private void BodyRecognizedCallback(int numBodies)
{
try
{
self.bodyFrameCount++;
var bodies = AzureKinectBodyTracker.GetBody(numBodies);
var imuData = AzureKinectBodyTracker.GetImuData();
self.syncContext.Post((s) =>
{
if (!self.isRunning)
{
return;
}
for (var i = 0; self.isRunning && (i < AzureKinectBodyTracker.MaxBody); i++)
{
self.bodyVisualizers[i].Apply((i < bodies.Length) ? bodies[i] : Body.Empty, i);
}
self.imuVisualizer.Apply(imuData);
}, null);
}
catch (Exception e)
{
Debug.Log($"{e.GetType().Name}\n{e.Message}\n{e.StackTrace}");
}
}
private IEnumerator Process()
{
var depthTextureId = 1u;
this.depthTexture = new Texture2D(640, 576, TextureFormat.R16, false);
this.depthMaterial.mainTexture = this.depthTexture;
var colorTextureId = 2u;
this.colorTexture = new Texture2D(1920, 1080, TextureFormat.BGRA32, false);
this.colorMaterial.mainTexture = this.colorTexture;
var transformedDepthTextureId = 3u;
this.transformedDepthTexture = new Texture2D(1920, 1080, TextureFormat.R16, false);
this.transformedDepthMaterial.mainTexture = this.transformedDepthTexture;
var callback = AzureKinectBodyTracker.GetTextureUpdateCallback();
this.commandBuffer.IssuePluginCustomTextureUpdateV2(callback, this.depthTexture, depthTextureId);
this.commandBuffer.IssuePluginCustomTextureUpdateV2(callback, this.colorTexture, colorTextureId);
this.commandBuffer.IssuePluginCustomTextureUpdateV2(callback, this.transformedDepthTexture, transformedDepthTextureId);
AzureKinectBodyTracker.Start(depthTextureId, colorTextureId, transformedDepthTextureId);
while (true)
{
Graphics.ExecuteCommandBuffer(this.commandBuffer);
yield return(null);
}
}
private IEnumerator Process(DepthMode depthMode, bool cpuOnly)
{
var debugDelegate = new AzureKinectBodyTracker.DebugLogDelegate(PluginDebugLogCallBack);
var debagCallback = Marshal.GetFunctionPointerForDelegate(debugDelegate);
AzureKinectBodyTracker.SetDebugLogCallback(debagCallback);
var bodyRecognizedDelegate = new AzureKinectBodyTracker.BodyRecognizedDelegate(this.BodyRecognizedCallback);
var bodyRecognizedCallback = Marshal.GetFunctionPointerForDelegate(bodyRecognizedDelegate);
AzureKinectBodyTracker.SetBodyRecognizedCallback(bodyRecognizedCallback);
var depthTextureId = 1u;
var depthWidth = (int)AzureKinectBodyTracker.DepthResolutions[depthMode].x;
var depthHeight = (int)AzureKinectBodyTracker.DepthResolutions[depthMode].y;
this.depthTexture = new Texture2D((depthWidth > 0) ? depthWidth : 1, (depthHeight > 0) ? depthHeight : 1, TextureFormat.R16, false);
this.depthMaterial.mainTexture = this.depthTexture;
var colorTextureId = 2u;
this.colorTexture = new Texture2D(1920, 1080, TextureFormat.BGRA32, false);
this.colorMaterial.mainTexture = this.colorTexture;
var transformedDepthTextureId = 3u;
this.transformedDepthTexture = new Texture2D(1920, 1080, TextureFormat.R16, false);
this.transformedDepthMaterial.mainTexture = this.transformedDepthTexture;
var callback = AzureKinectBodyTracker.GetTextureUpdateCallback();
var commandBuffer = new CommandBuffer();
commandBuffer.name = "AzureKinectImagesUpdeate";
commandBuffer.IssuePluginCustomTextureUpdateV2(callback, this.depthTexture, depthTextureId);
commandBuffer.IssuePluginCustomTextureUpdateV2(callback, this.colorTexture, colorTextureId);
commandBuffer.IssuePluginCustomTextureUpdateV2(callback, this.transformedDepthTexture, transformedDepthTextureId);
try
{
AzureKinectBodyTracker.Start(depthTextureId, colorTextureId, transformedDepthTextureId, depthMode, cpuOnly);
this.currentDepthMode = depthMode;
}
catch (K4ABTException)
{
this.ProcessFinallize(false);
yield break;
}
this.isRunning = true;
while (this.isRunning)
{
Graphics.ExecuteCommandBuffer(commandBuffer);
yield return(null);
}
AzureKinectBodyTracker.End();
this.ProcessFinallize();
}
/// <summary>
/// Initializes a new instance of the <see cref="AzureKinectSensor"/> class.
/// </summary>
/// <param name="pipeline">Pipeline to add this component to.</param>
/// <param name="configuration">Configuration to use for the sensor.</param>
/// <param name="defaultDeliveryPolicy">An optional default delivery policy for the subpipeline (defaults is LatestMessage).</param>
/// <param name="bodyTrackerDeliveryPolicy">An optional delivery policy for sending the depth-and-IR images stream to the body tracker (default is LatestMessage).</param>
public AzureKinectSensor(
Pipeline pipeline,
AzureKinectSensorConfiguration configuration = null,
DeliveryPolicy defaultDeliveryPolicy = null,
DeliveryPolicy bodyTrackerDeliveryPolicy = null)
: base(pipeline, nameof(AzureKinectSensor), defaultDeliveryPolicy ?? DeliveryPolicy.LatestMessage)
{
if (configuration == null)
{
configuration = new AzureKinectSensorConfiguration();
}
if (configuration.BodyTrackerConfiguration != null)
{
if (!configuration.OutputCalibration)
{
throw new Exception($"The body tracker requires that the {nameof(AzureKinectSensor)} component must be configured to output calibration.");
}
if (!configuration.OutputInfrared || !configuration.OutputDepth)
{
throw new Exception($"The body tracker requires that the {nameof(AzureKinectSensor)} component must be configured to output both Depth and IR streams.");
}
}
var azureKinectCore = new AzureKinectCore(this, configuration);
// Connect the sensor streams
this.ColorImage = azureKinectCore.ColorImage.BridgeTo(pipeline, nameof(this.ColorImage)).Out;
this.Imu = azureKinectCore.Imu.BridgeTo(pipeline, nameof(this.Imu)).Out;
this.DepthImage = azureKinectCore.DepthImage.BridgeTo(pipeline, nameof(this.DepthImage)).Out;
this.InfraredImage = azureKinectCore.InfraredImage.BridgeTo(pipeline, nameof(this.InfraredImage)).Out;
this.FrameRate = azureKinectCore.FrameRate.BridgeTo(pipeline, nameof(this.FrameRate)).Out;
this.Temperature = azureKinectCore.Temperature.BridgeTo(pipeline, nameof(this.Temperature)).Out;
this.DepthDeviceCalibrationInfo = azureKinectCore.DepthDeviceCalibrationInfo.BridgeTo(pipeline, nameof(this.DepthDeviceCalibrationInfo)).Out;
this.AzureKinectSensorCalibration = azureKinectCore.AzureKinectSensorCalibration.BridgeTo(pipeline, nameof(this.AzureKinectSensorCalibration)).Out;
// Pipe captures and calibration to the body tracker
if (configuration.BodyTrackerConfiguration != null)
{
var bodyTracker = new AzureKinectBodyTracker(this, configuration.BodyTrackerConfiguration);
azureKinectCore.DepthAndIRImages.PipeTo(bodyTracker, bodyTrackerDeliveryPolicy ?? DeliveryPolicy.LatestMessage);
azureKinectCore.AzureKinectSensorCalibration.PipeTo(bodyTracker.AzureKinectSensorCalibration, DeliveryPolicy.Unlimited);
this.Bodies = bodyTracker.BridgeTo(pipeline, nameof(this.Bodies)).Out;
}
else
{
// create unused emitter to allow wiring while OutputBodies=false
this.Bodies = pipeline.CreateEmitter <List <AzureKinectBody> >(this, nameof(this.Bodies));
}
}
void Start()
{
self = this;
this.syncContext = SynchronizationContext.Current;
this.commandBuffer = new CommandBuffer();
this.commandBuffer.name = "AzureKinectImagesUpdeate";
var debugDelegate = new AzureKinectBodyTracker.DebugLogDelegate(PluginDebugLogCallBack);
var debagCallback = Marshal.GetFunctionPointerForDelegate(debugDelegate);
AzureKinectBodyTracker.SetDebugLogCallback(debagCallback);
var bodyRecognizedDelegate = new AzureKinectBodyTracker.BodyRecognizedDelegate(this.BodyRecognizedCallback);
var bodyRecognizedCallback = Marshal.GetFunctionPointerForDelegate(bodyRecognizedDelegate);
AzureKinectBodyTracker.SetBodyRecognizedCallback(bodyRecognizedCallback);
this.StartCoroutine(this.Process());
}
private IEnumerator Process(DepthMode depthMode, bool cpuOnly)
{
var debugDelegate = new AzureKinectBodyTracker.DebugLogDelegate(PluginDebugLogCallBack);
var debagCallback = Marshal.GetFunctionPointerForDelegate(debugDelegate);
AzureKinectBodyTracker.SetDebugLogCallback(debagCallback);
try
{
AzureKinectBodyTracker.Start(0, 0, 0, depthMode, cpuOnly);
this.currentDepthMode = depthMode;
}
catch (K4ABTException)
{
this.ProcessFinallize(false);
yield break;
}
var depthImageToPointCloudDelegate = new AzureKinectBodyTracker.DepthImageToPointCloudDelegate(this.DepthImageToPointCloudCallback);
var depthImageToPointCloudCallback = Marshal.GetFunctionPointerForDelegate(depthImageToPointCloudDelegate);
AzureKinectBodyTracker.SetDepthImageToPointCloudCallback(depthImageToPointCloudCallback);
var colorImageToDepthSpaceDelegate = new AzureKinectBodyTracker.ColorImageToDepthSpaceDelegate(this.ColorImageToDepthSpaceCallback);
var colorImageToDepthSpaceCallback = Marshal.GetFunctionPointerForDelegate(colorImageToDepthSpaceDelegate);
AzureKinectBodyTracker.SetColorImageToDepthSpaceCallback(colorImageToDepthSpaceCallback);
this.isRunning = true;
while (this.isRunning)
{
yield return(null);
}
AzureKinectBodyTracker.End();
this.ProcessFinallize();
}
public void CalibratedJointPointToggleValueChanged(bool value)
{
AzureKinectBodyTracker.SetCalibratedJointPointAvailability(value);
}
private void OnApplicationQuit()
{
this.StopProcess();
AzureKinectBodyTracker.End();
}
private void OnApplicationQuit()
{
this.StopAllCoroutines();
AzureKinectBodyTracker.End();
}
