body_frame = k4a.k4abt_frame_t()
pop_frame_result = k4a.k4abt_tracker_pop_result(
tracker, ctypes.byref(body_frame), k4a.K4A_WAIT_INFINITE)
if pop_frame_result == k4a.K4A_WAIT_RESULT_SUCCEEDED:
num_bodies = k4a.k4abt_frame_get_num_bodies(body_frame)
print("{} bodies are detected!".format(num_bodies))
timestamp = k4a.k4abt_frame_get_device_timestamp_usec(
body_frame)
print("{} timestamp are detected!".format(timestamp))
for i in range(num_bodies):
body = k4a.k4abt_body_t()
VERIFY(
k4a.k4abt_frame_get_body_skeleton(
body_frame, i, ctypes.byref(body.skeleton)),
"Get body from body frame failed!")
body.id = k4a.k4abt_frame_get_body_id(body_frame, i)
print_body_information(body)
body_index_map = k4a.k4abt_frame_get_body_index_map(
body_frame)
if body_index_map:
print_body_index_map_middle_line(body_index_map)
k4a.k4a_image_release(body_index_map)
else:
print("Error: Fail to generate bodyindex map!")
k4a.k4abt_frame_release(body_frame)
elif pop_frame_result == k4a.K4A_WAIT_RESULT_TIMEOUT:
elif queue_capture_result == k4a.K4A_WAIT_RESULT_FAILED:
print("Error! Add capture to tracker process queue failed!")
break
body_frame = k4a.k4abt_frame_t()
pop_frame_result = k4a.k4abt_tracker_pop_result(tracker, ctypes.byref(body_frame), k4a.K4A_WAIT_INFINITE)
if pop_frame_result == k4a.K4A_WAIT_RESULT_SUCCEEDED:
num_bodies = k4a.k4abt_frame_get_num_bodies(body_frame)
# print("{} bodies are detected!".format(num_bodies))
timestamp = k4a.k4abt_frame_get_device_timestamp_usec(body_frame)
# print("{} timestamp are detected!".format(timestamp))
if num_bodies:
multi_pose = np.zeros((num_bodies, k4a.K4ABT_JOINT_COUNT, 3))
for i in range(num_bodies):
body = k4a.k4abt_body_t()
VERIFY(k4a.k4abt_frame_get_body_skeleton(body_frame, i, ctypes.byref(body.skeleton)), "Get body from body frame failed!")
body.id = k4a.k4abt_frame_get_body_id(body_frame, i)
multi_pose[i, :, :] = body_information(body)
# normalization
center_pelvis = multi_pose[0,0,:]
multi_pose[0, :, :] = multi_pose[0, :, :] - center_pelvis
# print(np.shape(center_pelvis))
multi_pose[:, :, 0] = multi_pose[:, :, 0] / img_w + 0.5
multi_pose[:, :, 1] = multi_pose[:, :, 1] / img_h + 0.5
multi_pose[:, :, 2] = multi_pose[:, :, 2] / img_h + 0.5
else:
multi_pose = np.zeros((1, k4a.K4ABT_JOINT_COUNT, 3))
# import pdb; pdb.set_trace()