Minor polishings

K4AdotNet.Samples.Unity/Assets/Scripts/CaptureManager.cs

@@ -24,7 +24,7 @@ private void Awake()
                     ColorResolution = ColorResolution.R720p,
                     ColorFormat = ImageFormat.ColorBgra32,
                     DepthMode = DepthMode.NarrowViewUnbinned,
-                    CameraFps = FrameRate.Fifteen,
+                    CameraFps = FrameRate.Thirty,
                 };
                 _device.GetCalibration(Configuration.DepthMode, Configuration.ColorResolution, out var calibration);
                 Calibration = calibration;

K4AdotNet.Samples.Unity/ProjectSettings/ProjectVersion.txt

@@ -1,2 +1,2 @@
-m_EditorVersion: 2019.2.0f1
-m_EditorVersionWithRevision: 2019.2.0f1 (20c1667945cf)
+m_EditorVersion: 2019.2.6f1
+m_EditorVersionWithRevision: 2019.2.6f1 (fe82a0e88406)

K4AdotNet.Samples.Unity/prepare.cmd

@@ -5,12 +5,15 @@ rem You may run it again anytime to update binaries with changes made to K4AdotN
 rem Build fresh K4AdotNet binaries (requires path to msbuild.exe set by Developer Command Prompt)
 msbuild ..\K4AdotNet -p:Configuration=Debug
 
-rem Copy K4AdotNet binaries to a plugin folder
+rem Copy K4AdotNet binaries to "Assets\Plugins\K4AdotNet" folder
 xcopy ..\K4AdotNet\bin\Debug\netstandard2.0\* Assets\Plugins\K4AdotNet\ /A /Y
 
-rem Copy K4A Sensor runtime to a plugin folder
+rem Copy K4A Sensor runtime to "Assets\Plugins\K4AdotNet" folder
 xcopy ..\externals\k4a\windows-desktop\amd64\*.dll Assets\Plugins\K4AdotNet\ /A /Y
 
-rem Copy K4A Body Tracking runtime to a plugin folder (assumes Body Tracking SDK installed into a standard location)
-rem If installed to another location then copy k4abt.dll manually
-copy /y "C:\Program Files\Azure Kinect Body Tracking SDK\sdk\windows-desktop\amd64\release\bin\k4abt.dll" Assets\Plugins\K4AdotNet\
+rem Copy k4abt.dll from K4A Body Tracking runtime to "Assets\Plugins\K4AdotNet" folder (assumes Body Tracking SDK installed into a standard location)
+copy /y "%ProgramFiles%\Azure Kinect Body Tracking SDK\tools\k4abt.dll" Assets\Plugins\K4AdotNet\
+
+rem If Body Tracking SDK is installed to another location or you want to have portable solution which does not require installation of Body Tracking SDK
+rem then copy manually the following libraries and data files from "tools" folder of Body Tracking SDK to "Assets\Plugins\K4AdotNet" folder of this plugin:
+rem k4abt.dll, dnn_model_2_0.onnx, cudnn64_7.dll, cublas64_100.dll, cudart64_100.dll, vcomp140.dll. 

K4AdotNet.Samples.Unity/readme.md

@@ -0,0 +1,41 @@
+# Unity Sample
+
+This sample demonstrate how to work with Sensor and Body data streams from Unity
+and how to animate 3D character using body data.
+
+## Preparations
+
+Before first opening a Unity project, run `prepare.cmd` from **VS Developer Command Prompt**.
+It will build **K4AdotNet** project and copy necessary binaries to Unity project folders.
+You may run the script anytime later to update binaries with changes made to **K4AdotNet** library.
+
+The script assumes that **Azure Kinect Body Tracking SDK** is installed into default location under Program Files.
+If it doesn't take place or you want to have portable solution which doesn't depend on presence of Body Tracking SDK on local machine
+then copy the following files from `tools` folder of Body Tracking SDK to `Assets\Plugins\K4AdotNet` folder of this plugin:
+* `k4abt.dll`,
+* `dnn_model_2_0.onnx`,
+* `cudnn64_7.dll`,
+* `cublas64_100.dll`,
+* `cudart64_100.dll`,
+* `vcomp140.dll`.
+
+## Dependencies
+
+This plugin depends on the following managed and native libraries and data files:
+* **K4AdotNet** managed library (see `..\K4AdotNet\bin\Debug\netstandard2.0` or ``..\K4AdotNet\bin\Release\netstandard2.0`` folder):
+  * `K4AdotNet.dll`
+  * `K4AdotNet.deps.json`
+* native libraries from **Azure Kinect Sensor SDK 1.3.0** (see `..\externals\k4a\windows-desktop\amd64` folder):
+  * `depthengine_2_0.dll`
+  * `k4a.dll`
+  * `k4arecord.dll`
+* native libraries and ONNX-file from **Azure Kinect Body Tracking SDK 0.9.4** (you can download and install MSI package from [here](https://docs.microsoft.com/en-us/azure/kinect-dk/body-sdk-download) and find required files in `tools` subdirectory of installation destination directory):
+  * `k4abt.dll`,
+  * `dnn_model_2_0.onnx`,
+  * `cudnn64_7.dll`,
+  * `cublas64_100.dll`,
+  * `cudart64_100.dll`,
+  * `vcomp140.dll`.
+
+As a rule `prepare.cmd` does the trick, but you can copy all dependencies to `Assets\Plugins\K4AdotNet` folder of this plugin manually.
+

K4AdotNet.Samples.Wpf.BackgroundRemover/ProcessingViewModel.cs

@@ -54,6 +54,8 @@ public void Dispose()
 
                 depthImage.Dispose();
                 needUpdateBitmap.Dispose();
+
+                transformation.Dispose();
             }
         }
 

K4AdotNet.Samples.Wpf.BackgroundRemover/ProcessingWindow.xaml.cs

@@ -3,9 +3,6 @@
 
 namespace K4AdotNet.Samples.Wpf.BackgroundRemover
 {
-    /// <summary>
-    /// Interaction logic for ProcessingWindow.xaml
-    /// </summary>
     public partial class ProcessingWindow : Window
     {
         public ProcessingWindow()

K4AdotNet.Samples.Wpf.BackgroundRemover/StartWindow.xaml.cs

@@ -2,9 +2,6 @@
 
 namespace K4AdotNet.Samples.Wpf.BackgroundRemover
 {
-    /// <summary>
-    /// Interaction logic for StartWindow.xaml
-    /// </summary>
     public partial class StartWindow : Window
     {
         public StartWindow()

K4AdotNet.Samples.Wpf.BodyTracker/SkeletonVisualizer.cs

@@ -1,7 +1,5 @@
 using K4AdotNet.BodyTracking;
 using System;
-using System.Collections.Generic;
-using System.Linq;
 using System.Threading;
 using System.Windows;
 using System.Windows.Media;
@@ -20,8 +18,6 @@ public SkeletonVisualizer(Dispatcher dispatcher, int widthPixels, int heightPixe
             }
 
             this.dispatcher = dispatcher;
-            this.widthPixels = widthPixels;
-            this.heightPixels = heightPixels;
             this.jointToImageProjector = jointToImageProjector;
 
             // WPF stuff to draw skeleton
@@ -160,8 +156,6 @@ private Brush JointConfidenceLevelToToBrush(JointConfidenceLevel confidenceLevel
         }
 
         private readonly Dispatcher dispatcher;
-        private readonly int widthPixels;
-        private readonly int heightPixels;
         private readonly Func<Joint, Float2?> jointToImageProjector;
         private readonly Rect drawingRect;
         private readonly DrawingGroup drawingGroup;

K4AdotNet.Samples.Wpf.Common/ActualFpsCalculator.cs

@@ -13,9 +13,9 @@ public sealed class ActualFpsCalculator
         /// <param name="periodCountForAveraging">Count of refresh periods that is used to calculate FPS. Default value is <c>5</c>.</param>
         /// <param name="smoothCoeff">Smoothing coefficient. Default value is <c>0f</c>, which means no smoothing. Value must be in range [0; 1).</param>
         public ActualFpsCalculator(
-            TimeSpan refreshPeriod = default(TimeSpan),
-            int periodCountForAveraging = default(int),
-            float smoothCoeff = default(float))
+            TimeSpan refreshPeriod = default,
+            int periodCountForAveraging = default,
+            float smoothCoeff = default)
         {
             // default values
             if (refreshPeriod <= TimeSpan.Zero)

K4AdotNet.Samples.Wpf.Viewer/ViewerWindow.xaml.cs

@@ -1,16 +1,5 @@
 using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using System.Windows;
-using System.Windows.Controls;
-using System.Windows.Data;
-using System.Windows.Documents;
-using System.Windows.Input;
-using System.Windows.Media;
-using System.Windows.Media.Imaging;
-using System.Windows.Shapes;
 
 namespace K4AdotNet.Samples.Wpf.Viewer
 {

K4AdotNet.Tests.Unit/Sensor/CaptureTests.cs

@@ -46,7 +46,7 @@ public void TestObjectDisposedException()
         {
             var capture = new Capture();
             capture.Dispose();
-            var tmp = capture.TemperatureC;     // <- ObjectDisposedException
+            _ = capture.TemperatureC;     // <- ObjectDisposedException
         }
 
         [TestMethod]

K4AdotNet.Tests.Unit/Sensor/ImageTests.cs

@@ -169,7 +169,7 @@ public void TestArrayUnpinningOnDispose()
             // Force collecting of array
             GC.Collect();
 
-            Assert.IsFalse(weakReferenceToArray.TryGetTarget(out var notUsed));
+            Assert.IsFalse(weakReferenceToArray.TryGetTarget(out _));
 
             // Nothing bad if we call dispose second time
             image.Dispose();
@@ -181,7 +181,7 @@ public void TestObjectDisposedException()
         {
             var image = new Image(ImageFormat.Depth16, testWidth, testHeight);
             image.Dispose();
-            var buffer = image.Buffer;      // <- ObjectDisposedException
+            _ = image.Buffer;      // <- ObjectDisposedException
         }
 
         #endregion
@@ -260,7 +260,7 @@ public void TestDuplicateReference()
             GC.Collect();
 
             // But array is still alive because refImage keeps it
-            Assert.IsTrue(weakReferenceToArray.TryGetTarget(out var notUsed));
+            Assert.IsTrue(weakReferenceToArray.TryGetTarget(out _));
 
             refImage.Dispose();
         }

K4AdotNet/BodyTracking/Tracker.cs

@@ -47,7 +47,7 @@ public sealed class Tracker : IDisposablePlus
         /// </exception>
         /// <seealso cref="Sdk.IsBodyTrackingRuntimeAvailable(out string)"/>
         /// <seealso cref="Sdk.TryInitializeBodyTrackingRuntime(out string)"/>
-        public Tracker(ref Calibration calibration, TrackerConfiguration config = default(TrackerConfiguration))
+        public Tracker(ref Calibration calibration, TrackerConfiguration config = default)
         {
             if (!calibration.DepthMode.HasDepth())
                 throw new ArgumentOutOfRangeException(nameof(calibration) + "." + nameof(calibration.DepthMode));
@@ -180,7 +180,7 @@ public float TemporalSmoothingFactor
         /// <exception cref="ArgumentException"><paramref name="capture"/> doesn't contain depth data compatible with <see cref="DepthMode"/>.</exception>
         /// <exception cref="ObjectDisposedException">Object was disposed before this call or has been disposed during this call.</exception>
         /// <exception cref="BodyTrackingException">Cannot add capture to the tracker for some unknown reason. See logs for details.</exception>
-        public bool TryEnqueueCapture(Capture capture, Timeout timeout = default(Timeout))
+        public bool TryEnqueueCapture(Capture capture, Timeout timeout = default)
         {
             if (capture == null)
                 throw new ArgumentNullException(nameof(capture));
@@ -252,7 +252,7 @@ public void EnqueueCapture(Capture capture)
         /// <exception cref="ObjectDisposedException">Object was disposed before this call or has been disposed during this call.</exception>
         /// <exception cref="BodyTrackingException">Cannot get body frame for some unknown reason. See logs for details.</exception>
         /// <seealso cref="PopResult"/>
-        public bool TryPopResult(out BodyFrame bodyFrame, Timeout timeout = default(Timeout))
+        public bool TryPopResult(out BodyFrame bodyFrame, Timeout timeout = default)
         {
             var res = NativeApi.TrackerPopResult(handle.ValueNotDisposed, out var bodyFrameHandle, timeout);
             if (res == NativeCallResults.WaitResult.Timeout)

K4AdotNet/K4AdotNet.xml

@@ -322,6 +322,15 @@
         <member name="F:K4AdotNet.BodyTracking.JointType.WristLeft">
             <summary>Left wrist joint.</summary>
         </member>
+        <member name="F:K4AdotNet.BodyTracking.JointType.HandLeft">
+            <summary>Left hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.JointType.HandTipLeft">
+            <summary>Tip of left hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.JointType.ThumbLeft">
+            <summary>Left thumb joint.</summary>
+        </member>
         <member name="F:K4AdotNet.BodyTracking.JointType.ClavicleRight">
             <summary>Right clavicle joint.</summary>
         </member>
@@ -334,6 +343,15 @@
         <member name="F:K4AdotNet.BodyTracking.JointType.WristRight">
             <summary>Right wrist joint.</summary>
         </member>
+        <member name="F:K4AdotNet.BodyTracking.JointType.HandRight">
+            <summary>Right hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.JointType.HandTipRight">
+            <summary>Tip of right hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.JointType.ThumbRight">
+            <summary>Right thumb joint.</summary>
+        </member>
         <member name="F:K4AdotNet.BodyTracking.JointType.HipLeft">
             <summary>Left hip joint.</summary>
         </member>
@@ -623,6 +641,15 @@
         <member name="F:K4AdotNet.BodyTracking.Skeleton.WristLeft">
             <summary>Left wrist joint.</summary>
         </member>
+        <member name="F:K4AdotNet.BodyTracking.Skeleton.HandLeft">
+            <summary>Left hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.Skeleton.HandTipLeft">
+            <summary>Tip of left hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.Skeleton.ThumbLeft">
+            <summary>Left thumb joint.</summary>
+        </member>
         <member name="F:K4AdotNet.BodyTracking.Skeleton.ClavicleRight">
             <summary>Right clavicle joint.</summary>
         </member>
@@ -635,6 +662,15 @@
         <member name="F:K4AdotNet.BodyTracking.Skeleton.WristRight">
             <summary>Right wrist joint.</summary>
         </member>
+        <member name="F:K4AdotNet.BodyTracking.Skeleton.HandRight">
+            <summary>Right hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.Skeleton.HandTipRight">
+            <summary>Tip of right hand joint.</summary>
+        </member>
+        <member name="F:K4AdotNet.BodyTracking.Skeleton.ThumbRight">
+            <summary>Right thumb joint.</summary>
+        </member>
         <member name="F:K4AdotNet.BodyTracking.Skeleton.HipLeft">
             <summary>Left hip joint.</summary>
         </member>

K4AdotNet/Sensor/Calibration.cs

@@ -96,7 +96,7 @@ public static void CreateDummy(DepthMode depthMode, ColorResolution colorResolut
             if (depthMode == DepthMode.Off && colorResolution == ColorResolution.Off)
                 throw new ArgumentOutOfRangeException(nameof(depthMode) + " and " + nameof(colorResolution), $"{nameof(depthMode)} and {nameof(colorResolution)} cannot be equal to Off simultaneously.");
 
-            calibration = default(Calibration);
+            calibration = default;
 
             // depth camera
             calibration.DepthMode = depthMode;

K4AdotNet/Sensor/Device.cs

@@ -66,7 +66,7 @@ public void Dispose()
         /// <seealso cref="DeviceConnectionLostException"/>
         public bool IsConnected
             => !handle.IsDisposed
-                && NativeApi.DeviceGetSyncJack(handle.Value, out var notUsed1, out var notUsed2) == NativeCallResults.Result.Succeeded;
+                && NativeApi.DeviceGetSyncJack(handle.Value, out _, out _) == NativeCallResults.Result.Succeeded;
 
         /// <summary>Gets the device jack status for the synchronization in connectors.</summary>
         /// <remarks>
@@ -80,7 +80,7 @@ public bool IsSyncInConnected
         {
             get
             {
-                CheckResult(NativeApi.DeviceGetSyncJack(handle.ValueNotDisposed, out var syncInConnected, out var syncOutConnected));
+                CheckResult(NativeApi.DeviceGetSyncJack(handle.ValueNotDisposed, out var syncInConnected, out _));
                 return syncInConnected;
             }
         }
@@ -100,7 +100,7 @@ public bool IsSyncOutConnected
         {
             get
             {
-                CheckResult(NativeApi.DeviceGetSyncJack(handle.ValueNotDisposed, out var syncInConnected, out var syncOutConnected));
+                CheckResult(NativeApi.DeviceGetSyncJack(handle.ValueNotDisposed, out _, out var syncOutConnected));
                 return syncOutConnected;
             }
         }
@@ -191,7 +191,7 @@ public void StopImu()
         /// <exception cref="ObjectDisposedException">This method cannot be called for disposed object.</exception>
         /// <exception cref="DeviceConnectionLostException">Connection with Azure Kinect device has been lost.</exception>
         /// <exception cref="InvalidOperationException">Camera streaming is not running or has been stopped during this call.</exception>
-        public bool TryGetCapture(out Capture capture, Timeout timeout = default(Timeout))
+        public bool TryGetCapture(out Capture capture, Timeout timeout = default)
         {
             var res = NativeApi.DeviceGetCapture(handle.ValueNotDisposed, out var captureHandle, timeout);
 
@@ -248,7 +248,7 @@ public Capture GetCapture()
         /// <exception cref="ObjectDisposedException">This method cannot be called for disposed object.</exception>
         /// <exception cref="DeviceConnectionLostException">Connection with Azure Kinect device has been lost.</exception>
         /// <exception cref="InvalidOperationException">IMU streaming is not running or has been stopped during this call.</exception>
-        public bool TryGetImuSample(out ImuSample imuSample, Timeout timeout = default(Timeout))
+        public bool TryGetImuSample(out ImuSample imuSample, Timeout timeout = default)
         {
             var res = NativeApi.DeviceGetImuSample(handle.ValueNotDisposed, out imuSample, timeout);