Switching to version 0.9.3 of Azure Kinect Body Tracking SDK

bibigone · Sep 21, 2019 · 333fd8f · 333fd8f
1 parent 14934b7
commit 333fd8f
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Showing 9 changed files with 27 additions and 38 deletions.
diff --git a/K4AdotNet.Samples.Wpf.BodyTracker/BodyIndexMapTransformation.cs b/K4AdotNet.Samples.Wpf.BodyTracker/BodyIndexMapTransformation.cs
@@ -6,16 +6,12 @@ namespace K4AdotNet.Samples.Wpf.BodyTracker
     internal sealed class BodyIndexMapTransformation : IDisposable
     {
         private readonly Transformation transformation;
-        private readonly Image bodyIndexMapCustom8;
         private readonly Image transformedDepthMap;
         private readonly Image transformedBodyIndexMap;
 
         public BodyIndexMapTransformation(ref Calibration calibration)
         {
             transformation = new Transformation(ref calibration);
-            var depthWidth = calibration.DepthMode.WidthPixels();
-            var depthHeight = calibration.DepthMode.HeightPixels();
-            bodyIndexMapCustom8 = new Image(ImageFormat.Custom8, depthWidth, depthHeight);
             var colorWidth = calibration.ColorResolution.WidthPixels();
             var colorHeight = calibration.ColorResolution.HeightPixels();
             transformedDepthMap = new Image(ImageFormat.Depth16, colorWidth, colorHeight);
@@ -25,7 +21,6 @@ public BodyIndexMapTransformation(ref Calibration calibration)
         public void Dispose()
         {
             transformation.Dispose();
-            bodyIndexMapCustom8.Dispose();
             transformedDepthMap.Dispose();
             transformedBodyIndexMap.Dispose();
         }
@@ -37,24 +32,15 @@ public unsafe Image ToColor(Image depthMap, Image bodyIndexMap)
 
             // Object can be disposed from different thread,
             // thus it is worth to keep references to images while we're working with their buffers
-            using (var bodyIndexMapCustom8Ref = bodyIndexMapCustom8.DuplicateReference())
+            using (var transformedDepthMapRef = transformedDepthMap.DuplicateReference())
+            using (var transformedBodyIndexMapRef = transformedBodyIndexMap.DuplicateReference())
             {
-                // Custom format -> Custom8 format
-                // See issue https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/704
-                Buffer.MemoryCopy(
-                    bodyIndexMap.Buffer.ToPointer(), bodyIndexMapCustom8Ref.Buffer.ToPointer(),
-                    bodyIndexMapCustom8Ref.SizeBytes, bodyIndexMap.SizeBytes);
+                transformation.DepthImageToColorCameraCustom(
+                    depthMap, bodyIndexMap,
+                    transformedDepthMapRef, transformedBodyIndexMapRef,
+                    TransformationInterpolation.Nearest, BodyTracking.BodyFrame.NotABodyIndexMapPixelValue);
 
-                using (var transformedDepthMapRef = transformedDepthMap.DuplicateReference())
-                using (var transformedBodyIndexMapRef = transformedBodyIndexMap.DuplicateReference())
-                {
-                    transformation.DepthImageToColorCameraCustom(
-                        depthMap, bodyIndexMapCustom8Ref,
-                        transformedDepthMapRef, transformedBodyIndexMapRef,
-                        TransformationInterpolation.Nearest, BodyTracking.BodyFrame.NotABodyIndexMapPixelValue);
-
-                    return transformedBodyIndexMapRef.DuplicateReference();
-                }
+                return transformedBodyIndexMapRef.DuplicateReference();
             }
         }
     }

diff --git a/K4AdotNet/BodyTracking/NativeApi.cs b/K4AdotNet/BodyTracking/NativeApi.cs
@@ -8,9 +8,9 @@ internal static class NativeApi
     {
         public const int MAX_TRACKING_QUEUE_SIZE = 3;
 
-        // #define K4ABT_DEFAULT_TRACKER_SMOOTHING_FACTOR 0.5f
+        // #define K4ABT_DEFAULT_TRACKER_SMOOTHING_FACTOR 0.0f
         /// <summary>The default tracker temporal smoothing factor.</summary>
-        public const float DEFAULT_TRACKER_SMOOTHING_FACTOR = 0.5f;
+        public const float DEFAULT_TRACKER_SMOOTHING_FACTOR = 0.0f;
 
         // K4ABT_EXPORT k4a_result_t k4abt_tracker_create(const k4a_calibration_t* sensor_calibration,
         //                                                k4abt_tracker_configuration_t config,

diff --git a/K4AdotNet/Sdk.cs b/K4AdotNet/Sdk.cs
@@ -31,15 +31,15 @@ public static class Sdk
         public const string BODY_TRACKING_DLL_NAME = "k4abt";
 
         /// <summary>Expected version of Body Tracking runtime. This version of K4AdotNet assembly is built and tested against this version of Body Tracking.</summary>
-        public static readonly Version BODY_TRACKING_EXPECTED_VERSION = new Version(0, 9, 2);
+        public static readonly Version BODY_TRACKING_EXPECTED_VERSION = new Version(0, 9, 3);
 
         /// <summary>Name of ONNX runtime library (DLL) which is used by <see cref="BODY_TRACKING_DLL_NAME"/>.</summary>
         /// <remarks>This library is required for Body Tracking part of API (see <c>K4AdotNet.BodyTracking</c> namespace).</remarks>
         public const string ONNX_RUNTIME_DLL_NAME = "onnxruntime";
 
         /// <summary>Name of ONNX file with model of neural network used by <see cref="BODY_TRACKING_DLL_NAME"/>.</summary>
         /// <remarks>This data file is required for Body Tracking part of API (see <c>K4AdotNet.BodyTracking</c> namespace).</remarks>
-        public const string BODY_TRACKING_DNN_MODEL_FILE_NAME = "dnn_model.onnx";
+        public const string BODY_TRACKING_DNN_MODEL_FILE_NAME = "dnn_model_2_0.onnx";
 
         /// <summary>ONNX runtime depends on NVIDIA cuDNN library. This list contains all required components for cuDNN under Windows.</summary>
         public static readonly IReadOnlyList<string> CUDNN_DLL_NAMES = new[]

diff --git a/README.md b/README.md
@@ -24,6 +24,8 @@
   * See https://docs.microsoft.com/en-us/dotnet/standard/net-standard for details
 * Clean API, which is close to C/C++ native API from [Azure Kinect Sensor SDK](https://docs.microsoft.com/en-us/azure/Kinect-dk/sensor-sdk-download) and [Azure Kinect Body Tracking SDK](https://docs.microsoft.com/en-us/azure/Kinect-dk/body-sdk-download).
 * Plus useful helper methods, additional checks and meaningful exceptions.
+* Full feature set (all API provided by native SDKs are available in this C# wrapper)
+* Up-to-date with the latest versions of native SDKs
 * No additional dependencies
   * Except dependencies on native libraries (DLLs) from [Azure Kinect Sensor SDK](https://docs.microsoft.com/en-us/azure/Kinect-dk/sensor-sdk-download) and [Azure Kinect Body Tracking SDK](https://docs.microsoft.com/en-us/azure/Kinect-dk/body-sdk-download)
   * Native libraries from [Azure Kinect Sensor SDK](https://docs.microsoft.com/en-us/azure/Kinect-dk/sensor-sdk-download) are included to repository(see `externals` directory) and [NuGet package](https://www.nuget.org/packages/K4AdotNet)
@@ -49,14 +51,14 @@
 |---------------------|----------------------------------------------|----------------|---------------------------------------|--------------------------
 | Sensor API          | `k4a.dll`, `depthengine_2_0.dll`<sup>(1)</sup> | 1.2.0          | `externals/k4a/windows-desktop/amd64` | YES
 | Record API          | `k4arecord.dll`                              | 1.2.0          | `externals/k4a/windows-desktop/amd64` | YES
-| Body Tracking API   | `k4abt.dll`<sup>(2)</sup>, `dnn_model.onnx`   | 0.9.2          |                                       | no<sup>(3)</sup>
+| Body Tracking API   | `k4abt.dll`<sup>(2)</sup>, `dnn_model_2_0.onnx`   | 0.9.3          |                                       | no<sup>(3)</sup>
 
 Notes:
 * <sup>(1)</sup> `depthengine_2_0.dll` is required only if you are using `Transformation` or `Device` classes. All other Sensor API (types from `K4AdotNet.Sensor` namespace) depends only on `k4a.dll`.
 * <sup>(2)</sup> `k4abt.dll` uses [ONNX Runtime](https://github.com/microsoft/onnxruntime) &mdash; `onnxruntime.dll`, which in turn depends on the following [NVIDIA cuDNN](https://developer.nvidia.com/cudnn) and [NVIDIA CUDA 10.0](https://developer.nvidia.com/cuda-10.0-download-archive) libraries: `cudnn64_7.dll`, `cublas64_100.dll`, `cudart64_100.dll`. Also, Visual C++ Redistributable for Visual Studio 2015 is required: `vcomp140.dll`.
 * <sup>(3)</sup> The full list of libraries and data files required for Body Tracking: <br/>
 `k4abt.dll` (3.7 MB), <br/>
-`dnn_model.onnx` (159 MB), <br/>
+`dnn_model_2_0.onnx` (159 MB), <br/>
 `cudnn64_7.dll` (333 MB), <br/>
 `cublas64_100.dll` (64 MB), <br/>
 `cudart64_100.dll` (0.4 MB), <br/>
@@ -83,7 +85,6 @@ See https://github.com/bibigone/k4a.net/releases
 
 * More unit and integration tests
 * More samples (Recording, 3D view, Box-man, IMU...)
-* Further development of sample for Unity
 * Find out how to convert MJPEG -> BGRA faster (implementation in `k4a.dll` is very slow)
 * Test under Linux, samples for Linux (using [Avalonia UI Framework](http://avaloniaui.net/)?)
 * Some hosting for HTML documentation ([DocFX](https://dotnet.github.io/docfx/) + [github.io](https://pages.github.com/)?)

diff --git a/externals/k4abt/REDIST.txt b/externals/k4abt/REDIST.txt
@@ -1,6 +1,6 @@
 sdk\windows-desktop\amd64\release\bin\k4abt.dll
 sdk\windows-desktop\amd64\release\bin\onnxruntime.dll
-sdk\windows-desktop\amd64\release\bin\dnn_model.onnx
+sdk\windows-desktop\amd64\release\bin\dnn_model_2_0.onnx
 tools\cublas64_100.dll
 tools\cudart64_100.dll
 tools\cudnn64_7.dll

diff --git a/externals/k4abt/include/k4abt.h b/externals/k4abt/include/k4abt.h
@@ -84,7 +84,7 @@ extern "C" {
  *
  * \param smoothing_factor
  * Set between 0 for no smoothing and 1 for full smoothing. Less smoothing will increase the responsiveness of the
- * detected skeletons but will cause more positional and oriantational jitters.
+ * detected skeletons but will cause more positional and orientational jitters.
  *
  * \relates k4abt_tracker_t
  *

diff --git a/externals/k4abt/include/k4abttypes.h b/externals/k4abt/include/k4abttypes.h
@@ -191,7 +191,7 @@ typedef struct _k4abt_body_t
 
  /** The default tracker temporal smoothing factor
   */
-#define K4ABT_DEFAULT_TRACKER_SMOOTHING_FACTOR 0.5f
+#define K4ABT_DEFAULT_TRACKER_SMOOTHING_FACTOR 0.0f
 
 /** Default configuration setting for k4abt tracker.
  *

diff --git a/externals/k4abt/include/k4abtversion.h b/externals/k4abt/include/k4abtversion.h
@@ -4,12 +4,14 @@
 #ifndef K4ABTVERSION_H
 #define K4ABTVERSION_H
 
-#define K4ABT_VERSION_MAJOR          0
-#define K4ABT_VERSION_MINOR          9
-#define K4ABT_VERSION_PATCH          2
-#define K4ABT_VERSION_PRERELEASE     ""
-#define K4ABT_VERSION_BUILD_METADATA ""
+#define K4ABT_VERSION_MAJOR           0
+#define K4ABT_VERSION_MINOR           9
+#define K4ABT_VERSION_PATCH           3
+#define K4ABT_VERSION_PRERELEASE      ""
+#define K4ABT_VERSION_BUILD_METADATA  ""
 
-#define K4ABT_VERSION_STR            "0.9.2"
+#define K4ABT_VERSION_STR             "0.9.3"
+
+#define K4ABT_DNN_MODEL_FILE          "dnn_model_2_0.onnx"
 
 #endif
diff --git a/externals/k4abt/version.txt b/externals/k4abt/version.txt
@@ -1 +1 @@
-0.9.2
+0.9.3