Switching to v.1.10.1 of Orbbec SDK K4A Wrapper. Plus minor improveme…

…nts and preparations to release v.1.4.17
bibigone · May 20, 2024 · d3fda18 · d3fda18
1 parent 0703ff6
commit d3fda18
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Showing 15 changed files with 2,513 additions and 36 deletions.
diff --git a/K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs b/K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs
@@ -52,7 +52,18 @@ public void Dispose()
         public event EventHandler<FailedEventArgs>? Failed;
 
         public void Enqueue(Capture capture)
-            => tracker.EnqueueCapture(capture);
+        {
+            // Body tracking needs IR and Depth images in capture
+            using var irImage = capture.IRImage;
+            if (irImage is null)
+                return;
+
+            using var depthImage = capture.DepthImage;
+            if (depthImage is null)
+                return;
+
+            tracker.EnqueueCapture(capture);
+        }
 
         private void BackgroundLoop()
         {

diff --git a/K4AdotNet.Samples.Wpf.Common/BackgroundReadingLoop.cs b/K4AdotNet.Samples.Wpf.Common/BackgroundReadingLoop.cs
@@ -195,7 +195,7 @@ public override void GetCalibration(out Calibration calibration)
                 => device.GetCalibration(DepthMode, ColorResolution, out calibration);
 
             public override string ToString()
-                => device.ToString();
+                => device?.ToString() ?? string.Empty;
 
             protected override void BackgroundLoop()
             {

diff --git a/K4AdotNet.Samples.Wpf.Common/ImageVisualizer.cs b/K4AdotNet.Samples.Wpf.Common/ImageVisualizer.cs
@@ -93,7 +93,7 @@ public bool Update(Image? image, Image? bodyIndexMap = null)
                 ResetInnerBodyIndexBuffer();
 
             // 2nd step: we can update WritableBitmap only from its owner thread (as a rule, UI thread)
-            Dispatcher.BeginInvoke(DispatcherPriority.Render, new Action(FillWritableBitmap));
+            Dispatcher.BeginInvoke(DispatcherPriority.Background, new Action(FillWritableBitmap));
 
             // Updated
             return true;

diff --git a/K4AdotNet/K4AdotNet.csproj b/K4AdotNet/K4AdotNet.csproj
@@ -22,6 +22,10 @@
   </ItemGroup>
 
   <ItemGroup Condition="'$(Platform)' == 'x64' And $(DefineConstants.Contains(ORBBECSDK_K4A_WRAPPER))">
+    <Content Include="..\externals\OrbbecSDK-K4A-Wrapper\OrbbecSDKConfig_v1.0.xml" Link="OrbbecSDKConfig_v1.0.xml">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+      <Visible>False</Visible>
+    </Content>
     <Content Include="..\externals\OrbbecSDK-K4A-Wrapper\win-x64\OrbbecSDK.dll" Link="OrbbecSDK.dll">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       <Visible>False</Visible>

diff --git a/K4AdotNet/Sensor/Device.cs b/K4AdotNet/Sensor/Device.cs
@@ -74,45 +74,55 @@ public bool IsConnected
 #endif
 
         /// <summary>Gets the device jack status for the synchronization in connectors.</summary>
-        /// <remarks>
+        /// <remarks><para>For Azure Kinect devices:
         /// If <see cref="IsSyncInConnected"/> is <see langword="true"/> then
         /// <see cref="DeviceConfiguration.WiredSyncMode"/> mode can be set to <see cref="WiredSyncMode.Standalone"/> or <see cref="WiredSyncMode.Subordinate"/>.
-        /// </remarks>
+        /// </para><para>
+        /// For Orbbec Femto devices: Orbbec cameras must preset the synchronization mode in advance, which can be achieved through k4aviewer advance preset,
+        /// this synchronization mode is implemented using the mapping Orbbec SDK synchronization mode.
+        /// </para></remarks>
         /// <exception cref="ObjectDisposedException">This property cannot be asked for disposed objects.</exception>
         /// <exception cref="DeviceConnectionLostException">Connection with device has been lost.</exception>
         /// <exception cref="InvalidOperationException">Some unspecified error in Sensor SDK. See logs for details.</exception>
-#if ORBBECSDK_K4A_WRAPPER
-        [Obsolete("Not supported by OrbbecSDK-K4A-Wrapper")]
-#endif
         public bool IsSyncInConnected
         {
             get
             {
+#if ORBBECSDK_K4A_WRAPPER
+                // Inspired by the latest changes in k4a.hpp (`device` class)
+                return WiredSyncMode == WiredSyncMode.Subordinate;
+#else
                 CheckResult(NativeApi.DeviceGetSyncJack(handle.ValueNotDisposed, out var syncInConnectedFlag, out _));
                 return syncInConnectedFlag != 0;
+#endif
             }
         }
 
         /// <summary>Gets the device jack status for the synchronization out connectors.</summary>
-        /// <remarks>
+        /// <remarks><para>For Azure Kinect devices:
         /// If <see cref="IsSyncOutConnected"/> is <see langword="true"/> then
         /// <see cref="DeviceConfiguration.WiredSyncMode"/> mode can be set to <see cref="WiredSyncMode.Standalone"/> or <see cref="WiredSyncMode.Master"/>.
         /// If <see cref="IsSyncInConnected"/> is also <see langword="true"/> then
         /// <see cref="DeviceConfiguration.WiredSyncMode"/> mode can be set to <see cref="WiredSyncMode.Subordinate"/> (in this case 'Sync Out' is driven for the
         /// next device in the chain).
-        /// </remarks>
+        /// </para><para>
+        /// For Orbbec Femto devices: Orbbec cameras must preset the synchronization mode in advance, which can be achieved through k4aviewer advance preset,
+        /// this synchronization mode is implemented using the mapping Orbbec SDK synchronization mode.
+        /// </para></remarks>
         /// <exception cref="ObjectDisposedException">This property cannot be asked for disposed objects.</exception>
         /// <exception cref="DeviceConnectionLostException">Connection with device has been lost.</exception>
         /// <exception cref="InvalidOperationException">Some unspecified error in Sensor SDK. See logs for details.</exception>
-#if ORBBECSDK_K4A_WRAPPER
-        [Obsolete("Not supported by OrbbecSDK-K4A-Wrapper")]
-#endif
         public bool IsSyncOutConnected
         {
             get
             {
+#if ORBBECSDK_K4A_WRAPPER
+                // Inspired by the latest changes in k4a.hpp (`device` class)
+                return WiredSyncMode == WiredSyncMode.Master;
+#else
                 CheckResult(NativeApi.DeviceGetSyncJack(handle.ValueNotDisposed, out _, out var syncOutConnectedFlag));
                 return syncOutConnectedFlag != 0;
+#endif
             }
         }
 

diff --git a/Product.props b/Product.props
@@ -1,7 +1,7 @@
 <Project>
   <PropertyGroup>
-    <AssemblyVersion>1.4.16.0</AssemblyVersion>
-    <FileVersion>1.4.16.0</FileVersion>
+    <AssemblyVersion>1.4.17.0</AssemblyVersion>
+    <FileVersion>1.4.17.0</FileVersion>
   </PropertyGroup>
   <!-- To build version for Orbbec Femto devices, ORBBECSDK_K4A_WRAPPER constant should be defined -->
   <!-- Add /p:Devices=Femto to arguments of MSBuild to build version for Orbbec Femto devices -->