Switching to version 1.0.0 of Body Tracking SDK. Preparations to publ…

…ish version 1.3.5 of K4AdotNet library and packages.

K4AdotNet.Samples.Core.BodyTrackingSpeed/Processor.cs

@@ -31,7 +31,9 @@ protected Processor(ProcessingParameters processingParameters)
             if (processingParameters.StartTime.HasValue)
                 Seek(processingParameters.StartTime.Value);
             var config = BodyTracking.TrackerConfiguration.Default;
-            config.CpuOnlyMode = processingParameters.CpuOnlyMode;
+            config.ProcessingMode = processingParameters.CpuOnlyMode
+                ? BodyTracking.TrackerProcessingMode.Cpu
+                : BodyTracking.TrackerProcessingMode.Gpu;
             tracker = new BodyTracking.Tracker(ref calibration, config);
         }
 

K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs

@@ -13,7 +13,13 @@ internal sealed class BackgroundTrackingLoop : IDisposable
 
         public BackgroundTrackingLoop(ref Calibration calibration, bool cpuOnlyMode, SensorOrientation sensorOrientation, float smoothingFactor)
         {
-            var config = new TrackerConfiguration { SensorOrientation = sensorOrientation, CpuOnlyMode = cpuOnlyMode };
+            var config = new TrackerConfiguration
+            {
+                SensorOrientation = sensorOrientation,
+                ProcessingMode = cpuOnlyMode
+                    ? TrackerProcessingMode.Cpu
+                    : TrackerProcessingMode.Gpu
+            };
             tracker = new Tracker(ref calibration, config) { TemporalSmoothingFactor = smoothingFactor };
             isRunning = true;
             backgroundThread = new Thread(BackgroundLoop) { IsBackground = true };

K4AdotNet/BodyTracking/BodyFrame.cs

@@ -65,7 +65,7 @@ public BodyFrame DuplicateReference()
 
         /// <summary>Gets the number of detected bodies.</summary>
         /// <exception cref="ObjectDisposedException">This property cannot be called for disposed objects.</exception>
-        public int BodyCount => Helpers.UIntPtrToInt32(NativeApi.FrameGetNumBodies(handle.ValueNotDisposed));
+        public int BodyCount => (int)NativeApi.FrameGetNumBodies(handle.ValueNotDisposed);
 
         /// <summary>Get the original capture that was used to calculate this body frame.</summary>
         /// <remarks><para>
@@ -124,7 +124,7 @@ public void GetBodySkeleton(int bodyIndex, out Skeleton skeleton)
         {
             if (bodyIndex < 0 || bodyIndex >= BodyCount)
                 throw new ArgumentOutOfRangeException(nameof(bodyIndex));
-            if (NativeApi.FrameGetBodySkeleton(handle.ValueNotDisposed, Helpers.Int32ToUIntPtr(bodyIndex), out skeleton) != NativeCallResults.Result.Succeeded)
+            if (NativeApi.FrameGetBodySkeleton(handle.ValueNotDisposed, (uint)bodyIndex, out skeleton) != NativeCallResults.Result.Succeeded)
                 throw new BodyTrackingException($"Cannot extract skeletal data for body with index {bodyIndex}");
         }
 
@@ -137,7 +137,7 @@ public BodyId GetBodyId(int bodyIndex)
         {
             if (bodyIndex < 0 || bodyIndex >= BodyCount)
                 throw new ArgumentOutOfRangeException(nameof(bodyIndex));
-            return NativeApi.FrameGetBodyId(handle.ValueNotDisposed, Helpers.Int32ToUIntPtr(bodyIndex));
+            return NativeApi.FrameGetBodyId(handle.ValueNotDisposed, (uint)bodyIndex);
         }
 
         internal static BodyFrame Create(NativeHandles.BodyFrameHandle bodyFrameHandle)

K4AdotNet/BodyTracking/JointType.cs

@@ -4,7 +4,7 @@
     // typedef enum
     // {
     //     K4ABT_JOINT_PELVIS = 0,
-    //     K4ABT_JOINT_SPINE_NAVAL,
+    //     K4ABT_JOINT_SPINE_NAVEL,
     //     K4ABT_JOINT_SPINE_CHEST,
     //     K4ABT_JOINT_NECK,
     //     K4ABT_JOINT_CLAVICLE_LEFT,
@@ -47,8 +47,9 @@ public enum JointType
         /// <summary>Pelvis joint.</summary>
         Pelvis = 0,
 
-        /// <summary>Naval spine joint.</summary>
-        SpineNaval,
+        /// <summary>Navel spine joint.</summary>
+        /// <summary>Navel spine joint.</summary>
+        SpineNavel,
 
         /// <summary>Chest spine joint.</summary>
         SpineChest,

K4AdotNet/BodyTracking/JointTypes.cs

@@ -12,7 +12,7 @@ public static class JointTypes
         public static readonly IReadOnlyList<JointType> All = new[]
         {
             JointType.Pelvis,
-            JointType.SpineNaval,
+            JointType.SpineNavel,
             JointType.SpineChest,
             JointType.Neck,
             JointType.ClavicleLeft,
@@ -102,8 +102,8 @@ public static JointType GetParent(this JointType jointType)
             {
                 // Spine
                 case JointType.Pelvis: return JointType.Pelvis;
-                case JointType.SpineNaval: return JointType.Pelvis;
-                case JointType.SpineChest: return JointType.SpineNaval;
+                case JointType.SpineNavel: return JointType.Pelvis;
+                case JointType.SpineChest: return JointType.SpineNavel;
                 case JointType.Neck: return JointType.SpineChest;
                 // Left arm
                 case JointType.ClavicleLeft: return JointType.SpineChest;

K4AdotNet/BodyTracking/NativeApi.cs

@@ -121,15 +121,15 @@ public static extern NativeCallResults.WaitResult TrackerPopResult(
         [DllImport(Sdk.BODY_TRACKING_DLL_NAME, EntryPoint = "k4abt_tracker_shutdown", CallingConvention = CallingConvention.Cdecl)]
         public static extern void TrackerShutdown(NativeHandles.TrackerHandle trackerHandle);
 
-        // K4ABT_EXPORT size_t k4abt_frame_get_num_bodies(k4abt_frame_t body_frame_handle);
+        // K4ABT_EXPORT uint32_t k4abt_frame_get_num_bodies(k4abt_frame_t body_frame_handle);
         /// <summary>Get the number of people from the <see cref="NativeHandles.BodyFrameHandle"/>.</summary>
         /// <param name="bodyFrameHandle">Handle to a body frame object returned by <see cref="TrackerPopResult(NativeHandles.TrackerHandle, out NativeHandles.BodyFrameHandle, Timeout)"/> function.</param>
         /// <returns>Returns the number of detected bodies. 0 if the function fails.</returns>
         /// <remarks>Called when the user has received a body frame handle and wants to access the data contained in it.</remarks>
         [DllImport(Sdk.BODY_TRACKING_DLL_NAME, EntryPoint = "k4abt_frame_get_num_bodies", CallingConvention = CallingConvention.Cdecl)]
-        public static extern UIntPtr FrameGetNumBodies(NativeHandles.BodyFrameHandle bodyFrameHandle);
+        public static extern uint FrameGetNumBodies(NativeHandles.BodyFrameHandle bodyFrameHandle);
 
-        // K4ABT_EXPORT k4a_result_t k4abt_frame_get_body_skeleton(k4abt_frame_t body_frame_handle, size_t index, k4abt_skeleton_t* skeleton);
+        // K4ABT_EXPORT k4a_result_t k4abt_frame_get_body_skeleton(k4abt_frame_t body_frame_handle, uint32_t index, k4abt_skeleton_t* skeleton);
         /// <summary>Get the joint information for a particular person index from the <see cref="NativeHandles.BodyFrameHandle"/>.</summary>
         /// <param name="bodyFrameHandle">Handle to a body frame object returned by <see cref="TrackerPopResult(NativeHandles.TrackerHandle, out NativeHandles.BodyFrameHandle, Timeout)"/> function.</param>
         /// <param name="index">The index of the body of which the joint information is queried.</param>
@@ -139,10 +139,10 @@ public static extern NativeCallResults.WaitResult TrackerPopResult(
         [DllImport(Sdk.BODY_TRACKING_DLL_NAME, EntryPoint = "k4abt_frame_get_body_skeleton", CallingConvention = CallingConvention.Cdecl)]
         public static extern NativeCallResults.Result FrameGetBodySkeleton(
             NativeHandles.BodyFrameHandle bodyFrameHandle,
-            UIntPtr index,
+            uint index,
             out Skeleton skeleton);
 
-        // K4ABT_EXPORT uint32_t k4abt_frame_get_body_id(k4abt_frame_t body_frame_handle, size_t index);
+        // K4ABT_EXPORT uint32_t k4abt_frame_get_body_id(k4abt_frame_t body_frame_handle, uint32_t index);
         /// <summary>Get the body id for a particular person index from the <see cref="NativeHandles.BodyFrameHandle"/>.</summary>
         /// <param name="bodyFrameHandle">Handle to a body frame object returned by <see cref="TrackerPopResult(NativeHandles.TrackerHandle, out NativeHandles.BodyFrameHandle, Timeout)"/> function.</param>
         /// <param name="index">The index of the body of which the body id information is queried.</param>
@@ -153,7 +153,7 @@ public static extern NativeCallResults.Result FrameGetBodySkeleton(
         [DllImport(Sdk.BODY_TRACKING_DLL_NAME, EntryPoint = "k4abt_frame_get_body_id", CallingConvention = CallingConvention.Cdecl)]
         public static extern BodyId FrameGetBodyId(
             NativeHandles.BodyFrameHandle bodyFrameHandle,
-            UIntPtr index);
+            uint index);
 
         // K4ABT_EXPORT uint64_t k4abt_frame_get_device_timestamp_usec(k4abt_frame_t body_frame_handle);
         /// <summary>Get the body frame's device timestamp.</summary>

K4AdotNet/BodyTracking/Skeleton.cs

@@ -23,8 +23,8 @@ public struct Skeleton : IEnumerable<Joint>
         /// <summary>Pelvis joint.</summary>
         public Joint Pelvis;
 
-        /// <summary>Naval spine joint.</summary>
-        public Joint SpineNaval;
+        /// <summary>Navel spine joint.</summary>
+        public Joint SpineNavel;
 
         /// <summary>Chest spine joint.</summary>
         public Joint SpineChest;
@@ -132,7 +132,7 @@ public Joint this[JointType index]
                 switch (index)
                 {
                     case JointType.Pelvis: return Pelvis;
-                    case JointType.SpineNaval: return SpineNaval;
+                    case JointType.SpineNavel: return SpineNavel;
                     case JointType.SpineChest: return SpineChest;
                     case JointType.Neck: return Neck;
                     case JointType.ClavicleLeft: return ClavicleLeft;
@@ -172,7 +172,7 @@ public Joint this[JointType index]
                 switch (index)
                 {
                     case JointType.Pelvis: Pelvis = value; break;
-                    case JointType.SpineNaval: SpineNaval = value; break;
+                    case JointType.SpineNavel: SpineNavel = value; break;
                     case JointType.SpineChest: SpineChest = value; break;
                     case JointType.Neck: Neck = value; break;
                     case JointType.ClavicleLeft: ClavicleLeft = value; break;

K4AdotNet/BodyTracking/Tracker.cs

@@ -13,9 +13,6 @@ namespace K4AdotNet.BodyTracking
     /// <seealso cref="BodyFrame"/>
     public sealed class Tracker : IDisposablePlus
     {
-        // Current version of Body Tracking runtime does not support creation of multiple instances.
-        private static volatile int instancesCounter;
-
         private readonly NativeHandles.HandleWrapper<NativeHandles.TrackerHandle> handle;   // this class is an wrapper around this handle
         private volatile int queueSize;                                                     // captures in queue
         private float temporalSmoothingFactor = DefaultSmoothingFactor;
@@ -38,10 +35,6 @@ public sealed class Tracker : IDisposablePlus
         /// Invalid value of <paramref name="calibration"/>: <see cref="Calibration.DepthMode"/> cannot be <see cref="DepthMode.Off"/> and <see cref="DepthMode.PassiveIR"/>.
         /// Because depth data is required for body tracking.
         /// </exception>
-        /// <exception cref="NotSupportedException">
-        /// Only one tracker is allowed to exist at the same time in each process. If you call this constructor without destroying the 
-        /// previous tracker you created, the constructor call will fail with this exception.
-        /// </exception>
         /// <exception cref="BodyTrackingException">
         /// Unable to find/initialize Body Tracking runtime.
         /// </exception>
@@ -54,28 +47,15 @@ public Tracker(ref Calibration calibration, TrackerConfiguration config = defaul
 
             DepthMode = calibration.DepthMode;
 
-            var incrementedInstanceCounter = Interlocked.Increment(ref instancesCounter);
-            try
-            {
-                if (incrementedInstanceCounter != 1)
-                    throw new NotSupportedException("Oops! Current version of Body Tracking runtime does not support creation of multiple body trackers. Sorry!");
-
-                if (!Sdk.TryCreateTrackerHandle(ref calibration, config, out var handle, out var message))
-                    throw new BodyTrackingException(message);
+            if (!Sdk.TryCreateTrackerHandle(ref calibration, config, out var handle, out var message))
+                throw new BodyTrackingException(message);
 
-                this.handle = handle;
-                this.handle.Disposed += Handle_Disposed;
-            }
-            catch
-            {
-                Interlocked.Decrement(ref instancesCounter);
-                throw;
-            }
+            this.handle = handle;
+            this.handle.Disposed += Handle_Disposed;
         }
 
         private void Handle_Disposed(object sender, EventArgs e)
         {
-            Interlocked.Decrement(ref instancesCounter);
             queueSize = 0;
             handle.Disposed -= Handle_Disposed;
             Disposed?.Invoke(this, EventArgs.Empty);
@@ -166,7 +146,7 @@ public float TemporalSmoothingFactor
         }
 
         /// <summary>Adds a Azure Kinect sensor capture to the tracker input queue to generate its body tracking result asynchronously.</summary>
-        /// <param name="capture">It should contain the depth data compatible with <see cref="DepthMode"/> for this function to work. Not <see langword="null"/>.</param>
+        /// <param name="capture">It should contain the depth and IR data compatible with <see cref="DepthMode"/> for this function to work. Not <see langword="null"/>.</param>
         /// <param name="timeout">
         /// Specifies the time the function should block waiting to add the sensor capture to the tracker process queue.
         /// Default value is <see cref="Timeout.NoWait"/>, which means checking of the status without blocking.
@@ -177,7 +157,7 @@ public float TemporalSmoothingFactor
         /// <see langword="false"/> - if the queue is still full (see <see cref="IsQueueFull"/> property) before the <paramref name="timeout"/> elapses.
         /// </returns>
         /// <exception cref="ArgumentNullException"><paramref name="capture"/> cannot be <see langword="null"/>.</exception>
-        /// <exception cref="ArgumentException"><paramref name="capture"/> doesn't contain depth data compatible with <see cref="DepthMode"/>.</exception>
+        /// <exception cref="ArgumentException"><paramref name="capture"/> doesn't contain depth and/or IR 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)
@@ -214,6 +194,28 @@ public bool TryEnqueueCapture(Capture capture, Timeout timeout = default)
                     }
                 }
 
+                using (var irImage = capture.IRImage)
+                {
+                    if (irImage == null)
+                    {
+                        throw new ArgumentException(
+                            "Capture should contain the IR data.",
+                            nameof(capture));
+                    }
+                    if (irImage.Format != ImageFormat.IR16)
+                    {
+                        throw new ArgumentException(
+                            $"Invalid format of IR data in capture: expected {ImageFormat.IR16} but was {irImage.Format}.",
+                            nameof(capture));
+                    }
+                    if (irImage.WidthPixels != DepthMode.WidthPixels() || irImage.HeightPixels != DepthMode.HeightPixels())
+                    {
+                        throw new ArgumentException(
+                            $"Invalid resolution of IR data in capture: expected {DepthMode.WidthPixels()}x{DepthMode.HeightPixels()} pixels but was {irImage.WidthPixels}x{irImage.HeightPixels} pixels.",
+                            nameof(capture));
+                    }
+                }
+
                 throw new BodyTrackingException("Cannot add new capture to body tracking pipeline. See logs for details.");
             }
 
@@ -226,7 +228,7 @@ public bool TryEnqueueCapture(Capture capture, Timeout timeout = default)
         /// <summary>Equivalent to call of <see cref="TryEnqueueCapture(Capture, Timeout)"/> with infinite timeout: <see cref="Timeout.Infinite"/>.</summary>
         /// <param name="capture">It should contain the depth data compatible with <see cref="DepthMode"/> for this function to work. Not <see langword="null"/>.</param>
         /// <exception cref="ArgumentNullException"><paramref name="capture"/> cannot be <see langword="null"/>.</exception>
-        /// <exception cref="ArgumentException"><paramref name="capture"/> doesn't contain depth data compatible with <see cref="DepthMode"/>.</exception>
+        /// <exception cref="ArgumentException"><paramref name="capture"/> doesn't contain depth and/or IR 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 void EnqueueCapture(Capture capture)

K4AdotNet/BodyTracking/TrackerConfiguration.cs

@@ -6,7 +6,8 @@ namespace K4AdotNet.BodyTracking
     // typedef struct _k4abt_tracker_configuration_t
     // {
     //     k4abt_sensor_orientation_t sensor_orientation;
-    //     bool cpu_only_mode;
+    //     k4abt_tracker_processing_mode_t processing_mode;
+    //     int32_t gpu_device_id;
     // } k4abt_tracker_configuration_t;
     //
     /// <summary>Configuration parameters for a k4abt body tracker.</summary>
@@ -24,16 +25,22 @@ public struct TrackerConfiguration
         /// The CPU only mode doesn't require the machine to have a GPU to run this SDK.
         /// But it will be much slower than the GPU mode.
         /// </remarks>
-        [MarshalAs(UnmanagedType.I1)]
-        public bool CpuOnlyMode;
+        public TrackerProcessingMode ProcessingMode;
 
-        // static const k4abt_tracker_configuration_t K4ABT_TRACKER_CONFIG_DEFAULT = { K4ABT_SENSOR_ORIENTATION_DEFAULT, false };
+        /// <summary>Specify the GPU device ID to run the tracker.</summary>
+        /// <remarks>The setting is only effective if the <see cref="ProcessingMode"/> setting is set to <see cref="TrackerProcessingMode.Gpu"/>.</remarks>
+        public int GpuDeviceId;
+
+        // static const k4abt_tracker_configuration_t K4ABT_TRACKER_CONFIG_DEFAULT = { K4ABT_SENSOR_ORIENTATION_DEFAULT,  // sensor_orientation
+        //                                                                             K4ABT_TRACKER_PROCESSING_MODE_GPU, // processing_mode
+        //                                                                             0 };                               // gpu_device_id
         //
         /// <summary>Default configuration setting for k4abt tracker.</summary>
         /// <remarks>Use this setting to initialize a <see cref="TrackerConfiguration"/> to a default state.</remarks>
         public static readonly TrackerConfiguration Default = new TrackerConfiguration {
-            SensorOrientation = SensorOrientation.Default,
-            CpuOnlyMode = false,
-        };
+                SensorOrientation = SensorOrientation.Default,
+                ProcessingMode = TrackerProcessingMode.Gpu,
+                GpuDeviceId = 0,
+            };
     }
 }