Azure Kinect SDK相机配准

#include <iostream>
#include <chrono>
#include <cmath>
#include <iostream>
#include <vector>
#include <memory>
#include <condition_variable>
#include <opencv2/opencv.hpp>
#include <string>
#include <fstream>
#include <sstream>
#include <algorithm>
#include "mot.h"

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <thread>

#include <dirent.h>
#include <k4a/k4a.hpp>
#include <k4a/k4atypes.h>

#define COLOR_NUM 18

/*----  k4a相关声明  ----*/
k4a::device device = k4a::device::open(K4A_DEVICE_DEFAULT);
k4a::capture capture;
k4a::image rgbImage;
k4a::image depthImage;
k4a::image transformed_depthImage;

cv::Mat cv_depth;
cv::Mat cv_depth_8U;
cv::Mat frame_depth;

Mat cv_rgbImage_with_alpha;
Mat cv_rgbImage_no_alpha;


condition_variable con_v;
bool ready = false;
mutex mtx;
Mat frame_line;

Mot mot;

Rect last_rect;
vector<Point> line_vec;

Rect result;
Mat frame;


void get_img()
{
    const uint32_t device_count = k4a::device::get_installed_count();
    cout << "device_count : " << device_count << endl;
    k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
    config.camera_fps = K4A_FRAMES_PER_SECOND_30;
    config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
    config.color_resolution = K4A_COLOR_RESOLUTION_720P;
    config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
    //config.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;
    config.synchronized_images_only = true;
    device.start_cameras(&config);
    k4a::calibration k4aCalibration = device.get_calibration(config.depth_mode, config.color_resolution);// Get the camera calibration for the entire K4A device, which is used for all transformation functions.
    k4a::transformation k4aTransformation = k4a::transformation(k4aCalibration);
    cout << "--------- 1 ----------" << endl;
    while(1)
    {
        //cap >> frame;
        if(device.get_capture(&capture))
        {
            rgbImage = capture.get_color_image();
            depthImage = capture.get_depth_image();
            
            
            
            
            cv_rgbImage_with_alpha = cv::Mat(rgbImage.get_height_pixels(), rgbImage.get_width_pixels(), CV_8UC4,
                                             (void *) rgbImage.get_buffer());
            cv::cvtColor(cv_rgbImage_with_alpha, cv_rgbImage_no_alpha, cv::COLOR_BGRA2BGR);
            
            
            transformed_depthImage = k4aTransformation.depth_image_to_color_camera(depthImage);
            cv_depth = cv::Mat(transformed_depthImage.get_height_pixels(), transformed_depthImage.get_width_pixels(), CV_16U,
                               (void *) transformed_depthImage.get_buffer(), static_cast<size_t>(transformed_depthImage.get_stride_bytes()));
            normalize(cv_depth, cv_depth_8U, 0, 256 * 256, NORM_MINMAX);        
            cout << "rgbImage.size() : " << cv_rgbImage_no_alpha.size() << endl;
            cout << "cv_depth_8U.size() : " << cv_depth_8U.size() << endl;
            //cv_depth_8U.convertTo(cv_depth, CV_8U, 1);
            
        }
        frame = cv_rgbImage_no_alpha.clone();
        frame_depth = cv_depth_8U.clone();
        imshow("rgb", frame);
        imshow("depth", frame_depth);
        waitKey(1);
    }
}




int main()
{
    get_img();
    
    return 0;



}