├── .gitignore ├── HoloLab.AzureKinect ├── HoloLab.AzureKinect.Test │ ├── HoloLab.AzureKinect.Test.csproj │ └── KinectSensorTest.cs ├── HoloLab.AzureKinect.TestApp │ ├── HoloLab.AzureKinect.TestApp.csproj │ └── Program.cs ├── HoloLab.AzureKinect.sln └── HoloLab.AzureKinect │ ├── AzureKinectException.cs │ ├── Capture.cs │ ├── HoloLab.AzureKinect.csproj │ ├── Image.cs │ ├── KinectSensor.cs │ ├── NativeMethod │ ├── K4A.cs │ ├── Playback.cs │ ├── Record.cs │ └── k4atypes.cs │ └── enum │ ├── ColorResolution.cs │ ├── DepthMode.cs │ ├── DeviceConfiguration.cs │ ├── Fps.cs │ ├── ImageFormat.cs │ └── WiredSyncMode.cs ├── LICENSE └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | ## Ignore Visual Studio temporary files, build results, and 2 | ## files generated by popular Visual Studio add-ons. 3 | ## 4 | ## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore 5 | 6 | # User-specific files 7 | *.suo 8 | *.user 9 | *.userosscache 10 | *.sln.docstates 11 | 12 | # User-specific files (MonoDevelop/Xamarin Studio) 13 | *.userprefs 14 | 15 | # Build results 16 | [Dd]ebug/ 17 | [Dd]ebugPublic/ 18 | [Rr]elease/ 19 | [Rr]eleases/ 20 | x64/ 21 | x86/ 22 | bld/ 23 | [Bb]in/ 24 | [Oo]bj/ 25 | [Ll]og/ 26 | 27 | # Visual Studio 2015/2017 cache/options directory 28 | .vs/ 29 | # Uncomment if you have tasks that create the project's static files in wwwroot 30 | #wwwroot/ 31 | 32 | # Visual Studio 2017 auto generated files 33 | Generated\ Files/ 34 | 35 | # MSTest test Results 36 | [Tt]est[Rr]esult*/ 37 | [Bb]uild[Ll]og.* 38 | 39 | # NUNIT 40 | *.VisualState.xml 41 | TestResult.xml 42 | 43 | # Build Results of an ATL Project 44 | [Dd]ebugPS/ 45 | [Rr]eleasePS/ 46 | dlldata.c 47 | 48 | # Benchmark Results 49 | BenchmarkDotNet.Artifacts/ 50 | 51 | # .NET Core 52 | project.lock.json 53 | project.fragment.lock.json 54 | artifacts/ 55 | **/Properties/launchSettings.json 56 | 57 | # StyleCop 58 | StyleCopReport.xml 59 | 60 | # Files built by Visual Studio 61 | *_i.c 62 | *_p.c 63 | *_i.h 64 | *.ilk 65 | *.meta 66 | *.obj 67 | *.iobj 68 | *.pch 69 | *.pdb 70 | *.ipdb 71 | *.pgc 72 | *.pgd 73 | *.rsp 74 | *.sbr 75 | *.tlb 76 | *.tli 77 | *.tlh 78 | *.tmp 79 | *.tmp_proj 80 | *.log 81 | *.vspscc 82 | *.vssscc 83 | .builds 84 | *.pidb 85 | *.svclog 86 | *.scc 87 | 88 | # Chutzpah Test files 89 | _Chutzpah* 90 | 91 | # Visual C++ cache files 92 | ipch/ 93 | *.aps 94 | *.ncb 95 | *.opendb 96 | *.opensdf 97 | *.sdf 98 | *.cachefile 99 | *.VC.db 100 | *.VC.VC.opendb 101 | 102 | # Visual Studio profiler 103 | *.psess 104 | *.vsp 105 | *.vspx 106 | *.sap 107 | 108 | # Visual Studio Trace Files 109 | *.e2e 110 | 111 | # TFS 2012 Local Workspace 112 | $tf/ 113 | 114 | # Guidance Automation Toolkit 115 | *.gpState 116 | 117 | # ReSharper is a .NET coding add-in 118 | _ReSharper*/ 119 | *.[Rr]e[Ss]harper 120 | *.DotSettings.user 121 | 122 | # JustCode is a .NET coding add-in 123 | .JustCode 124 | 125 | # TeamCity is a build add-in 126 | _TeamCity* 127 | 128 | # DotCover is a Code Coverage Tool 129 | *.dotCover 130 | 131 | # AxoCover is a Code Coverage Tool 132 | .axoCover/* 133 | !.axoCover/settings.json 134 | 135 | # Visual Studio code coverage results 136 | *.coverage 137 | *.coveragexml 138 | 139 | # NCrunch 140 | _NCrunch_* 141 | .*crunch*.local.xml 142 | nCrunchTemp_* 143 | 144 | # MightyMoose 145 | *.mm.* 146 | AutoTest.Net/ 147 | 148 | # Web workbench (sass) 149 | .sass-cache/ 150 | 151 | # Installshield output folder 152 | [Ee]xpress/ 153 | 154 | # DocProject is a documentation generator add-in 155 | DocProject/buildhelp/ 156 | DocProject/Help/*.HxT 157 | DocProject/Help/*.HxC 158 | DocProject/Help/*.hhc 159 | DocProject/Help/*.hhk 160 | DocProject/Help/*.hhp 161 | DocProject/Help/Html2 162 | DocProject/Help/html 163 | 164 | # Click-Once directory 165 | publish/ 166 | 167 | # Publish Web Output 168 | *.[Pp]ublish.xml 169 | *.azurePubxml 170 | # Note: Comment the next line if you want to checkin your web deploy settings, 171 | # but database connection strings (with potential passwords) will be unencrypted 172 | *.pubxml 173 | *.publishproj 174 | 175 | # Microsoft Azure Web App publish settings. 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Backup files are not needed, 237 | # because we have git ;-) 238 | _UpgradeReport_Files/ 239 | Backup*/ 240 | UpgradeLog*.XML 241 | UpgradeLog*.htm 242 | ServiceFabricBackup/ 243 | *.rptproj.bak 244 | 245 | # SQL Server files 246 | *.mdf 247 | *.ldf 248 | *.ndf 249 | 250 | # Business Intelligence projects 251 | *.rdl.data 252 | *.bim.layout 253 | *.bim_*.settings 254 | *.rptproj.rsuser 255 | 256 | # Microsoft Fakes 257 | FakesAssemblies/ 258 | 259 | # GhostDoc plugin setting file 260 | *.GhostDoc.xml 261 | 262 | # Node.js Tools for Visual Studio 263 | .ntvs_analysis.dat 264 | node_modules/ 265 | 266 | # Visual Studio 6 build log 267 | *.plg 268 | 269 | # Visual Studio 6 workspace options file 270 | *.opt 271 | 272 | # Visual Studio 6 auto-generated workspace file (contains which files were open etc.) 273 | *.vbw 274 | 275 | # Visual Studio LightSwitch build output 276 | **/*.HTMLClient/GeneratedArtifacts 277 | **/*.DesktopClient/GeneratedArtifacts 278 | **/*.DesktopClient/ModelManifest.xml 279 | **/*.Server/GeneratedArtifacts 280 | **/*.Server/ModelManifest.xml 281 | _Pvt_Extensions 282 | 283 | # Paket dependency manager 284 | .paket/paket.exe 285 | paket-files/ 286 | 287 | # FAKE - F# Make 288 | .fake/ 289 | 290 | # JetBrains Rider 291 | .idea/ 292 | *.sln.iml 293 | 294 | # CodeRush 295 | .cr/ 296 | 297 | # Python Tools for Visual Studio (PTVS) 298 | __pycache__/ 299 | *.pyc 300 | 301 | # Cake - Uncomment if you are using it 302 | # tools/** 303 | # !tools/packages.config 304 | 305 | # Tabs Studio 306 | *.tss 307 | 308 | # Telerik's JustMock configuration file 309 | *.jmconfig 310 | 311 | # BizTalk build output 312 | *.btp.cs 313 | *.btm.cs 314 | *.odx.cs 315 | *.xsd.cs 316 | 317 | # OpenCover UI analysis results 318 | OpenCover/ 319 | 320 | # Azure Stream Analytics local run output 321 | ASALocalRun/ 322 | 323 | # MSBuild Binary and Structured Log 324 | *.binlog 325 | 326 | # NVidia Nsight GPU debugger configuration file 327 | *.nvuser 328 | 329 | # MFractors (Xamarin productivity tool) working folder 330 | .mfractor/ 331 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect.Test/HoloLab.AzureKinect.Test.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | netcoreapp2.1 5 | 6 | false 7 | 8 | AnyCPU;x64 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect.Test/KinectSensorTest.cs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HoloLabInc/AzureKinectSharp/76e35ec8e1bc34d83b72e86c9fd89ca798cda2df/HoloLab.AzureKinect/HoloLab.AzureKinect.Test/KinectSensorTest.cs -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect.TestApp/HoloLab.AzureKinect.TestApp.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp2.1 6 | AnyCPU;x64 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect.TestApp/Program.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using HoloLab.AzureKinect.NativeMethod; 6 | using System; 7 | 8 | namespace HoloLab.AzureKinect.TestApp 9 | { 10 | class Program 11 | { 12 | static void Main(string[] args) 13 | { 14 | try 15 | { 16 | Console.WriteLine($"Device Count : {K4A.k4a_device_get_installed_count()}"); 17 | Console.WriteLine($"Device Count : {KinectSensor.SensorCount}"); 18 | } 19 | catch (Exception ex) 20 | { 21 | Console.WriteLine(ex.Message); 22 | } 23 | } 24 | } 25 | } 26 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio Version 16 4 | VisualStudioVersion = 16.0.29123.88 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HoloLab.AzureKinect", "HoloLab.AzureKinect\HoloLab.AzureKinect.csproj", "{557897CE-24C0-4BCE-9488-990E56415533}" 7 | EndProject 8 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HoloLab.AzureKinect.Test", "HoloLab.AzureKinect.Test\HoloLab.AzureKinect.Test.csproj", "{9F8B85BE-0288-4B52-A612-F30E79293318}" 9 | EndProject 10 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HoloLab.AzureKinect.TestApp", "HoloLab.AzureKinect.TestApp\HoloLab.AzureKinect.TestApp.csproj", "{E21CA4A6-E6DA-4253-BDB9-748C448968C3}" 11 | EndProject 12 | Global 13 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 14 | Debug|Any CPU = Debug|Any CPU 15 | Debug|x64 = Debug|x64 16 | Release|Any CPU = Release|Any CPU 17 | Release|x64 = Release|x64 18 | EndGlobalSection 19 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 20 | {557897CE-24C0-4BCE-9488-990E56415533}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 21 | {557897CE-24C0-4BCE-9488-990E56415533}.Debug|Any CPU.Build.0 = Debug|Any CPU 22 | {557897CE-24C0-4BCE-9488-990E56415533}.Debug|x64.ActiveCfg = Debug|x64 23 | {557897CE-24C0-4BCE-9488-990E56415533}.Debug|x64.Build.0 = Debug|x64 24 | {557897CE-24C0-4BCE-9488-990E56415533}.Release|Any CPU.ActiveCfg = Release|Any CPU 25 | {557897CE-24C0-4BCE-9488-990E56415533}.Release|Any CPU.Build.0 = Release|Any CPU 26 | {557897CE-24C0-4BCE-9488-990E56415533}.Release|x64.ActiveCfg = Release|x64 27 | {557897CE-24C0-4BCE-9488-990E56415533}.Release|x64.Build.0 = Release|x64 28 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 29 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Debug|Any CPU.Build.0 = Debug|Any CPU 30 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Debug|x64.ActiveCfg = Debug|x64 31 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Debug|x64.Build.0 = Debug|x64 32 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Release|Any CPU.ActiveCfg = Release|Any CPU 33 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Release|Any CPU.Build.0 = Release|Any CPU 34 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Release|x64.ActiveCfg = Release|x64 35 | {9F8B85BE-0288-4B52-A612-F30E79293318}.Release|x64.Build.0 = Release|x64 36 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 37 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Debug|Any CPU.Build.0 = Debug|Any CPU 38 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Debug|x64.ActiveCfg = Debug|x64 39 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Debug|x64.Build.0 = Debug|x64 40 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Release|Any CPU.ActiveCfg = Release|Any CPU 41 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Release|Any CPU.Build.0 = Release|Any CPU 42 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Release|x64.ActiveCfg = Release|x64 43 | {E21CA4A6-E6DA-4253-BDB9-748C448968C3}.Release|x64.Build.0 = Release|x64 44 | EndGlobalSection 45 | GlobalSection(SolutionProperties) = preSolution 46 | HideSolutionNode = FALSE 47 | EndGlobalSection 48 | GlobalSection(ExtensibilityGlobals) = postSolution 49 | SolutionGuid = {C613A72F-3A53-4631-828D-A7E882A88B2A} 50 | EndGlobalSection 51 | EndGlobal 52 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/AzureKinectException.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using HoloLab.AzureKinect.NativeMethod; 6 | using System; 7 | using System.Collections.Generic; 8 | using System.Text; 9 | 10 | namespace HoloLab.AzureKinect 11 | { 12 | public class AzureKinectException : Exception 13 | { 14 | k4a_result_t result; 15 | 16 | public AzureKinectException(k4a_result_t result) 17 | { 18 | this.result = result; 19 | } 20 | 21 | public AzureKinectException(string message) 22 | :base(message) 23 | { 24 | } 25 | 26 | public override string Message => result.ToString(); 27 | } 28 | } 29 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/Capture.cs: -------------------------------------------------------------------------------- 1 | using HoloLab.AzureKinect.NativeMethod; 2 | using System; 3 | using System.Collections.Generic; 4 | using System.Text; 5 | 6 | namespace HoloLab.AzureKinect 7 | { 8 | public class Capture : IDisposable 9 | { 10 | IntPtr capture_handle = IntPtr.Zero; 11 | 12 | public Capture(KinectSensor sensor, Int32 timeout) 13 | { 14 | var ret = Open(sensor, timeout); 15 | if (!ret) 16 | { 17 | throw new AzureKinectException(k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT.ToString()); 18 | } 19 | } 20 | 21 | public bool Open( KinectSensor sensor, Int32 timeout ) 22 | { 23 | var ret = K4A.k4a_device_get_capture(sensor.device_handle, out capture_handle, timeout); 24 | if (ret != k4a_wait_result_t.K4A_WAIT_RESULT_FAILED) 25 | { 26 | throw new AzureKinectException(ret.ToString()); 27 | } 28 | else if (ret == k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT) 29 | { 30 | return false; 31 | } 32 | 33 | return true; 34 | } 35 | 36 | public void Close() 37 | { 38 | if (capture_handle != IntPtr.Zero) 39 | { 40 | K4A.k4a_capture_release(capture_handle); 41 | capture_handle = IntPtr.Zero; 42 | } 43 | } 44 | 45 | public Image GetColorImage() 46 | { 47 | return new Image(K4A.k4a_capture_get_color_image(capture_handle)); 48 | } 49 | 50 | #region IDisposable Support 51 | private bool disposedValue = false; // 重複する呼び出しを検出するには 52 | 53 | protected virtual void Dispose(bool disposing) 54 | { 55 | if (!disposedValue) 56 | { 57 | if (disposing) 58 | { 59 | // TODO: マネージ状態を破棄します (マネージ オブジェクト)。 60 | } 61 | 62 | // TODO: アンマネージ リソース (アンマネージ オブジェクト) を解放し、下のファイナライザーをオーバーライドします。 63 | // TODO: 大きなフィールドを null に設定します。 64 | Close(); 65 | 66 | disposedValue = true; 67 | } 68 | } 69 | 70 | // TODO: 上の Dispose(bool disposing) にアンマネージ リソースを解放するコードが含まれる場合にのみ、ファイナライザーをオーバーライドします。 71 | // ~Capture() 72 | // { 73 | // // このコードを変更しないでください。クリーンアップ コードを上の Dispose(bool disposing) に記述します。 74 | // Dispose(false); 75 | // } 76 | 77 | // このコードは、破棄可能なパターンを正しく実装できるように追加されました。 78 | public void Dispose() 79 | { 80 | // このコードを変更しないでください。クリーンアップ コードを上の Dispose(bool disposing) に記述します。 81 | Dispose(true); 82 | // TODO: 上のファイナライザーがオーバーライドされる場合は、次の行のコメントを解除してください。 83 | // GC.SuppressFinalize(this); 84 | } 85 | #endregion 86 | } 87 | } 88 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/HoloLab.AzureKinect.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | netcoreapp2.1 5 | AnyCPU;x64 6 | HoloLab Inc. 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/Image.cs: -------------------------------------------------------------------------------- 1 | using HoloLab.AzureKinect.NativeMethod; 2 | using System; 3 | using System.Collections.Generic; 4 | using System.Text; 5 | 6 | namespace HoloLab.AzureKinect 7 | { 8 | public class Image : IDisposable 9 | { 10 | IntPtr image_handle = IntPtr.Zero; 11 | 12 | internal Image(IntPtr image_handle) 13 | { 14 | this.image_handle = image_handle; 15 | } 16 | 17 | void Close() 18 | { 19 | if (image_handle != IntPtr.Zero) 20 | { 21 | K4A.k4a_image_release(image_handle); 22 | image_handle = IntPtr.Zero; 23 | } 24 | } 25 | 26 | IntPtr getBuffer() 27 | { 28 | return K4A.k4a_image_get_buffer(image_handle); 29 | } 30 | 31 | UInt64 getSize() 32 | { 33 | return K4A.k4a_image_get_size(image_handle); 34 | } 35 | 36 | ImageFormat getFormat() 37 | { 38 | return (ImageFormat)K4A.k4a_image_get_format(image_handle); 39 | } 40 | 41 | int getWidth() 42 | { 43 | return K4A.k4a_image_get_width_pixels(image_handle); 44 | } 45 | 46 | int getHeight() 47 | { 48 | return K4A.k4a_image_get_height_pixels(image_handle); 49 | } 50 | 51 | int getStride() 52 | { 53 | return K4A.k4a_image_get_stride_bytes(image_handle); 54 | } 55 | 56 | UInt64 getTimestamp() 57 | { 58 | return K4A.k4a_image_get_timestamp_usec(image_handle); 59 | } 60 | 61 | #region IDisposable Support 62 | private bool disposedValue = false; // 重複する呼び出しを検出するには 63 | 64 | protected virtual void Dispose(bool disposing) 65 | { 66 | if (!disposedValue) 67 | { 68 | if (disposing) 69 | { 70 | // TODO: マネージ状態を破棄します (マネージ オブジェクト)。 71 | } 72 | 73 | // TODO: アンマネージ リソース (アンマネージ オブジェクト) を解放し、下のファイナライザーをオーバーライドします。 74 | // TODO: 大きなフィールドを null に設定します。 75 | Close(); 76 | 77 | disposedValue = true; 78 | } 79 | } 80 | 81 | // TODO: 上の Dispose(bool disposing) にアンマネージ リソースを解放するコードが含まれる場合にのみ、ファイナライザーをオーバーライドします。 82 | // ~Image() 83 | // { 84 | // // このコードを変更しないでください。クリーンアップ コードを上の Dispose(bool disposing) に記述します。 85 | // Dispose(false); 86 | // } 87 | 88 | // このコードは、破棄可能なパターンを正しく実装できるように追加されました。 89 | public void Dispose() 90 | { 91 | // このコードを変更しないでください。クリーンアップ コードを上の Dispose(bool disposing) に記述します。 92 | Dispose(true); 93 | // TODO: 上のファイナライザーがオーバーライドされる場合は、次の行のコメントを解除してください。 94 | // GC.SuppressFinalize(this); 95 | } 96 | #endregion 97 | 98 | 99 | } 100 | } 101 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/KinectSensor.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using HoloLab.AzureKinect.NativeMethod; 6 | using System; 7 | using System.Collections.Generic; 8 | using System.Runtime.InteropServices; 9 | using System.Text; 10 | 11 | namespace HoloLab.AzureKinect 12 | { 13 | public class KinectSensor : IDisposable 14 | { 15 | internal IntPtr device_handle = IntPtr.Zero; 16 | string serialNumber = string.Empty; 17 | 18 | public static uint SensorCount => K4A.k4a_device_get_installed_count(); 19 | 20 | public bool IsOpened => device_handle != IntPtr.Zero; 21 | 22 | /// 23 | /// 最初のKinectセンサーを開く 24 | /// 25 | public void Open() 26 | { 27 | Open(0); 28 | } 29 | 30 | /// 31 | /// 指定されたインデックスのKinectセンサーを開く 32 | /// 33 | /// 34 | public void Open(UInt32 index) 35 | { 36 | Close(); 37 | 38 | var ret = K4A.k4a_device_open(index, out device_handle); 39 | if (ret != k4a_result_t.K4A_RESULT_SUCCEEDED) 40 | { 41 | throw new AzureKinectException(ret); 42 | } 43 | } 44 | 45 | /// 46 | /// Kinectセンサーを閉じる 47 | /// 48 | public void Close() 49 | { 50 | if (device_handle != IntPtr.Zero) 51 | { 52 | K4A.k4a_device_close(device_handle); 53 | device_handle = IntPtr.Zero; 54 | serialNumber = string.Empty; 55 | } 56 | } 57 | 58 | /// 59 | /// シリアルナンバーを取得する 60 | /// 61 | /// 62 | public string GetSerialNumber() 63 | { 64 | // 取得済みであれば、そのまま返す 65 | if (!string.IsNullOrEmpty(serialNumber)) 66 | { 67 | return serialNumber; 68 | } 69 | 70 | // 第二引数のバッファをNULL(0)にすると、シリアルナンバーのバッファサイズが返る 71 | UInt64 size = 0; 72 | var ret = K4A.k4a_device_get_serialnum(device_handle, IntPtr.Zero, ref size); 73 | if (ret != k4a_buffer_result_t.K4A_BUFFER_RESULT_TOO_SMALL) 74 | { 75 | throw new AzureKinectException(ret.ToString()); 76 | } 77 | 78 | // 実際にシリアルナンバーを取得する 79 | var buffer = Marshal.AllocHGlobal((int)size); 80 | try 81 | { 82 | ret = K4A.k4a_device_get_serialnum(device_handle, buffer, ref size); 83 | if (ret != k4a_buffer_result_t.K4A_BUFFER_RESULT_SUCCEEDED) 84 | { 85 | throw new AzureKinectException(ret.ToString()); 86 | } 87 | 88 | var serial = new byte[size]; 89 | Marshal.Copy(buffer, serial, 0, (int)size); 90 | 91 | // '\0'は抜く 92 | serialNumber = Encoding.ASCII.GetString(serial, 0, (int)size - 1); 93 | return serialNumber; 94 | } 95 | finally 96 | { 97 | Marshal.FreeHGlobal(buffer); 98 | } 99 | } 100 | 101 | /// 102 | /// カメラを起動する 103 | /// 104 | public void StartCamera(DeviceConfiguration config) 105 | { 106 | var ret = K4A.k4a_device_start_cameras(device_handle, ref config); 107 | if (ret != k4a_result_t.K4A_RESULT_SUCCEEDED) 108 | { 109 | throw new AzureKinectException(ret.ToString()); 110 | } 111 | } 112 | 113 | /// 114 | /// カメラを停止する 115 | /// 116 | public void StopCamera() 117 | { 118 | K4A.k4a_device_stop_cameras(device_handle); 119 | } 120 | 121 | public Capture GetNextCapture(Int32 timeout = -1) 122 | { 123 | return new Capture(this, timeout); 124 | } 125 | 126 | #region IDisposable Support 127 | private bool disposedValue = false; // 重複する呼び出しを検出するには 128 | 129 | protected virtual void Dispose(bool disposing) 130 | { 131 | if (!disposedValue) 132 | { 133 | if (disposing) 134 | { 135 | // TODO: マネージ状態を破棄します (マネージ オブジェクト)。 136 | } 137 | 138 | // TODO: アンマネージ リソース (アンマネージ オブジェクト) を解放し、下のファイナライザーをオーバーライドします。 139 | // TODO: 大きなフィールドを null に設定します。 140 | Close(); 141 | 142 | disposedValue = true; 143 | } 144 | } 145 | 146 | // TODO: 上の Dispose(bool disposing) にアンマネージ リソースを解放するコードが含まれる場合にのみ、ファイナライザーをオーバーライドします。 147 | // ~KinectSensor() 148 | // { 149 | // // このコードを変更しないでください。クリーンアップ コードを上の Dispose(bool disposing) に記述します。 150 | // Dispose(false); 151 | // } 152 | 153 | // このコードは、破棄可能なパターンを正しく実装できるように追加されました。 154 | public void Dispose() 155 | { 156 | // このコードを変更しないでください。クリーンアップ コードを上の Dispose(bool disposing) に記述します。 157 | Dispose(true); 158 | // TODO: 上のファイナライザーがオーバーライドされる場合は、次の行のコメントを解除してください。 159 | // GC.SuppressFinalize(this); 160 | } 161 | #endregion 162 | } 163 | } 164 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/NativeMethod/K4A.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Runtime.InteropServices; 8 | using System.Text; 9 | 10 | namespace HoloLab.AzureKinect.NativeMethod 11 | { 12 | public class K4A 13 | { 14 | const string k4a = "k4a.dll"; 15 | 16 | [DllImport(k4a)] 17 | public extern static UInt32 k4a_device_get_installed_count(); 18 | 19 | [DllImport(k4a)] 20 | public extern static k4a_result_t k4a_device_open(UInt32 index, out IntPtr device_handle); 21 | 22 | [DllImport(k4a)] 23 | public extern static void k4a_device_close(IntPtr device_handle); 24 | 25 | [DllImport(k4a)] 26 | public extern static k4a_wait_result_t k4a_device_get_capture(IntPtr device_handle, out IntPtr capture_handle, Int32 timeout_in_ms); 27 | 28 | [DllImport(k4a)] 29 | public extern static k4a_wait_result_t k4a_device_get_imu_sample(IntPtr device_handle, out IntPtr imu_sample, Int32 timeout_in_ms); 30 | 31 | [DllImport(k4a)] 32 | public extern static k4a_result_t k4a_capture_create(out IntPtr capture_handle); 33 | 34 | [DllImport(k4a)] 35 | public extern static void k4a_capture_release(IntPtr capture_handle); 36 | 37 | [DllImport(k4a)] 38 | public extern static void k4a_capture_reference(IntPtr capture_handle); 39 | 40 | [DllImport(k4a)] 41 | public extern static IntPtr k4a_capture_get_color_image(IntPtr capture_handle); 42 | 43 | [DllImport(k4a)] 44 | public extern static IntPtr k4a_capture_get_depth_image(IntPtr capture_handle); 45 | 46 | [DllImport(k4a)] 47 | public extern static IntPtr k4a_capture_get_ir_image(IntPtr capture_handle); 48 | 49 | [DllImport(k4a)] 50 | public extern static void k4a_capture_set_color_image(IntPtr capture_handle, IntPtr image_handle); 51 | 52 | [DllImport(k4a)] 53 | public extern static void k4a_capture_set_depth_image(IntPtr capture_handle, IntPtr image_handle); 54 | 55 | [DllImport(k4a)] 56 | public extern static void k4a_capture_set_ir_image(IntPtr capture_handle, IntPtr image_handle); 57 | 58 | [DllImport(k4a)] 59 | public extern static void k4a_capture_set_temperature_c(IntPtr capture_handle, float temperature_c); 60 | 61 | [DllImport(k4a)] 62 | public extern static float k4a_capture_get_temperature_c(IntPtr capture_handle); 63 | 64 | [DllImport(k4a)] 65 | public extern static k4a_result_t k4a_image_create(k4a_image_format_t format, int width_pixels, int height_pixels, int stride_bytes, out IntPtr image_handle); 66 | 67 | [DllImport(k4a)] 68 | public extern static k4a_result_t k4a_image_create_from_buffer(k4a_image_format_t format, int width_pixels, int height_pixels, int stride_bytes, 69 | out IntPtr buffer, Int64 buffer_size, k4a_memory_destroy_cb_t buffer_release_cb, IntPtr buffer_release_cb_context, out IntPtr image_handle); 70 | 71 | [DllImport(k4a)] 72 | public extern static IntPtr k4a_image_get_buffer(IntPtr image_handle); 73 | 74 | [DllImport(k4a)] 75 | public extern static UInt64 k4a_image_get_size(IntPtr image_handle); 76 | 77 | [DllImport(k4a)] 78 | public extern static k4a_image_format_t k4a_image_get_format(IntPtr image_handle); 79 | 80 | [DllImport(k4a)] 81 | public extern static int k4a_image_get_width_pixels(IntPtr image_handle); 82 | 83 | [DllImport(k4a)] 84 | public extern static int k4a_image_get_height_pixels(IntPtr image_handle); 85 | 86 | [DllImport(k4a)] 87 | public extern static int k4a_image_get_stride_bytes(IntPtr image_handle); 88 | 89 | [DllImport(k4a)] 90 | public extern static UInt64 k4a_image_get_timestamp_usec(IntPtr image_handle); 91 | 92 | [DllImport(k4a)] 93 | public extern static UInt64 k4a_image_get_exposure_usec(IntPtr image_handle); 94 | 95 | [DllImport(k4a)] 96 | public extern static UInt32 k4a_image_get_white_balance(IntPtr image_handle); 97 | 98 | [DllImport(k4a)] 99 | public extern static UInt32 k4a_image_get_iso_speed(IntPtr image_handle); 100 | 101 | [DllImport(k4a)] 102 | public extern static void k4a_image_set_timestamp_usec(IntPtr image_handle, UInt64 timestamp_usec); 103 | 104 | [DllImport(k4a)] 105 | public extern static void k4a_image_set_exposure_time_usec(IntPtr image_handle, UInt64 exposure_usec); 106 | 107 | [DllImport(k4a)] 108 | public extern static void k4a_image_set_white_balance(IntPtr image_handle, UInt32 white_balance); 109 | 110 | [DllImport(k4a)] 111 | public extern static void k4a_image_set_iso_speed(IntPtr image_handle, UInt32 iso_speed); 112 | 113 | [DllImport(k4a)] 114 | public extern static void k4a_image_reference(IntPtr image_handle); 115 | 116 | [DllImport(k4a)] 117 | public extern static void k4a_image_release(IntPtr image_handle); 118 | 119 | [DllImport(k4a)] 120 | public extern static k4a_result_t k4a_device_start_cameras(IntPtr device_handle, ref DeviceConfiguration config); 121 | 122 | [DllImport(k4a)] 123 | public extern static void k4a_device_stop_cameras(IntPtr device_handle); 124 | // K4A_EXPORT k4a_result_t k4a_device_start_imu(k4a_device_t device_handle); 125 | // K4A_EXPORT void k4a_device_stop_imu(k4a_device_t device_handle); 126 | 127 | [DllImport(k4a)] 128 | public extern static k4a_buffer_result_t k4a_device_get_serialnum(IntPtr device_handle, IntPtr serial_number, ref UInt64 serial_number_size); 129 | 130 | // K4A_EXPORT k4a_result_t k4a_device_get_version(k4a_device_t device_handle, k4a_hardware_version_t* version); 131 | // K4A_EXPORT k4a_result_t k4a_device_get_color_control(k4a_device_t device_handle, 132 | // k4a_color_control_command_t command, 133 | // k4a_color_control_mode_t* mode, 134 | // int32_t* value); 135 | // K4A_EXPORT k4a_result_t k4a_device_set_color_control(k4a_device_t device_handle, 136 | // k4a_color_control_command_t command, 137 | // k4a_color_control_mode_t mode, 138 | // int32_t value); 139 | // K4A_EXPORT k4a_buffer_result_t k4a_device_get_raw_calibration(k4a_device_t device_handle, 140 | // uint8_t* data, 141 | // size_t* data_size); 142 | // K4A_EXPORT k4a_result_t k4a_device_get_calibration(k4a_device_t device_handle, 143 | // const k4a_depth_mode_t depth_mode, 144 | // const k4a_color_resolution_t color_resolution, 145 | // k4a_calibration_t *calibration); 146 | // K4A_EXPORT k4a_result_t k4a_device_get_sync_jack(k4a_device_t device_handle, 147 | // bool* sync_in_jack_connected, 148 | // bool* sync_out_jack_connected); 149 | 150 | // K4A_EXPORT k4a_result_t k4a_calibration_get_from_raw(char* raw_calibration, 151 | // size_t raw_calibration_size, 152 | // const k4a_depth_mode_t depth_mode, 153 | // const k4a_color_resolution_t color_resolution, 154 | // k4a_calibration_t *calibration); 155 | // K4A_EXPORT k4a_result_t k4a_calibration_3d_to_3d(const k4a_calibration_t* calibration, 156 | // const k4a_float3_t* source_point3d, 157 | // const k4a_calibration_type_t source_camera, 158 | // const k4a_calibration_type_t target_camera, 159 | // k4a_float3_t *target_point3d); 160 | //K4A_EXPORT k4a_result_t k4a_calibration_2d_to_3d(const k4a_calibration_t* calibration, 161 | // const k4a_float2_t* source_point2d, 162 | // const float source_depth, 163 | // const k4a_calibration_type_t source_camera, 164 | // const k4a_calibration_type_t target_camera, 165 | // k4a_float3_t *target_point3d, 166 | // int* valid); 167 | // K4A_EXPORT k4a_result_t k4a_calibration_3d_to_2d(const k4a_calibration_t* calibration, 168 | // const k4a_float3_t* source_point3d, 169 | // const k4a_calibration_type_t source_camera, 170 | // const k4a_calibration_type_t target_camera, 171 | // k4a_float2_t *target_point2d, 172 | // int* valid); 173 | // K4A_EXPORT k4a_result_t k4a_calibration_2d_to_2d(const k4a_calibration_t* calibration, 174 | // const k4a_float2_t* source_point2d, 175 | // const float source_depth, 176 | // const k4a_calibration_type_t source_camera, 177 | // const k4a_calibration_type_t target_camera, 178 | // k4a_float2_t *target_point2d, 179 | // int* valid); 180 | // K4A_EXPORT k4a_transformation_t k4a_transformation_create(const k4a_calibration_t* calibration); 181 | // K4A_EXPORT void k4a_transformation_destroy(k4a_transformation_t transformation_handle); 182 | // K4A_EXPORT k4a_result_t k4a_transformation_depth_image_to_color_camera(k4a_transformation_t transformation_handle, 183 | // const k4a_image_t depth_image, 184 | // k4a_image_t transformed_depth_image); 185 | //K4A_EXPORT k4a_result_t k4a_transformation_color_image_to_depth_camera(k4a_transformation_t transformation_handle, 186 | // const k4a_image_t depth_image, 187 | // const k4a_image_t color_image, 188 | // k4a_image_t transformed_color_image); 189 | //K4A_EXPORT k4a_result_t k4a_transformation_depth_image_to_point_cloud(k4a_transformation_t transformation_handle, 190 | // const k4a_image_t depth_image, 191 | // const k4a_calibration_type_t camera, 192 | // k4a_image_t xyz_image); 193 | } 194 | } 195 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/NativeMethod/Playback.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Text; 8 | 9 | namespace HoloLab.AzureKinect.NativeMethod 10 | { 11 | class Playback 12 | { 13 | } 14 | } 15 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/NativeMethod/Record.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Text; 8 | 9 | namespace HoloLab.AzureKinect.NativeMethod 10 | { 11 | class Record 12 | { 13 | } 14 | } 15 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/NativeMethod/k4atypes.cs: -------------------------------------------------------------------------------- 1 | // Copyright(c) 2019 HoloLab Inc. 2 | // This software is released under the MIT License. 3 | // http://opensource.org/licenses/mit-license.php 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Text; 8 | 9 | namespace HoloLab.AzureKinect.NativeMethod 10 | { 11 | 12 | public delegate void k4a_memory_destroy_cb_t(IntPtr buffer, IntPtr context); 13 | 14 | 15 | public enum k4a_result_t 16 | { 17 | K4A_RESULT_SUCCEEDED = 0, /**< The result was successful */ 18 | K4A_RESULT_FAILED, /**< The result was a failure */ 19 | } 20 | 21 | public enum k4a_wait_result_t 22 | { 23 | K4A_WAIT_RESULT_SUCCEEDED = 0, /**< The result was successful */ 24 | K4A_WAIT_RESULT_FAILED, /**< The result was a failure */ 25 | K4A_WAIT_RESULT_TIMEOUT, /**< The operation timed out */ 26 | } 27 | 28 | public enum k4a_image_format_t 29 | { 30 | /** Color image type MJPG. 31 | * 32 | * \details 33 | * The buffer for each image is encoded as a JPEG and can be decoded by a JPEG decoder. 34 | * 35 | * \details 36 | * Because the image is compressed, the stride parameter for the \ref k4a_image_t is not applicable. 37 | * 38 | * \details 39 | * Each MJPG encoded image in a stream may be of differing size depending on the compression efficiency. 40 | */ 41 | K4A_IMAGE_FORMAT_COLOR_MJPG = 0, 42 | 43 | /** Color image type NV12. 44 | * 45 | * \details 46 | * NV12 images separate the luminance and chroma data such that all the luminance is at the 47 | * beginning of the buffer, and the chroma lines follow immediately after. 48 | * 49 | * \details 50 | * Stride indicates the length of each line in bytes and should be used to determine the start location of each line 51 | * of the image in memory. Chroma has half as many lines of height and half the width in pixels of the luminance. 52 | * Each chroma line has the same width in bytes as a luminance line. 53 | */ 54 | K4A_IMAGE_FORMAT_COLOR_NV12, 55 | 56 | /** Color image type YUY2. 57 | * 58 | * \details 59 | * YUY2 stores chroma and luminance data in interleaved pixels. 60 | * 61 | * \details 62 | * Stride indicates the length of each line in bytes and should be used to determine the start location of each 63 | * line of the image in memory. 64 | */ 65 | K4A_IMAGE_FORMAT_COLOR_YUY2, 66 | 67 | /** Color image type BGRA32. 68 | * 69 | * \details 70 | * Each pixel of BGRA32 data is four bytes. The first three bytes represent Blue, Green, 71 | * and Red data. The fourth byte is the alpha channel and is unused in the Azure Kinect APIs. 72 | * 73 | * \details 74 | * Stride indicates the length of each line in bytes and should be used to determine the start location of each 75 | * line of the image in memory. 76 | * 77 | * \details 78 | * The Azure Kinect device does not natively capture in this format. Requesting images of this format 79 | * requires additional computation in the API. 80 | * 81 | */ 82 | K4A_IMAGE_FORMAT_COLOR_BGRA32, 83 | 84 | /** Depth image type DEPTH16. 85 | * 86 | * \details 87 | * Each pixel of DEPTH16 data is two bytes of little endian unsigned depth data. The unit of the data is in 88 | * millimeters from the origin of the camera. 89 | * 90 | * \details 91 | * Stride indicates the length of each line in bytes and should be used to determine the start location of each 92 | * line of the image in memory. 93 | */ 94 | K4A_IMAGE_FORMAT_DEPTH16, 95 | 96 | /** Image type IR16. 97 | * 98 | * \details 99 | * Each pixel of IR16 data is two bytes of little endian unsigned depth data. The value of the data represents 100 | * brightness. 101 | * 102 | * \details 103 | * This format represents infrared light and is captured by the depth camera. 104 | * 105 | * \details 106 | * Stride indicates the length of each line in bytes and should be used to determine the start location of each 107 | * line of the image in memory. 108 | */ 109 | K4A_IMAGE_FORMAT_IR16, 110 | 111 | /** Custom image format. 112 | * 113 | * \details 114 | * Used in conjunction with user created images or images packing non-standard data. 115 | * 116 | * \details 117 | * See the originator of the custom formatted image for information on how to interpret the data. 118 | */ 119 | K4A_IMAGE_FORMAT_CUSTOM, 120 | } 121 | 122 | public enum k4a_color_resolution_t 123 | { 124 | K4A_COLOR_RESOLUTION_OFF = 0, /**< Color camera will be turned off with this setting */ 125 | K4A_COLOR_RESOLUTION_720P, /**< 1280 * 720 16:9 */ 126 | K4A_COLOR_RESOLUTION_1080P, /**< 1920 * 1080 16:9 */ 127 | K4A_COLOR_RESOLUTION_1440P, /**< 2560 * 1440 16:9 */ 128 | K4A_COLOR_RESOLUTION_1536P, /**< 2048 * 1536 4:3 */ 129 | K4A_COLOR_RESOLUTION_2160P, /**< 3840 * 2160 16:9 */ 130 | K4A_COLOR_RESOLUTION_3072P, /**< 4096 * 3072 4:3 */ 131 | } 132 | 133 | enum k4a_depth_mode_t 134 | { 135 | K4A_DEPTH_MODE_OFF = 0, /**< Depth sensor will be turned off with this setting. */ 136 | K4A_DEPTH_MODE_NFOV_2X2BINNED, /**< Depth captured at 320x288. Passive IR is also captured at 320x288. */ 137 | K4A_DEPTH_MODE_NFOV_UNBINNED, /**< Depth captured at 640x576. Passive IR is also captured at 640x576. */ 138 | K4A_DEPTH_MODE_WFOV_2X2BINNED, /**< Depth captured at 512x512. Passive IR is also captured at 512x512. */ 139 | K4A_DEPTH_MODE_WFOV_UNBINNED, /**< Depth captured at 1024x1024. Passive IR is also captured at 1024x1024. */ 140 | K4A_DEPTH_MODE_PASSIVE_IR, /**< Passive IR only, captured at 1024x1024. */ 141 | } 142 | 143 | enum k4a_fps_t 144 | { 145 | K4A_FRAMES_PER_SECOND_5 = 0, /**< 5 FPS */ 146 | K4A_FRAMES_PER_SECOND_15, /**< 15 FPS */ 147 | K4A_FRAMES_PER_SECOND_30, /**< 30 FPS */ 148 | } 149 | 150 | enum k4a_wired_sync_mode_t 151 | { 152 | K4A_WIRED_SYNC_MODE_STANDALONE, /*< Neither 'Sync In' or 'Sync Out' connections are used. */ 153 | K4A_WIRED_SYNC_MODE_MASTER, /*< The 'Sync Out' jack is enabled and synchronization data it driven out the 154 | connected wire.*/ 155 | K4A_WIRED_SYNC_MODE_SUBORDINATE /*< The 'Sync In' jack is used for synchronization and 'Sync Out' is driven for the 156 | next device in the chain. 'Sync Out' is a mirror of 'Sync In' for this mode. */ 157 | } 158 | 159 | public struct k4a_device_configuration_t 160 | { 161 | /** Image format to capture with the color camera. 162 | * 163 | * The color camera does not natively produce BGRA32 images. 164 | * Setting ::K4A_IMAGE_FORMAT_COLOR_BGRA32 for color_format will result in higher CPU utilization. */ 165 | k4a_image_format_t color_format; 166 | 167 | /** Image resolution to capture with the color camera. */ 168 | k4a_color_resolution_t color_resolution; 169 | 170 | /** Capture mode for the depth camera. */ 171 | k4a_depth_mode_t depth_mode; 172 | 173 | /** Desired frame rate for the color and depth camera. */ 174 | k4a_fps_t camera_fps; 175 | 176 | /** Only produce k4a_capture_t objects if they contain synchronized color and depth images. 177 | * 178 | * \details 179 | * This setting controls the behavior in which images are dropped when images are produced faster than they can be 180 | * read, or if there are errors in reading images from the device. 181 | * 182 | * \details 183 | * If set to true, \ref k4a_capture_t objects will only be produced with both color and depth images. 184 | * If set to false, \ref k4a_capture_t objects may be produced only a single image when the corresponding image is 185 | * dropped. 186 | * 187 | * \details 188 | * Setting this to false ensures that the caller receives all of the images received from the camera, regardless of 189 | * whether the corresponding images expected in the capture are available. 190 | * 191 | * \details 192 | * If either the color or depth camera are disabled, this setting has no effect. 193 | */ 194 | bool synchronized_images_only; 195 | 196 | /** 197 | * Desired delay between the capture of the color image and the capture of the depth image. 198 | * 199 | * \details 200 | * A negative value indicates that the depth image should be captured before the color image. 201 | * 202 | * \details 203 | * Any value between negative and positive one capture period is valid. 204 | */ 205 | Int32 depth_delay_off_color_usec; 206 | 207 | /** The external synchronization mode. */ 208 | k4a_wired_sync_mode_t wired_sync_mode; 209 | 210 | /** 211 | * The external synchronization timing. 212 | * 213 | * If this camera is a subordinate, this sets the capture delay between the color camera capture and the external 214 | * input pulse. A setting of zero indicates that the master and subordinate color images should be aligned. 215 | * 216 | * This setting does not effect the 'Sync out' connection. 217 | * 218 | * This value must be positive and range from zero to one capture period. 219 | * 220 | * If this is not a subordinate, then this value is ignored. */ 221 | UInt32 subordinate_delay_off_master_usec; 222 | 223 | /** 224 | * Streaming indicator automatically turns on when the color or depth camera's are in use. 225 | * 226 | * This setting disables that behavior and keeps the LED in an off state. */ 227 | bool disable_streaming_indicator; 228 | } 229 | } 230 | 231 | public enum k4a_buffer_result_t 232 | { 233 | K4A_BUFFER_RESULT_SUCCEEDED = 0, /**< The result was successful */ 234 | K4A_BUFFER_RESULT_FAILED, /**< The result was a failure */ 235 | K4A_BUFFER_RESULT_TOO_SMALL, /**< The input buffer was too small */ 236 | } 237 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/enum/ColorResolution.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Text; 4 | 5 | namespace HoloLab.AzureKinect 6 | { 7 | public enum ColorResolution 8 | { 9 | OFF = 0, 10 | _720P, 11 | _1080P, 12 | _1440P, 13 | _1536P, 14 | _2160P, 15 | _3072P, 16 | } 17 | } 18 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/enum/DepthMode.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Text; 4 | 5 | namespace HoloLab.AzureKinect 6 | { 7 | public enum DepthMode 8 | { 9 | OFF = 0, 10 | NarrowFOV_2x2_Binned, /**< Depth captured at 320x288. Passive IR is also captured at 320x288. */ 11 | NarrowFOV_Unbinned, /**< Depth captured at 640x576. Passive IR is also captured at 640x576. */ 12 | WideFOV_2x2_Binned, /**< Depth captured at 512x512. Passive IR is also captured at 512x512. */ 13 | WideFOV_Unbinned, /**< Depth captured at 1024x1024. Passive IR is also captured at 1024x1024. */ 14 | PassiveIr, 15 | } 16 | } 17 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/enum/DeviceConfiguration.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Runtime.InteropServices; 4 | using System.Text; 5 | 6 | namespace HoloLab.AzureKinect 7 | { 8 | [StructLayout(LayoutKind.Sequential, Pack = 1)] 9 | public struct DeviceConfiguration 10 | { 11 | [MarshalAs(UnmanagedType.I4)] 12 | public ImageFormat ColorFormat; 13 | 14 | [MarshalAs(UnmanagedType.I4)] 15 | public ColorResolution ColorResolution; 16 | 17 | [MarshalAs(UnmanagedType.I4)] 18 | public DepthMode DepthMode; 19 | 20 | [MarshalAs(UnmanagedType.I4)] 21 | public Fps CameraFps; 22 | 23 | [MarshalAs(UnmanagedType.U1)] 24 | public bool SynchronizedImagesOnly; 25 | 26 | [MarshalAs(UnmanagedType.I4)] 27 | public Int32 DepthDelayOffColorUsec; 28 | 29 | [MarshalAs(UnmanagedType.I4)] 30 | public WiredSyncMode WiredSyncMode; 31 | 32 | [MarshalAs(UnmanagedType.I4)] 33 | public UInt32 SubordinateDelayOffMasterUsec; 34 | 35 | [MarshalAs(UnmanagedType.U1)] 36 | public bool DisableStreamingIndicator; 37 | } 38 | } 39 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/enum/Fps.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Text; 4 | 5 | namespace HoloLab.AzureKinect 6 | { 7 | public enum Fps 8 | { 9 | _5 = 0, 10 | _15, 11 | _30, 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/enum/ImageFormat.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Text; 4 | 5 | namespace HoloLab.AzureKinect 6 | { 7 | public enum ImageFormat 8 | { 9 | ColorMJPG = 0, 10 | ColorNV12, 11 | ColorYUY2, 12 | ColorBGRA32, 13 | Depth16, 14 | Ir16, 15 | Custom, 16 | } 17 | } 18 | -------------------------------------------------------------------------------- /HoloLab.AzureKinect/HoloLab.AzureKinect/enum/WiredSyncMode.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Text; 4 | 5 | namespace HoloLab.AzureKinect 6 | { 7 | public enum WiredSyncMode 8 | { 9 | Standalone, 10 | Master, 11 | Subordinate 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 HoloLab Inc. 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # AzureKinectSharp --------------------------------------------------------------------------------