Azure Kinect -> OpenCV で Color & IR (IR image & depth) を取得する

Kinect Azure のキャプチャ画像をとりあえず OpenCV で見るところまで。

そんなに難しい所は無いです。

Memo

• K4A_IMAGE_FORMAT_COLOR_BGRA32 を指定しないと BGRA で降りてこない（JPEG のまま）

Example

Code

# include <iostream>
# include <k4a/k4a.h>
# include <k4arecord/record.h>
# include <k4arecord/playback.h>
# include <opencv2/core/core.hpp>
# include <opencv2/highgui.hpp>

# ifdef _DEBUG
# pragma comment(lib, "opencv_world430d.lib")
# else
# pragma comment(lib, "opencv_world430.lib")
# endif // DEBUG


int main() {
    uint32_t count = k4a_device_get_installed_count();
    if (count == 0)
    {
        printf("No k4a devices attached!\n");
        return 1;
    }

    // Open the first plugged in Kinect device
    k4a_device_t device = NULL;
    if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device)))
    {
        printf("Failed to open k4a device!\n");
        return 1;
    }

    // Configure a stream with 720P BRGA color
    k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
    config.camera_fps = K4A_FRAMES_PER_SECOND_15;
    config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
    config.color_resolution = K4A_COLOR_RESOLUTION_720P;
    config.depth_mode = K4A_DEPTH_MODE_WFOV_UNBINNED;

    // Start the camera with the given configuration
    if (K4A_FAILED(k4a_device_start_cameras(device, &config)))
    {
        printf("Failed to start cameras!\n");
        k4a_device_close(device);
        return 1;
    }

    while (cv::waitKey(1) != 'q') {
        // Capture a depth frame
        k4a_capture_t capture;

        switch (k4a_device_get_capture(device, &capture, 1000))
        {
        case K4A_WAIT_RESULT_SUCCEEDED:
            break;
        case K4A_WAIT_RESULT_TIMEOUT:
            printf("Timed out waiting for a capture\n");
            continue;
            break;
        case K4A_WAIT_RESULT_FAILED:
            printf("Failed to read a capture\n");
            return 1;
        }

        // Kinect for Azure color & depth.
        const auto k4a_color = k4a_capture_get_color_image(capture);
        const auto k4a_ir = k4a_capture_get_ir_image(capture);
        const auto k4a_depth = k4a_capture_get_depth_image(capture);

        if (k4a_color == NULL || k4a_ir == NULL) {
            continue;
        }

        // Print depth image details.
        printf(" | Depth16 res:%4dx%4d stride:%5d\n",
            k4a_image_get_height_pixels(k4a_ir),
            k4a_image_get_width_pixels(k4a_ir),
            k4a_image_get_stride_bytes(k4a_ir));

        // Get color as cv::Mat
        const auto cv_color = cv::Mat_<cv::Vec4b>(
            k4a_image_get_height_pixels(k4a_color),
            k4a_image_get_width_pixels(k4a_color),
            (cv::Vec4b*)k4a_image_get_buffer(k4a_color),
            k4a_image_get_stride_bytes(k4a_color));
        cv::imshow("color", cv_color);

        const auto cv_ir = cv::Mat_<short>(
            k4a_image_get_height_pixels(k4a_ir),
            k4a_image_get_width_pixels(k4a_ir),
            (short*)k4a_image_get_buffer(k4a_ir),
            k4a_image_get_stride_bytes(k4a_ir));
        cv::imshow("IR", cv_ir * 20);

        const auto cv_depth = cv::Mat_<short>(
            k4a_image_get_height_pixels(k4a_depth),
            k4a_image_get_width_pixels(k4a_depth),
            (short*)k4a_image_get_buffer(k4a_depth),
            k4a_image_get_stride_bytes(k4a_depth));
        cv::imshow("depth", cv_depth * 40);

        cv::waitKey(1);

        // Release the image and capture.
        k4a_image_release(k4a_color);
        k4a_image_release(k4a_ir);
        k4a_image_release(k4a_depth);
        k4a_capture_release(capture);
    }

    // Shut down the camera when finished with application logic
    k4a_device_stop_cameras(device);
    k4a_device_close(device);

    return 0;
}