五、获取RGB图像——Azure Kinect DK入门

    #include<k4a/k4a.h>
    #include<opencv2/core/core.hpp>
    #include<opencv2/highgui/highgui.hpp>
    #include<iostream>
    
    using namespace std;
    using namespace cv;
    
    int main()
    {
    	system("color 2f");
    	uint32_t device_number = k4a_device_get_installed_count(); // 识别已连接的设备
    	if (device_number == 0)
    	{
    		cout << "No k4a devices attached!" << endl;
    		return -1;
    	}
    	cout << "已连接设备数：" << device_number << endl;
    
    	k4a_device_t device = NULL; // 定义设备句柄
    	if (K4A_FAILED(k4a_device_open(0, &device))) // 打开设备
    	{
    		cout << "Failed to open k4a device!\n" << endl;
    		return -1;
    	}
    	cout << "成功打开设备！" << endl;
    
    	size_t serial_size = 0;
    	k4a_device_get_serialnum(device, NULL, &serial_size); // 获取序列号大小
    	char* serial = (char*)(malloc(serial_size)); // 开辟空间存储序列号
    	k4a_device_get_serialnum(device, serial, &serial_size); // 获取序列号
    	cout << "设备序列号为：" << serial << endl;
    	free(serial); // 释放为存储序列号开辟的空间
    
    	// 启动相机，配置相机参数
    	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;
    
    	if (K4A_FAILED(k4a_device_start_cameras(device, &config))) // 开始彩色与深度相机捕捉
    	{
    		cout << "Failed to start cameras!" << endl;
    		k4a_device_close(device);
    		return -1;
    	}
    	cout << "成功打开相机!" << endl;
    
    	while (true) // 图像是一帧一帧获取的，故用循环
    	{
    		k4a_capture_t sensor_capture; // 定义传感器捕获句柄
    		k4a_wait_result_t get_capture_result = k4a_device_get_capture(device, &sensor_capture, K4A_WAIT_INFINITE); // 读取传感器捕获，K4A_WAIT_INFINITE：一直等待捕获数据，直到数据可用、设备断开连接或发生其他错误
    		k4a_image_t rbgimage = k4a_capture_get_color_image(sensor_capture); // 获取RGB图像
    		 // 将相机获取的图像用OpenCV处理然后表示出来
    		Mat color_image = Mat(k4a_image_get_height_pixels(rbgimage), k4a_image_get_width_pixels(rbgimage), CV_8UC4,k4a_image_get_buffer(rbgimage));
    		namedWindow("color", WINDOW_FREERATIO); // 定义一个可以自己调节的窗口
    		imshow("color", color_image); // 展示经处理的图像
    		if (waitKey(1) == 27) // 如果键盘接受‘ESC’键，退出循环
    		{
    			cout << "程序结束" << endl;
    			break;
    		}
    		k4a_image_release(rbgimage); // 释放图像句柄
    	}
    	
    	k4a_device_stop_cameras(device); // 关闭相机
    	k4a_device_close(device); // 关闭设备
    	waitKey(0);
    	return 0;
    }