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RGB Camera support (reflection-only)
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@KimihikoAkayasaki
KimihikoAkayasaki committed Oct 11, 2024
1 parent 80e8ef9 commit af1de3a
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Showing 4 changed files with 321 additions and 137 deletions.
266 changes: 151 additions & 115 deletions KinectHandler/KinectHandler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,119 +14,155 @@ using namespace Amethyst::Plugins::Contract;

namespace KinectHandler
{
public ref class KinectJoint sealed
{
public:
KinectJoint(const int role)
{
JointRole = role;
}

property Vector3 Position;
property Quaternion Orientation;

property int TrackingState;
property int JointRole;
};

delegate void FunctionToCallDelegate();

public ref class KinectHandler
{
private:
KinectWrapper* kinect_;
FunctionToCallDelegate^ function_;

public:
KinectHandler() : kinect_(new KinectWrapper())
{
function_ = gcnew FunctionToCallDelegate(this, &KinectHandler::StatusChangedHandler);
pin_ptr<FunctionToCallDelegate^> tmp = &function_; // Pin the function delegate

status_changed_event = static_cast<void(__cdecl*)()>(
Marshal::GetFunctionPointerForDelegate(function_).ToPointer());
}

virtual void StatusChangedHandler()
{
// implemented in the c# handler
}

List<KinectJoint^>^ GetTrackedKinectJoints()
{
if (!IsInitialized) return gcnew List<KinectJoint^>;

const auto& positions = kinect_->skeleton_positions();
const auto& orientations = kinect_->bone_orientations();
const auto& states = kinect_->tracking_states();

auto trackedKinectJoints = gcnew List<KinectJoint^>;
for each (auto v in Enum::GetValues<TrackedJointType>())
{
if (v == TrackedJointType::JointHandTipLeft ||
v == TrackedJointType::JointHandTipRight ||
v == TrackedJointType::JointThumbLeft ||
v == TrackedJointType::JointThumbRight ||
v == TrackedJointType::JointNeck ||
v == TrackedJointType::JointManual)
continue; // Skip unsupported joints

auto joint = gcnew KinectJoint(static_cast<int>(v));

joint->TrackingState =
states[kinect_->KinectJointType(static_cast<int>(v))];

joint->Position = Vector3(
positions[kinect_->KinectJointType(static_cast<int>(v))].x,
positions[kinect_->KinectJointType(static_cast<int>(v))].y,
positions[kinect_->KinectJointType(static_cast<int>(v))].z);

joint->Orientation = Quaternion(
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.x,
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.y,
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.z,
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.w);

trackedKinectJoints->Add(joint);
}

return trackedKinectJoints;
}

property bool IsInitialized
{
bool get() { return kinect_->is_initialized(); }
}

property bool IsSkeletonTracked
{
bool get() { return kinect_->skeleton_tracked(); }
}

property int DeviceStatus
{
int get() { return kinect_->status_result(); }
}

property int ElevationAngle
{
int get() { return kinect_->elevation_angle(); }
void set(const int value) { kinect_->elevation_angle(value); }
}

property bool IsSettingsDaemonSupported
{
bool get() { return DeviceStatus == 0; }
}

int InitializeKinect()
{
return kinect_->initialize();
}

int ShutdownKinect()
{
return kinect_->shutdown();
}
};
public ref class KinectJoint sealed
{
public:
KinectJoint(const int role)
{
JointRole = role;
}

property Vector3 Position;
property Quaternion Orientation;

property int TrackingState;
property int JointRole;
};

delegate void FunctionToCallDelegate();

public ref class KinectHandler
{
private:
KinectWrapper* kinect_;
FunctionToCallDelegate^ function_;

public:
KinectHandler() : kinect_(new KinectWrapper())
{
function_ = gcnew FunctionToCallDelegate(this, &KinectHandler::StatusChangedHandler);
pin_ptr<FunctionToCallDelegate^> tmp = &function_; // Pin the function delegate

status_changed_event = static_cast<void(__cdecl*)()>(
Marshal::GetFunctionPointerForDelegate(function_).ToPointer());
}

virtual void StatusChangedHandler()
{
// implemented in the C# handler
}

array<BYTE>^ GetImageBuffer()
{
if (!IsInitialized || !kinect_->camera_enabled()) return __nullptr;
const auto& [unmanagedBuffer, size] = kinect_->color_buffer();
if (size <= 0) return __nullptr;

auto data = gcnew array<byte>(size); // Managed image placeholder
Marshal::Copy(IntPtr(unmanagedBuffer), data, 0, size);
return data; // Return managed array of bytes for our camera image
}

List<KinectJoint^>^ GetTrackedKinectJoints()
{
if (!IsInitialized) return gcnew List<KinectJoint^>;

const auto& positions = kinect_->skeleton_positions();
const auto& orientations = kinect_->bone_orientations();
const auto& states = kinect_->tracking_states();

auto trackedKinectJoints = gcnew List<KinectJoint^>;
for each (auto v in Enum::GetValues<TrackedJointType>())
{
if (v == TrackedJointType::JointHandTipLeft ||
v == TrackedJointType::JointHandTipRight ||
v == TrackedJointType::JointThumbLeft ||
v == TrackedJointType::JointThumbRight ||
v == TrackedJointType::JointNeck ||
v == TrackedJointType::JointManual)
continue; // Skip unsupported joints

auto joint = gcnew KinectJoint(static_cast<int>(v));

joint->TrackingState =
states[kinect_->KinectJointType(static_cast<int>(v))];

joint->Position = Vector3(
positions[kinect_->KinectJointType(static_cast<int>(v))].x,
positions[kinect_->KinectJointType(static_cast<int>(v))].y,
positions[kinect_->KinectJointType(static_cast<int>(v))].z);

joint->Orientation = Quaternion(
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.x,
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.y,
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.z,
orientations[kinect_->KinectJointType(static_cast<int>(v))].absoluteRotation.rotationQuaternion.w);

trackedKinectJoints->Add(joint);
}

return trackedKinectJoints;
}

property bool IsInitialized
{
bool get() { return kinect_->is_initialized(); }
}

property bool IsSkeletonTracked
{
bool get() { return kinect_->skeleton_tracked(); }
}

property int DeviceStatus
{
int get() { return kinect_->status_result(); }
}

property int ElevationAngle
{
int get() { return kinect_->elevation_angle(); }
void set(const int value) { kinect_->elevation_angle(value); }
}

property bool IsCameraEnabled
{
bool get() { return kinect_->camera_enabled(); }
void set(const bool value) { kinect_->camera_enabled(value); }
}

property bool IsSettingsDaemonSupported
{
bool get() { return DeviceStatus == 0; }
}

property int CameraImageWidth
{
int get() { return kinect_->CameraImageSize().first; }
}

property int CameraImageHeight
{
int get() { return kinect_->CameraImageSize().second; }
}

Drawing::Size MapCoordinate(Vector3 position)
{
if (!IsInitialized) return Drawing::Size::Empty;
const auto& [width, height] =
kinect_->MapCoordinate(_Vector4{position.X, position.Y, position.Z, 1.0f});

return Drawing::Size(width, height);
}

int InitializeKinect()
{
return kinect_->initialize();
}

int ShutdownKinect()
{
return kinect_->shutdown();
}
};
}
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