我正在使用 Azure DK 读取 MKV 文件,我可以在其中提取每帧的 RGBA 和相应的深度图像。此后,我使用身体跟踪器使用深度图像定位和跟踪人。目前,我能够生成身体索引图,甚至可以将其转换为彩色相机空间,如下所示。
k4a::image extract_body_index_map(tracker& object_tracker)
{
k4a::image body_index_map = k4a::image();
k4abt::frame body_frame = object_tracker.pop_result();
if (body_frame != nullptr)
{
uint32_t bodies = body_frame.get_num_bodies();
cout << "Bodies Found: " << bodies << "\n";
for (uint32_t index = 0; index < bodies; ++index)
{
k4abt_body_t body = body_frame.get_body(index);
cout << "\tPERSON: " << body.id << "\n";
body_index_map = body_frame.get_body_index_map();
}
}
else { cerr << "ERROR: Body Pop Out Timeout\n\n"; }
return body_index_map;
}
k4a::image convert_body_index_map_to_colour(k4a::image& body_index_map, k4a::image& depth, k4a::image& colour, k4a_transformation_t transformation)
{
k4a_image_t depth_image_in_colour_space = nullptr;
k4a_result_t result = k4a_image_create(K4A_IMAGE_FORMAT_DEPTH16,
colour.get_width_pixels(), colour.get_height_pixels(),
colour.get_width_pixels() * (int)sizeof(uint16_t), &depth_image_in_colour_space);
if (result == K4A_RESULT_FAILED)
{
cerr << "ERROR: Failed to create depth image in colour space\n";
return nullptr;
}
k4a_image_t body_index_in_colour_space = nullptr;
result = k4a_image_create(K4A_IMAGE_FORMAT_CUSTOM8,
colour.get_width_pixels(), colour.get_height_pixels(),
colour.get_width_pixels() * (int)sizeof(uint8_t), &body_index_in_colour_space);
if (result == K4A_RESULT_FAILED)
{
cerr << "ERROR: Failed to create body index map in colour space\n";
return nullptr;
}
result = k4a_transformation_depth_image_to_color_camera_custom(transformation, depth.handle(),
body_index_map.handle(), depth_image_in_colour_space, body_index_in_colour_space,
K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST, K4ABT_BODY_INDEX_MAP_BACKGROUND);
if (result == K4A_RESULT_FAILED)
{
cerr << "ERROR: Failed to transform body index map to colour space\n";
return nullptr;
}
return k4a::image(body_index_in_colour_space);
}
我目前被困在如何:
使用生成的身体索引图来裁剪/分割/绘制彩色图像,以提取身体的视觉表示。我很想复制这个;带有 RGBA 图像的部分
将裁剪后的图像转换为 2D RGBA 图像
任何帮助将不胜感激 :)