Guida per sviluppatori Orbbec Femto Bolt: tutorial completo di configurazione, rilevamento del corpo ed esportazione dei dati

# Verifica della connessione USB
$ lsusb | grep Orbbec
Bus 002 Device 003: ID 2bc5:... Orbbec Technology

#include <k4a/k4a.h>
#include <k4abt.h>
#include <iostream>
#include <fstream>

struct JointData {
    uint64_t timestamp;
    int body_id, joint_id;
    float x, y, z, confidence;
};

std::ofstream outputFile;

void WriteJointData(const JointData& data) {
    outputFile << data.timestamp << ","
               << data.body_id << ","
               << data.joint_id << ","
               << data.x << ","
               << data.y << ","
               << data.z << ","
               << data.confidence << "\n";
}

// Apri il dispositivo Femto Bolt
k4a_device_t device = nullptr;
if (k4a_device_open(0, &device) != K4A_RESULT_SUCCEEDED) {
    std::cerr << "Impossibile aprire il dispositivo!" << std::endl;
    return -1;
}

// Configurazione: profondità 640x576 a 30 FPS
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
config.color_resolution = K4A_COLOR_RESOLUTION_OFF;

k4a_device_start_cameras(device, &config);

// Ottieni la calibrazione del dispositivo
k4a_calibration_t calibration;
k4a_device_get_calibration(device, config.depth_mode, 
                           K4A_COLOR_RESOLUTION_OFF, &calibration);

// Crea il tracker del corpo con accelerazione GPU CUDA
k4abt_tracker_t tracker = nullptr;
k4abt_tracker_configuration_t tracker_config = K4ABT_TRACKER_CONFIG_DEFAULT;
tracker_config.processing_mode = K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA;

k4abt_tracker_create(&calibration, tracker_config, &tracker);

cmake_minimum_required(VERSION 3.10)
project(FemtoBoltTracker)

set(CMAKE_CXX_STANDARD 14)

find_package(k4a REQUIRED)
find_package(k4abt REQUIRED)

add_executable(body_tracker main.cpp)

target_link_libraries(body_tracker
    k4a::k4a
    k4abt::k4abt
)

$ mkdir build && cd build
$ cmake ..
$ make
$ ./body_tracker

# Installa: pip install pyorbbecsdk
import pyorbbecsdk as obs
import pandas as pd
import numpy as np

# Inizializza la pipeline
pipeline = obs.Pipeline()
config = obs.Config()
config.enable_stream(obs.OBSensorType.DEPTH_SENSOR, 640, 576, 30)
pipeline.start(config)

# Acquisisci ed elabora i fotogrammi
frames = pipeline.wait_for_frames(100)
depth_frame = frames.get_depth_frame()
timestamp = depth_frame.get_timestamp()

import pandas as pd
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D

# Carica i dati delle articolazioni
df = pd.read_csv('joint_data.csv')
pelvis = df[df['JointID'] == 0]

# Grafico della traiettoria 3D
fig = plt.figure(figsize=(12, 8))
ax = fig.add_subplot(111, projection='3d')
ax.plot(pelvis['X'], pelvis['Y'], pelvis['Z'])
plt.savefig('trajectory.png')