文章目录

• 一、获取深度图
• 二、获取深度数据
• 三、获取人体骨骼关键点三维坐标

//此处省略掉前面的初始化、传感器校准以及创建人体传感器工作cv::Mat cv_depth;
cv::Mat cv_depth_8U;
//获取捕获
k4a_wait_result_t get_capture_result = k4a_device_get_capture(device, &sensor_capture, K4A_WAIT_INFINITE);
//从捕获中获取depth图像
k4a_image_t depthImage = k4a_capture_get_depth_image(sensor_capture);
//将depth图像转化为Mat图像，图像大小是288 * 320
cv_depth = cv::Mat(k4a_image_get_height_pixels(depthImage), k4a_image_get_width_pixels(depthImage), CV_16U, k4a_image_get_buffer(depthImage), k4a_image_get_stride_bytes(depthImage));
//此时已可以利用深度图进行处理，但opencv仅支持显示8位灰度图，若要可视化，则需进一步转化
cv_depth.convertTo(cv_depth_8U, CV_8U, 1); //也可使用normalize进行归一化处理
//显示图像
imshow("depth", cv_depth_8U);

//此处同上，即将获取到的depth图像转化为Mat16位灰度图
cv_depth = cv::Mat(k4a_image_get_height_pixels(depthImage), k4a_image_get_width_pixels(depthImage), CV_16U, k4a_image_get_buffer(depthImage), k4a_image_get_stride_bytes(depthImage));
//定义一个txt文本文件，需#include <fstream>
std::ofstream outfile("depth_data.txt");
outfile << "图像宽和高:" << k4a_image_get_width_pixels(depthImage) << "*" << k4a_image_get_height_pixels(depthImage) << std::endl;
outfile << "图像像素值" << std::endl;
for (int row = 0; row < cv_depth.rows; row++)
{for (int col = 0; col < cv_depth.cols; col++){outfile << cv_depth.at<ushort>(row, col) << " ";}outfile << std::endl;
}
outfile.close();

#mermaid-svg-nRr5kHRy7ypwO2L8 .label{font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family);fill:#333;color:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .label text{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .node rect,#mermaid-svg-nRr5kHRy7ypwO2L8 .node circle,#mermaid-svg-nRr5kHRy7ypwO2L8 .node ellipse,#mermaid-svg-nRr5kHRy7ypwO2L8 .node polygon,#mermaid-svg-nRr5kHRy7ypwO2L8 .node path{fill:#ECECFF;stroke:#9370db;stroke-width:1px}#mermaid-svg-nRr5kHRy7ypwO2L8 .node .label{text-align:center;fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .node.clickable{cursor:pointer}#mermaid-svg-nRr5kHRy7ypwO2L8 .arrowheadPath{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .edgePath .path{stroke:#333;stroke-width:1.5px}#mermaid-svg-nRr5kHRy7ypwO2L8 .flowchart-link{stroke:#333;fill:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .edgeLabel{background-color:#e8e8e8;text-align:center}#mermaid-svg-nRr5kHRy7ypwO2L8 .edgeLabel rect{opacity:0.9}#mermaid-svg-nRr5kHRy7ypwO2L8 .edgeLabel span{color:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .cluster rect{fill:#ffffde;stroke:#aa3;stroke-width:1px}#mermaid-svg-nRr5kHRy7ypwO2L8 .cluster text{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family);font-size:12px;background:#ffffde;border:1px solid #aa3;border-radius:2px;pointer-events:none;z-index:100}#mermaid-svg-nRr5kHRy7ypwO2L8 .actor{stroke:#ccf;fill:#ECECFF}#mermaid-svg-nRr5kHRy7ypwO2L8 text.actor>tspan{fill:#000;stroke:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .actor-line{stroke:grey}#mermaid-svg-nRr5kHRy7ypwO2L8 .messageLine0{stroke-width:1.5;stroke-dasharray:none;stroke:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .messageLine1{stroke-width:1.5;stroke-dasharray:2, 2;stroke:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 #arrowhead path{fill:#333;stroke:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .sequenceNumber{fill:#fff}#mermaid-svg-nRr5kHRy7ypwO2L8 #sequencenumber{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 #crosshead path{fill:#333;stroke:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .messageText{fill:#333;stroke:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .labelBox{stroke:#ccf;fill:#ECECFF}#mermaid-svg-nRr5kHRy7ypwO2L8 .labelText,#mermaid-svg-nRr5kHRy7ypwO2L8 .labelText>tspan{fill:#000;stroke:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .loopText,#mermaid-svg-nRr5kHRy7ypwO2L8 .loopText>tspan{fill:#000;stroke:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .loopLine{stroke-width:2px;stroke-dasharray:2, 2;stroke:#ccf;fill:#ccf}#mermaid-svg-nRr5kHRy7ypwO2L8 .note{stroke:#aa3;fill:#fff5ad}#mermaid-svg-nRr5kHRy7ypwO2L8 .noteText,#mermaid-svg-nRr5kHRy7ypwO2L8 .noteText>tspan{fill:#000;stroke:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .activation0{fill:#f4f4f4;stroke:#666}#mermaid-svg-nRr5kHRy7ypwO2L8 .activation1{fill:#f4f4f4;stroke:#666}#mermaid-svg-nRr5kHRy7ypwO2L8 .activation2{fill:#f4f4f4;stroke:#666}#mermaid-svg-nRr5kHRy7ypwO2L8 .mermaid-main-font{font-family:"trebuchet ms", verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .section{stroke:none;opacity:0.2}#mermaid-svg-nRr5kHRy7ypwO2L8 .section0{fill:rgba(102,102,255,0.49)}#mermaid-svg-nRr5kHRy7ypwO2L8 .section2{fill:#fff400}#mermaid-svg-nRr5kHRy7ypwO2L8 .section1,#mermaid-svg-nRr5kHRy7ypwO2L8 .section3{fill:#fff;opacity:0.2}#mermaid-svg-nRr5kHRy7ypwO2L8 .sectionTitle0{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .sectionTitle1{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .sectionTitle2{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .sectionTitle3{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .sectionTitle{text-anchor:start;font-size:11px;text-height:14px;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .grid .tick{stroke:#d3d3d3;opacity:0.8;shape-rendering:crispEdges}#mermaid-svg-nRr5kHRy7ypwO2L8 .grid .tick text{font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .grid path{stroke-width:0}#mermaid-svg-nRr5kHRy7ypwO2L8 .today{fill:none;stroke:red;stroke-width:2px}#mermaid-svg-nRr5kHRy7ypwO2L8 .task{stroke-width:2}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText{text-anchor:middle;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText:not([font-size]){font-size:11px}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutsideRight{fill:#000;text-anchor:start;font-size:11px;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutsideLeft{fill:#000;text-anchor:end;font-size:11px}#mermaid-svg-nRr5kHRy7ypwO2L8 .task.clickable{cursor:pointer}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText.clickable{cursor:pointer;fill:#003163 !important;font-weight:bold}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutsideLeft.clickable{cursor:pointer;fill:#003163 !important;font-weight:bold}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutsideRight.clickable{cursor:pointer;fill:#003163 !important;font-weight:bold}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText0,#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText1,#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText2,#mermaid-svg-nRr5kHRy7ypwO2L8 .taskText3{fill:#fff}#mermaid-svg-nRr5kHRy7ypwO2L8 .task0,#mermaid-svg-nRr5kHRy7ypwO2L8 .task1,#mermaid-svg-nRr5kHRy7ypwO2L8 .task2,#mermaid-svg-nRr5kHRy7ypwO2L8 .task3{fill:#8a90dd;stroke:#534fbc}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutside0,#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutside2{fill:#000}#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutside1,#mermaid-svg-nRr5kHRy7ypwO2L8 .taskTextOutside3{fill:#000}#mermaid-svg-nRr5kHRy7ypwO2L8 .active0,#mermaid-svg-nRr5kHRy7ypwO2L8 .active1,#mermaid-svg-nRr5kHRy7ypwO2L8 .active2,#mermaid-svg-nRr5kHRy7ypwO2L8 .active3{fill:#bfc7ff;stroke:#534fbc}#mermaid-svg-nRr5kHRy7ypwO2L8 .activeText0,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeText1,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeText2,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeText3{fill:#000 !important}#mermaid-svg-nRr5kHRy7ypwO2L8 .done0,#mermaid-svg-nRr5kHRy7ypwO2L8 .done1,#mermaid-svg-nRr5kHRy7ypwO2L8 .done2,#mermaid-svg-nRr5kHRy7ypwO2L8 .done3{stroke:grey;fill:#d3d3d3;stroke-width:2}#mermaid-svg-nRr5kHRy7ypwO2L8 .doneText0,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneText1,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneText2,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneText3{fill:#000 !important}#mermaid-svg-nRr5kHRy7ypwO2L8 .crit0,#mermaid-svg-nRr5kHRy7ypwO2L8 .crit1,#mermaid-svg-nRr5kHRy7ypwO2L8 .crit2,#mermaid-svg-nRr5kHRy7ypwO2L8 .crit3{stroke:#f88;fill:red;stroke-width:2}#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCrit0,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCrit1,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCrit2,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCrit3{stroke:#f88;fill:#bfc7ff;stroke-width:2}#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCrit0,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCrit1,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCrit2,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCrit3{stroke:#f88;fill:#d3d3d3;stroke-width:2;cursor:pointer;shape-rendering:crispEdges}#mermaid-svg-nRr5kHRy7ypwO2L8 .milestone{transform:rotate(45deg) scale(0.8, 0.8)}#mermaid-svg-nRr5kHRy7ypwO2L8 .milestoneText{font-style:italic}#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCritText0,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCritText1,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCritText2,#mermaid-svg-nRr5kHRy7ypwO2L8 .doneCritText3{fill:#000 !important}#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCritText0,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCritText1,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCritText2,#mermaid-svg-nRr5kHRy7ypwO2L8 .activeCritText3{fill:#000 !important}#mermaid-svg-nRr5kHRy7ypwO2L8 .titleText{text-anchor:middle;font-size:18px;fill:#000;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 g.classGroup text{fill:#9370db;stroke:none;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family);font-size:10px}#mermaid-svg-nRr5kHRy7ypwO2L8 g.classGroup text .title{font-weight:bolder}#mermaid-svg-nRr5kHRy7ypwO2L8 g.clickable{cursor:pointer}#mermaid-svg-nRr5kHRy7ypwO2L8 g.classGroup rect{fill:#ECECFF;stroke:#9370db}#mermaid-svg-nRr5kHRy7ypwO2L8 g.classGroup line{stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 .classLabel .box{stroke:none;stroke-width:0;fill:#ECECFF;opacity:0.5}#mermaid-svg-nRr5kHRy7ypwO2L8 .classLabel .label{fill:#9370db;font-size:10px}#mermaid-svg-nRr5kHRy7ypwO2L8 .relation{stroke:#9370db;stroke-width:1;fill:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .dashed-line{stroke-dasharray:3}#mermaid-svg-nRr5kHRy7ypwO2L8 #compositionStart{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #compositionEnd{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #aggregationStart{fill:#ECECFF;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #aggregationEnd{fill:#ECECFF;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #dependencyStart{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #dependencyEnd{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #extensionStart{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 #extensionEnd{fill:#9370db;stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 .commit-id,#mermaid-svg-nRr5kHRy7ypwO2L8 .commit-msg,#mermaid-svg-nRr5kHRy7ypwO2L8 .branch-label{fill:lightgrey;color:lightgrey;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .pieTitleText{text-anchor:middle;font-size:25px;fill:#000;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .slice{font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 g.stateGroup text{fill:#9370db;stroke:none;font-size:10px;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 g.stateGroup text{fill:#9370db;fill:#333;stroke:none;font-size:10px}#mermaid-svg-nRr5kHRy7ypwO2L8 g.statediagram-cluster .cluster-label text{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 g.stateGroup .state-title{font-weight:bolder;fill:#000}#mermaid-svg-nRr5kHRy7ypwO2L8 g.stateGroup rect{fill:#ECECFF;stroke:#9370db}#mermaid-svg-nRr5kHRy7ypwO2L8 g.stateGroup line{stroke:#9370db;stroke-width:1}#mermaid-svg-nRr5kHRy7ypwO2L8 .transition{stroke:#9370db;stroke-width:1;fill:none}#mermaid-svg-nRr5kHRy7ypwO2L8 .stateGroup .composit{fill:white;border-bottom:1px}#mermaid-svg-nRr5kHRy7ypwO2L8 .stateGroup .alt-composit{fill:#e0e0e0;border-bottom:1px}#mermaid-svg-nRr5kHRy7ypwO2L8 .state-note{stroke:#aa3;fill:#fff5ad}#mermaid-svg-nRr5kHRy7ypwO2L8 .state-note text{fill:black;stroke:none;font-size:10px}#mermaid-svg-nRr5kHRy7ypwO2L8 .stateLabel .box{stroke:none;stroke-width:0;fill:#ECECFF;opacity:0.7}#mermaid-svg-nRr5kHRy7ypwO2L8 .edgeLabel text{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .stateLabel text{fill:#000;font-size:10px;font-weight:bold;font-family:'trebuchet ms', verdana, arial;font-family:var(--mermaid-font-family)}#mermaid-svg-nRr5kHRy7ypwO2L8 .node circle.state-start{fill:black;stroke:black}#mermaid-svg-nRr5kHRy7ypwO2L8 .node circle.state-end{fill:black;stroke:white;stroke-width:1.5}#mermaid-svg-nRr5kHRy7ypwO2L8 #statediagram-barbEnd{fill:#9370db}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-cluster rect{fill:#ECECFF;stroke:#9370db;stroke-width:1px}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-cluster rect.outer{rx:5px;ry:5px}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-state .divider{stroke:#9370db}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-state .title-state{rx:5px;ry:5px}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-cluster.statediagram-cluster .inner{fill:white}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-cluster.statediagram-cluster-alt .inner{fill:#e0e0e0}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-cluster .inner{rx:0;ry:0}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-state rect.basic{rx:5px;ry:5px}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-state rect.divider{stroke-dasharray:10,10;fill:#efefef}#mermaid-svg-nRr5kHRy7ypwO2L8 .note-edge{stroke-dasharray:5}#mermaid-svg-nRr5kHRy7ypwO2L8 .statediagram-note rect{fill:#fff5ad;stroke:#aa3;stroke-width:1px;rx:0;ry:0}:root{--mermaid-font-family: '"trebuchet ms", verdana, arial';--mermaid-font-family: "Comic Sans MS", "Comic Sans", cursive}#mermaid-svg-nRr5kHRy7ypwO2L8 .error-icon{fill:#522}#mermaid-svg-nRr5kHRy7ypwO2L8 .error-text{fill:#522;stroke:#522}#mermaid-svg-nRr5kHRy7ypwO2L8 .edge-thickness-normal{stroke-width:2px}#mermaid-svg-nRr5kHRy7ypwO2L8 .edge-thickness-thick{stroke-width:3.5px}#mermaid-svg-nRr5kHRy7ypwO2L8 .edge-pattern-solid{stroke-dasharray:0}#mermaid-svg-nRr5kHRy7ypwO2L8 .edge-pattern-dashed{stroke-dasharray:3}#mermaid-svg-nRr5kHRy7ypwO2L8 .edge-pattern-dotted{stroke-dasharray:2}#mermaid-svg-nRr5kHRy7ypwO2L8 .marker{fill:#333}#mermaid-svg-nRr5kHRy7ypwO2L8 .marker.cross{stroke:#333}:root { --mermaid-font-family: "trebuchet ms", verdana, arial;} #mermaid-svg-nRr5kHRy7ypwO2L8 {color: rgba(0, 0, 0, 0.75);font: ;}

//此处已省略前面的准备工作//从Kinect获取捕获
k4a_capture_t sensor_capture;
k4a_wait_result_t get_capture_result = k4a_device_get_capture(device, &sensor_capture, K4A_WAIT_INFINITE);//将捕获排入队列并弹出结果
//排入队列
k4a_wait_result_t queue_capture_result = k4abt_tracker_enqueue_capture(tracker, sensor_capture, K4A_WAIT_INFINITE);
k4a_capture_release(sensor_capture); // Remember to release the sensor capture once you finish using it
if (queue_capture_result == K4A_WAIT_RESULT_TIMEOUT)
{// It should never hit timeout when K4A_WAIT_INFINITE is set.printf("Error! Add capture to tracker process queue timeout!\n");}
else if (queue_capture_result == K4A_WAIT_RESULT_FAILED)
{printf("Error! Add capture to tracker process queue failed!\n");
}//弹出结果
k4abt_frame_t body_frame = NULL;
k4a_wait_result_t pop_frame_result = k4abt_tracker_pop_result(tracker, &body_frame, K4A_WAIT_INFINITE);
if (pop_frame_result == K4A_WAIT_RESULT_SUCCEEDED)
{// Successfully popped the body tracking result. Start your processing//检测人体数size_t num_bodies = k4abt_frame_get_num_bodies(body_frame);for (size_t i = 0; i < num_bodies; i++){//获取人体框架k4abt_skeleton_t skeleton;k4abt_frame_get_body_skeleton(body_frame, i, &skeleton);//从人体框架中获取关键点//鼻子k4abt_joint_t  P_NOSE = skeleton.joints[K4ABT_JOINT_NOSE];//颈部k4abt_joint_t  P_NECK = skeleton.joints[K4ABT_JOINT_NECK];//输出显示，关键点坐标（skeleton.joints_HEAD->position.v为头部坐标点，数据结构float[3]）std::cout << "鼻子坐标：";for (size_t i = 0; i < 3; i++){std::cout << P_NOSE.position.v[i] << " ";}printf("\n");std::cout << "颈部坐标：";for (size_t i = 0; i < 3; i++){std::cout << P_NECK.position.v[i] << " ";}printf("\n");}
}