Kinect Azure DK入门学习（三）——设置人体跟踪SDK + 生成第一个人体跟踪应用程序

参考官网教程：https://docs.microsoft.com/zh-cn/azure/kinect-dk/body-sdk-setup
https://docs.microsoft.com/zh-cn/azure/kinect-dk/build-first-body-app
使用环境：Azure Kinect SDK v1.4.1 + Azure Kinect Body Tracking SDK 1.0.1 + VS2019

一、设置人体跟踪SDK

1. 官网下载SDK并安装

下载地址为https://docs.microsoft.com/zh-cn/azure/kinect-dk/body-sdk-download，选择1.0.1版本即可，下载好后可以默认安装，也可以自定义安装路径。（我是自定义路径）

注：我开始安装的1.1.0版本，后来运行过程中始终出错，后来使用1.0.1版本运行正常，出错原因未知。

2. 验证人体跟踪

• 可以在 开始菜单 或 （SDK Installation Path）\tools\k4abt_simple_3d_viewer.exe 中找到它双击运行。
• 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：（SDK Installation Path）\tools\k4abt_simple_3d_viewer.exe

出现以下窗口，则说明安装正确。

二、生成第一个人体跟踪应用程序

1. 项目配置

过程和上节内容类似，未详细说明就是与上节完全相同。

1.1 新建空白工程并配置文件

1.2 安装 Azure Kinect NuGet 包

1.3 添加头文件和库文件

1. 加入头文件k4a.h和k4abt.h
   
2. 配置头文件目录和库文件目录
   2.1 C/C++ - 常规 - 附加包含目录，加入传感器 SDK 和人体跟踪 SDK 的include路径
   
   2.2 链接器 - 常规 - 附加库目录，加入传感器 SDK 和人体跟踪 SDK 的lib路径
   
   2.3 链接器 - 输入 - 附加依赖项，加入k4a.lib和k4abt.lib
   
   注意：每添加一项后，点击右下角应用。

2. 完整源代码

代码用于检测镜头中人数。

#include <stdio.h>
#include <stdlib.h>

#include <k4a/k4a.h>
#include <k4abt.h>

#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()
{
    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!");

    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);
        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);

                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;
}

3. 结果展示

出现如图所示窗口，则说明运行成功。