4abt_frame_get_body_skeleton(body_frame, i, &skeleton);
uint32_t id = k4abt_frame_get_body_id(body_frame, i);
//3代表head
k4abt_joint_t nose = skeleton.joints[K4ABT_JOINT_NOSE];
k4abt_joint_t head = skeleton.joints[K4ABT_JOINT_HEAD];
k4abt_joint_t eye_left = skeleton.joints[K4ABT_JOINT_EYE_LEFT];
k4abt_joint_t eye_right = skeleton.joints[K4ABT_JOINT_EYE_RIGHT];
/* k4a_calibration_2d_to_2d();
k4a_transformation_depth_image_to_color_camera();*/
k4a_float2_t nosePoint2d;
int noseVaild;
k4a_calibration_3d_to_2d(&sensor_calibration, &(nose.position), K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &nosePoint2d, &noseVaild);
k4a_float2_t eyeLeftPoint2d;
int eyeLeftVaild;
k4a_calibration_3d_to_2d(&sensor_calibration, &(eye_left.position), K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &eyeLeftPoint2d, &eyeLeftVaild);
k4a_float2_t eyeRightPoint2d;
int eyeRightVaild;
k4a_calibration_3d_to_2d(&sensor_calibration, &(eye_right.position), K4A_CALIBRATION_TYPE_DEPTH, K4A_CALIBRATION_TYPE_COLOR, &eyeRightPoint2d, &eyeRightVaild);
float scale = nose.position.xyz.z / 650.0;
printf("Head Position is w:%f x：%f y:%f z:%f\n", head.orientation.wxyz.w, head.orientation.wxyz.x, head.orientation.wxyz.y, head.orientation.wxyz.z);
float faceSizeWidth = 200.0 / scale;
float faceSizeHeight = 300.0 / scale;
float eyeWidth = 100.0 / scale;
float eyeHeight = 50.0 / scale;
float headPositionX = abs(head.orientation.wxyz.x);
float headPositionY = abs(head.orientation.wxyz.y);
if (headPositionX > 0.3 && headPositionX < 0.7 && headPositionY > 0.3 && headPositionY < 0.7) {
float headOffsetX = 0;
headOffsetX = (headPositionX - 0.5) * faceSizeWidth *2;
faceSizeWidth = faceSizeWidth + abs(headOffsetX/4);
cv::Rect noseRect(nosePoint2d.xy.x - faceSizeWidth / 2, nosePoint2d.xy.y - faceSizeHeight / 2, faceSizeWidth, faceSizeHeight);
cv::Rect leftEyeRect(eyeLeftPoint2d.xy.x - eyeWidth / 2, eyeLeftPoint2d.xy.y - eyeHeight, eyeWidth, eyeHeight);
cv::Rect rightEyeRect(eyeRightPoint2d.xy.x - eyeWidth / 2, eyeRightPoint2d.xy.y - eyeHeight, eyeWidth, eyeHeight);
cv::ellipse(color_mat, cv::Point(nosePoint2d.xy.x + headOffsetX, nosePoint2d.xy.y - faceSizeHeight * 0.2), cv::Size(faceSizeWidth, faceSizeHeight), 0, 0, 360, cv::Scalar(0, 0, 255), -1);
cv::ellipse(color_mat, cv::Point(eyeLeftPoint2d.xy.x, eyeLeftPoint2d.xy.y - eyeHeight / 2), cv::Size(eyeWidth, eyeHeight), 0, 0, 360, cv::Scalar(0, 0, 0), -1);
cv::ellipse(color_mat, cv::Point(eyeRightPoint2d.xy.x, eyeRightPoint2d.xy.y - eyeHeight / 2), cv::Size(eyeWidth, eyeHeight), 0, 0, 360, cv::Scalar(0, 0, 0), -1);
}
}
printf("%zu bodies are detected!\n", num_bodies);
}
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;
}
cv::imshow("Color Image", color_mat);
cv::waitKey(1);
// 释放帧和图像
k4abt_frame_release(body_frame);
k4a_image_release(color_image);
k4a_capture_release(capture);
}
else
{
// 处理等待失败的情况
}
}
// 关闭 Azure Kinect DK
k4a_device_close(device);
}
int main()
{
getRealTimeImageStream();
}
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