diff --git a/K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs b/K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs index dae9701..e8b13da 100644 --- a/K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs +++ b/K4AdotNet.Samples.Wpf.BodyTracker/BackgroundTrackingLoop.cs @@ -52,7 +52,18 @@ public void Dispose() public event EventHandler? 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 index 4ba9fe1..5f9a0ce 100644 --- 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 index e1a14d6..141c322 100644 --- 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 index ff265e9..57e6cc1 100644 --- a/K4AdotNet/K4AdotNet.csproj +++ b/K4AdotNet/K4AdotNet.csproj @@ -22,6 +22,10 @@ + + PreserveNewest + False + PreserveNewest False diff --git a/K4AdotNet/Sensor/Device.cs b/K4AdotNet/Sensor/Device.cs index 8e642b5..afad588 100644 --- a/K4AdotNet/Sensor/Device.cs +++ b/K4AdotNet/Sensor/Device.cs @@ -74,45 +74,55 @@ public bool IsConnected #endif /// Gets the device jack status for the synchronization in connectors. - /// + /// For Azure Kinect devices: /// If is then /// mode can be set to or . - /// + /// + /// 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. + /// /// This property cannot be asked for disposed objects. /// Connection with device has been lost. /// Some unspecified error in Sensor SDK. See logs for details. -#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 } } /// Gets the device jack status for the synchronization out connectors. - /// + /// For Azure Kinect devices: /// If is then /// mode can be set to or . /// If is also then /// mode can be set to (in this case 'Sync Out' is driven for the /// next device in the chain). - /// + /// + /// 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. + /// /// This property cannot be asked for disposed objects. /// Connection with device has been lost. /// Some unspecified error in Sensor SDK. See logs for details. -#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 index d053173..d8286ed 100644 --- a/Product.props +++ b/Product.props @@ -1,7 +1,7 @@ - 1.4.16.0 - 1.4.16.0 + 1.4.17.0 + 1.4.17.0 diff --git a/externals/OrbbecSDK-K4A-Wrapper/OrbbecSDKConfig_v1.0.xml b/externals/OrbbecSDK-K4A-Wrapper/OrbbecSDKConfig_v1.0.xml new file mode 100644 index 0000000..c3e4666 --- /dev/null +++ b/externals/OrbbecSDK-K4A-Wrapper/OrbbecSDKConfig_v1.0.xml @@ -0,0 +1,2454 @@ + + + + 1.1 + + + + + + 2 + + 5 + + 3 + + + + 100 + + 3 + + true + + + + + true + + 2048 + + 10 + + 10 + + + + true + + 8000 + + 10 + + + + + + + + true + + + true + + false + + 1920 + + 1080 + + 30 + + MJPG + ]]> + + + + + 0 + + false + + + + + false + + + LibUVC + + + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + 640 + 480 + 30|10 + Y11|Y16 + + + 1280 + 1024 + + + ]]> + + + + 640 + + 480 + + 30 + + MJPG + + 0 + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + 640 + + 480 + + 30 + + MJPG + + 0 + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + 640 + + 480 + + 30 + + MJPG + + 0 + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + 640 + + 480 + + 30 + + MJPG + + 0 + + + + 640 + + 480 + + 30 + + Y16 + + 0 + + + + + + + 640 + + 576 + + 15 + + Y16 + + 0 + + 5000 + + 0 + + 5000 + + + + + 1920 + + 1080 + + 15 + + MJPG + + 0 + + 5000 + + 0 + + 5000 + + + + + 640 + + 576 + + 15 + + Y16 + + 0 + + 5000 + + 0 + + 5000 + + + + + + 640 + + 576 + + 15 + + Y16 + + 0 + + 5000 + 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+ + 30 + Y8 + + + + + + + 0 + + 1 + + + + + + 0 + + 5000 + + 0 + + 2000 + + 848 + + 480 + + 30 + Y16 + + + + 1280 + + 720 + + 30 + MJPG + + + + 848 + + 480 + + 30 + Y8 + + + + 848 + + 480 + + 30 + Y8 + + + + 848 + + 480 + + 30 + Y8 + + + + diff --git a/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.h b/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.h index 26b14f7..2cc3d96 100644 --- a/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.h +++ b/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.h @@ -22,7 +22,7 @@ extern "C" { #define WRAPPER_VERSION_MAJOR 1 #define WRAPPER_VERSION_MINOR 9 -#define WRAPPER_VERSION_PATCH 3 +#define WRAPPER_VERSION_PATCH 4 /** * \defgroup Functions Functions diff --git a/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.hpp b/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.hpp index 8a18015..26a7a11 100644 --- a/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.hpp +++ b/externals/OrbbecSDK-K4A-Wrapper/include/k4a/k4a.hpp @@ -1444,41 +1444,33 @@ class device /** Get the device jack status for the synchronization in connector * Throws error on failure. * - * \attention The Orbbec device does not support retrieving the jack connection status, so this function will always - * return false (disconnected). + * \attention 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 orbbecsdk synchronization mode. * * \sa k4a_device_get_sync_jack */ bool is_sync_in_connected() const { - bool sync_in_jack_connected, sync_out_jack_connected; - k4a_result_t result = k4a_device_get_sync_jack(m_handle, &sync_in_jack_connected, &sync_out_jack_connected); - - if (K4A_RESULT_SUCCEEDED != result) - { - throw error("Failed to read sync jack status!"); + if(k4a_device_get_wired_sync_mode(m_handle) == K4A_WIRED_SYNC_MODE_SUBORDINATE){ + return true; } - return sync_in_jack_connected; + return false; } /** Get the device jack status for the synchronization out connector * Throws error on failure. * - * \attention The Orbbec device does not support retrieving the jack connection status, so this function will - * always return false (disconnected). + * \attention 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 orbbecsdk synchronization mode. * * \sa k4a_device_get_sync_jack */ bool is_sync_out_connected() const { - bool sync_in_jack_connected, sync_out_jack_connected; - k4a_result_t result = k4a_device_get_sync_jack(m_handle, &sync_in_jack_connected, &sync_out_jack_connected); - - if (K4A_RESULT_SUCCEEDED != result) - { - throw error("Failed to read sync jack status!"); + if(k4a_device_get_wired_sync_mode(m_handle) == K4A_WIRED_SYNC_MODE_MASTER){ + return true; } - return sync_out_jack_connected; + return false; } /** Get the version numbers of the K4A subsystems' firmware diff --git a/externals/OrbbecSDK-K4A-Wrapper/win-x64/OrbbecSDK.dll b/externals/OrbbecSDK-K4A-Wrapper/win-x64/OrbbecSDK.dll index 2926232..badf65d 100644 Binary files a/externals/OrbbecSDK-K4A-Wrapper/win-x64/OrbbecSDK.dll and b/externals/OrbbecSDK-K4A-Wrapper/win-x64/OrbbecSDK.dll differ diff --git a/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4a.dll b/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4a.dll index cbc27ee..ad2a5c2 100644 Binary files a/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4a.dll and b/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4a.dll differ diff --git a/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4arecord.dll b/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4arecord.dll index 7f3b81c..d3c0d57 100644 Binary files a/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4arecord.dll and b/externals/OrbbecSDK-K4A-Wrapper/win-x64/k4arecord.dll differ diff --git a/package/k4adotnet-femto.nuspec b/package/k4adotnet-femto.nuspec index 24ecce8..a67c3af 100644 --- a/package/k4adotnet-femto.nuspec +++ b/package/k4adotnet-femto.nuspec @@ -2,7 +2,7 @@ K4AdotNet-Femto - 1.4.16 + 1.4.17 bibigone,baSSiLL false @@ -44,6 +44,7 @@ + diff --git a/package/k4adotnet-femto.targets b/package/k4adotnet-femto.targets index 4b37ba9..6e93a1a 100644 --- a/package/k4adotnet-femto.targets +++ b/package/k4adotnet-femto.targets @@ -5,5 +5,10 @@ PreserveNewest False + + %(FileName)%(Extension) + PreserveNewest + False + \ No newline at end of file diff --git a/package/k4adotnet.nuspec b/package/k4adotnet.nuspec index 3072c79..5389fdb 100644 --- a/package/k4adotnet.nuspec +++ b/package/k4adotnet.nuspec @@ -2,7 +2,7 @@ K4AdotNet - 1.4.16 + 1.4.17 bibigone,baSSiLL false