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bibigone / k4a.net

K4A.Net - Three-in-one .NET library to work with Azure Kinect devices (also known as Kinect for Azure, K4A, Kinect v4). It includes sensor API, recording and playback API, body tracking API. Samples for WPF, .NET Core and Unity are included.
MIT License
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Unity3d Support #2

Closed yocop closed 4 years ago

yocop commented 4 years ago

Dear Bibigone,When will your work Support Unity3d?Do you have the demo now?thanks!

Pycorax commented 4 years ago

To add on to this, I was able to get color images to display on a texture on an object in Unity. However, initializing the camera with a DeviceConfiguration that includes setting the DepthMode will always raise a exception:

Device Configuration:

DeviceConfiguration config = DeviceConfiguration.DisableAll;
config.CameraFps = FrameRate.Thirty;
config.ColorFormat = ImageFormat.ColorMjpg;
config.ColorResolution = ColorResolution.R1080p;
config.DepthMode = DepthMode.NarrowViewUnbinned;
config.SynchronizedImagesOnly = true;

Exception:

ArgumentException: Invalid value of one of the following arguments: config
K4AdotNet.Sensor.Device.ThrowException (System.String[] argNames) (at <0c74825c19ee47d5b1dc0c140254537d>:0)
K4AdotNet.Sensor.Device.CheckResult (K4AdotNet.NativeCallResults.Result result, System.String[] argNames) (at <0c74825c19ee47d5b1dc0c140254537d>:0)
K4AdotNet.Sensor.Device.StartCameras (K4AdotNet.Sensor.DeviceConfiguration config) (at <0c74825c19ee47d5b1dc0c140254537d>:0)

The same code on a standard .NET Core 2.2 project in Visual Studio has no such issues running the same code.

Pycorax commented 4 years ago

I managed to fix the issue based on this issue filed on the main repo here: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/484

However, now I'm running into an issue where Unity is unable to find k4abt.dll for some reason.

bibigone commented 4 years ago

@Pycorax

However, now I'm running into an issue where Unity is unable to find k4abt.dll for some reason.

Did you try the latest version?

yocop commented 4 years ago

In Unity3d, I cannot use dnn_model.onnx .Do you have the solution?Thanks

bibigone commented 4 years ago

Body tracking runtime loads dnn_model.onnx from current directory. For this reason I'm changing current directory while calling native function to create tracker object. See implementation of method Sdk.TryCreateTrackerHandle for details. But I didn't test this solution under Unity3D (I've tested it only with .NET Core and .NET Framework).

yocop commented 4 years ago

Body tracking runtime loads dnn_model.onnx from current directory. For this reason I'm changing current directory while calling native function to create tracker object. See implementation of method Sdk.TryCreateTrackerHandle for details. But I didn't test this solution under Unity3D (I've tested it only with .NET Core and .NET Framework).

Dear,thanks for your reply.I get a problem when try to run the programe.

“K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: DefaultDomain): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_64\mscorlib\v4.0_4.0.0.0b77a5c561934e089\mscorlib.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: DefaultDomain): 已加载“F:\sdk\CSKA4\k4a.net-master\K4AdotNet.Samples.Wpf.BodyTracker\bin\x64\Debug\K4AdotNet.Samples.Wpf.BodyTracker.exe”。已加载符号。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“F:\sdk\CSKA4\k4a.net-master\K4AdotNet.Samples.Wpf.BodyTracker\bin\x64\Debug\K4AdotNet.Samples.Wpf.Common.dll”。已加载符号。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\PresentationFramework\v4.0_4.0.0.031bf3856ad364e35\PresentationFramework.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\WindowsBase\v4.0_4.0.0.031bf3856ad364e35\WindowsBase.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\System.Core\v4.0_4.0.0.0b77a5c561934e089\System.Core.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\System\v4.0_4.0.0.0b77a5c561934e089\System.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_64\PresentationCore\v4.0_4.0.0.031bf3856ad364e35\PresentationCore.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\System.Xaml\v4.0_4.0.0.0b77a5c561934e089\System.Xaml.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“D:\VISUAL STUDIO 2019\Common7\IDE\Remote Debugger\x64\Runtime\Microsoft.VisualStudio.Debugger.Runtime.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\System.Configuration\v4.0_4.0.0.0b03f5f7f11d50a3a\System.Configuration.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\System.Xml\v4.0_4.0.0.0b77a5c561934e089\System.Xml.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\mscorlib.resources\v4.0_4.0.0.0_zh-Hans_b77a5c561934e089\mscorlib.resources.dll”。模块已生成，不包含符号。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“F:\sdk\CSKA4\k4a.net-master\K4AdotNet.Samples.Wpf.BodyTracker\bin\x64\Debug\K4AdotNet.dll”。已加载符号。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\PresentationFramework.Aero2\v4.0_4.0.0.031bf3856ad364e35\PresentationFramework.Aero2.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\PresentationCore.resources\v4.0_4.0.0.0_zh-Hans_31bf3856ad364e35\PresentationCore.resources.dll”。模块已生成，不包含符号。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Windows\Microsoft.Net\assembly\GAC_MSIL\PresentationFramework-SystemXml\v4.0_4.0.0.0__b77a5c561934e089\PresentationFramework-SystemXml.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 “K4AdotNet.Samples.Wpf.BodyTracker.exe”(CLR v4.0.30319: K4AdotNet.Samples.Wpf.BodyTracker.exe): 已加载“C:\Users\lenovo\AppData\Local\Temp\VisualStudio.XamlDiagnostics.21960\Microsoft.VisualStudio.DesignTools.WpfTap.dll”。已跳过加载符号。模块进行了优化，并且调试器选项“仅我的代码”已启用。 程序“[21960] K4AdotNet.Samples.Wpf.BodyTracker.exe”已退出，返回值为 -1066598274 (0xc06d007e) 'Module not found'。

Besides,I am a newer with wpf,your samples are too difficult for me to understand.Can you provide me or us a simple sample about body track when you are free. thank you very much, your work is so helpful,thanks for your great job,

bibigone commented 4 years ago

Dear @Itpyc, please provide me with exception (message and call stack) rather than debug output.

yocop commented 4 years ago

I test it in unity3d,work fine.thank you