62 lines
2.8 KiB
C#
62 lines
2.8 KiB
C#
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using Microsoft.Azure.Kinect.BodyTracking;
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using Microsoft.Azure.Kinect.Sensor;
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using System;
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namespace Csharp_3d_viewer
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{
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class Program
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{
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static void Main()
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{
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using (var visualizerData = new VisualizerData())
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{
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var renderer = new Renderer(visualizerData);
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renderer.StartVisualizationThread();
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// Open device.
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using (Device device = Device.Open())
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{
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device.StartCameras(new DeviceConfiguration()
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{
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CameraFPS = FPS.FPS30,
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ColorResolution = ColorResolution.Off,
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DepthMode = DepthMode.NFOV_Unbinned,
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WiredSyncMode = WiredSyncMode.Standalone,
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});
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var deviceCalibration = device.GetCalibration();
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PointCloud.ComputePointCloudCache(deviceCalibration);
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using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration() { ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default }))
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{
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while (renderer.IsActive)
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{
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using (Capture sensorCapture = device.GetCapture())
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{
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// Queue latest frame from the sensor.
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tracker.EnqueueCapture(sensorCapture);
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}
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// Try getting latest tracker frame.
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using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
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{
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if (frame != null)
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{
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// Save this frame for visualization in Renderer.
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// One can access frame data here and extract e.g. tracked bodies from it for the needed purpose.
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// Instead, for simplicity, we transfer the frame object to the rendering background thread.
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// This example shows that frame popped from tracker should be disposed. Since here it is used
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// in a different thread, we use Reference method to prolong the lifetime of the frame object.
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// For reference on how to read frame data, please take a look at Renderer.NativeWindow_Render().
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visualizerData.Frame = frame.Reference();
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}
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}
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}
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}
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}
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}
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}
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}
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}
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