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meruunemeruune
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RGB Camera support (reflection-only)
1 parent 80e8ef9 commit af1de3a

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4 files changed

+321
-137
lines changed

4 files changed

+321
-137
lines changed

‎KinectHandler/KinectHandler.h‎

Lines changed: 151 additions & 115 deletions
Original file line numberDiff line numberDiff line change
@@ -14,119 +14,155 @@ using namespace Amethyst::Plugins::Contract;
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namespace KinectHandler
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{
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public ref class KinectJoint sealed
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{
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public:
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KinectJoint(const int role)
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{
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JointRole = role;
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}
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property Vector3 Position;
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property Quaternion Orientation;
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property int TrackingState;
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property int JointRole;
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};
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delegate void FunctionToCallDelegate();
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public ref class KinectHandler
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{
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private:
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KinectWrapper* kinect_;
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FunctionToCallDelegate^ function_;
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public:
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KinectHandler() : kinect_(new KinectWrapper())
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{
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function_ = gcnew FunctionToCallDelegate(this, &KinectHandler::StatusChangedHandler);
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pin_ptr<FunctionToCallDelegate^> tmp = &function_; // Pin the function delegate
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status_changed_event = static_cast<void(__cdecl*)()>(
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Marshal::GetFunctionPointerForDelegate(function_).ToPointer());
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}
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virtual void StatusChangedHandler()
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{
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// implemented in the c# handler
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}
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List<KinectJoint^>^ GetTrackedKinectJoints()
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{
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if (!IsInitialized) return gcnew List<KinectJoint^>;
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const auto& positions = kinect_->skeleton_positions();
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const auto& orientations = kinect_->bone_orientations();
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const auto& states = kinect_->tracking_states();
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auto trackedKinectJoints = gcnew List<KinectJoint^>;
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for each (auto v in Enum::GetValues<TrackedJointType>())
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{
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if (v == TrackedJointType::JointHandTipLeft ||
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v == TrackedJointType::JointHandTipRight ||
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v == TrackedJointType::JointThumbLeft ||
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v == TrackedJointType::JointThumbRight ||
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v == TrackedJointType::JointNeck ||
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v == TrackedJointType::JointManual)
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continue; // Skip unsupported joints
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auto joint = gcnew KinectJoint(static_cast<int>(v));
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joint->TrackingState =
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states[kinect_->KinectJointType(static_cast<int>(v))];
78-
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joint->Position = Vector3(
80-
positions[kinect_->KinectJointType(static_cast<int>(v))].x,
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positions[kinect_->KinectJointType(static_cast<int>(v))].y,
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positions[kinect_->KinectJointType(static_cast<int>(v))].z);
83-
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joint->Orientation = Quaternion(
85-
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.x,
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orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.y,
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orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.z,
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orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.w);
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trackedKinectJoints->Add(joint);
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}
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return trackedKinectJoints;
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}
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property bool IsInitialized
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{
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bool get() { return kinect_->is_initialized(); }
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}
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property bool IsSkeletonTracked
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{
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bool get() { return kinect_->skeleton_tracked(); }
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}
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property int DeviceStatus
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{
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int get() { return kinect_->status_result(); }
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}
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property int ElevationAngle
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{
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int get() { return kinect_->elevation_angle(); }
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void set(const int value) { kinect_->elevation_angle(value); }
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}
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property bool IsSettingsDaemonSupported
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{
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bool get() { return DeviceStatus == 0; }
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}
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int InitializeKinect()
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{
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return kinect_->initialize();
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}
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int ShutdownKinect()
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{
129-
return kinect_->shutdown();
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}
131-
};
17+
public ref class KinectJoint sealed
18+
{
19+
public:
20+
KinectJoint(const int role)
21+
{
22+
JointRole = role;
23+
}
24+
25+
property Vector3 Position;
26+
property Quaternion Orientation;
27+
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property int TrackingState;
29+
property int JointRole;
30+
};
31+
32+
delegate void FunctionToCallDelegate();
33+
34+
public ref class KinectHandler
35+
{
36+
private:
37+
KinectWrapper* kinect_;
38+
FunctionToCallDelegate^ function_;
39+
40+
public:
41+
KinectHandler() : kinect_(new KinectWrapper())
42+
{
43+
function_ = gcnew FunctionToCallDelegate(this, &KinectHandler::StatusChangedHandler);
44+
pin_ptr<FunctionToCallDelegate^> tmp = &function_; // Pin the function delegate
45+
46+
status_changed_event = static_cast<void(__cdecl*)()>(
47+
Marshal::GetFunctionPointerForDelegate(function_).ToPointer());
48+
}
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virtual void StatusChangedHandler()
51+
{
52+
// implemented in the C# handler
53+
}
54+
55+
array<BYTE>^ GetImageBuffer()
56+
{
57+
if (!IsInitialized || !kinect_->camera_enabled()) return __nullptr;
58+
const auto& [unmanagedBuffer, size] = kinect_->color_buffer();
59+
if (size <= 0) return __nullptr;
60+
61+
auto data = gcnew array<byte>(size); // Managed image placeholder
62+
Marshal::Copy(IntPtr(unmanagedBuffer), data, 0, size);
63+
return data; // Return managed array of bytes for our camera image
64+
}
65+
66+
List<KinectJoint^>^ GetTrackedKinectJoints()
67+
{
68+
if (!IsInitialized) return gcnew List<KinectJoint^>;
69+
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const auto& positions = kinect_->skeleton_positions();
71+
const auto& orientations = kinect_->bone_orientations();
72+
const auto& states = kinect_->tracking_states();
73+
74+
auto trackedKinectJoints = gcnew List<KinectJoint^>;
75+
for each (auto v in Enum::GetValues<TrackedJointType>())
76+
{
77+
if (v == TrackedJointType::JointHandTipLeft ||
78+
v == TrackedJointType::JointHandTipRight ||
79+
v == TrackedJointType::JointThumbLeft ||
80+
v == TrackedJointType::JointThumbRight ||
81+
v == TrackedJointType::JointNeck ||
82+
v == TrackedJointType::JointManual)
83+
continue; // Skip unsupported joints
84+
85+
auto joint = gcnew KinectJoint(static_cast<int>(v));
86+
87+
joint->TrackingState =
88+
states[kinect_->KinectJointType(static_cast<int>(v))];
89+
90+
joint->Position = Vector3(
91+
positions[kinect_->KinectJointType(static_cast<int>(v))].x,
92+
positions[kinect_->KinectJointType(static_cast<int>(v))].y,
93+
positions[kinect_->KinectJointType(static_cast<int>(v))].z);
94+
95+
joint->Orientation = Quaternion(
96+
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.x,
97+
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.y,
98+
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.z,
99+
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.w);
100+
101+
trackedKinectJoints->Add(joint);
102+
}
103+
104+
return trackedKinectJoints;
105+
}
106+
107+
property bool IsInitialized
108+
{
109+
bool get() { return kinect_->is_initialized(); }
110+
}
111+
112+
property bool IsSkeletonTracked
113+
{
114+
bool get() { return kinect_->skeleton_tracked(); }
115+
}
116+
117+
property int DeviceStatus
118+
{
119+
int get() { return kinect_->status_result(); }
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}
121+
122+
property int ElevationAngle
123+
{
124+
int get() { return kinect_->elevation_angle(); }
125+
void set(const int value) { kinect_->elevation_angle(value); }
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}
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property bool IsCameraEnabled
129+
{
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bool get() { return kinect_->camera_enabled(); }
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void set(const bool value) { kinect_->camera_enabled(value); }
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}
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property bool IsSettingsDaemonSupported
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{
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bool get() { return DeviceStatus == 0; }
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}
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property int CameraImageWidth
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{
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int get() { return kinect_->CameraImageSize().first; }
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}
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property int CameraImageHeight
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{
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int get() { return kinect_->CameraImageSize().second; }
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}
148+
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Drawing::Size MapCoordinate(Vector3 position)
150+
{
151+
if (!IsInitialized) return Drawing::Size::Empty;
152+
const auto& [width, height] =
153+
kinect_->MapCoordinate(_Vector4{position.X, position.Y, position.Z, 1.0f});
154+
155+
return Drawing::Size(width, height);
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}
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int InitializeKinect()
159+
{
160+
return kinect_->initialize();
161+
}
162+
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int ShutdownKinect()
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{
165+
return kinect_->shutdown();
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}
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};
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}

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