149 lines
3.9 KiB
C++
149 lines
3.9 KiB
C++
#pragma once
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#include "CoreMinimal.h"
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#include "Engine/TextureRenderTarget2D.h"
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#include "Animation/SkeletalMeshActor.h"
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#include "k4a/k4a.hpp"
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#include "k4abt.hpp"
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#include "AzureKinectEnum.h"
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#include "AzureKinectDeviceThread.h"
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#include "AzureKinectDevice.generated.h"
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USTRUCT(BlueprintType)
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struct FAzureKinectSkeleton
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{
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GENERATED_BODY()
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UPROPERTY(BlueprintReadWrite)
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int32 ID;
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UPROPERTY(BlueprintReadWrite)
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TArray<FTransform> Joints;
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};
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DECLARE_LOG_CATEGORY_EXTERN(AzureKinectDeviceLog, Log, All);
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UCLASS(BlueprintType, hidecategories=(Object))
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class AZUREKINECT_API UAzureKinectDevice : public UObject
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{
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GENERATED_BODY()
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public:
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UAzureKinectDevice();
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UAzureKinectDevice(const FObjectInitializer& ObjectInitializer);
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "IO")
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UTextureRenderTarget2D* DepthTexture;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "IO")
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UTextureRenderTarget2D* ColorTexture;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "IO")
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UTextureRenderTarget2D* InflaredTexture;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "IO")
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UTextureRenderTarget2D* BodyIndexTexture;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "Config")
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EKinectDepthMode DepthMode;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "Config")
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EKinectColorResolution ColorMode;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "Config")
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EKinectRemap RemapMode;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "Config")
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EKinectFps Fps;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "Config")
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EKinectSensorOrientation SensorOrientation = EKinectSensorOrientation::DEFAULT;
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UPROPERTY(BlueprintReadWrite, Category = "Config")
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int32 DeviceIndex;
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UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "Config")
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bool bSkeletonTracking;
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UFUNCTION(BlueprintCallable, Category = "IO")
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static int32 GetNumConnectedDevices();
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UFUNCTION(BlueprintCallable, Category = "IO")
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void LoadDevices();
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/**
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* Call "open" and "start_camara" to Native Kinect Device
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* and return result. Then start a thread for Kinect's data feed.
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* Device Index should be specified in advance;
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*/
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UFUNCTION(BlueprintCallable, Category = "IO")
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bool StartDevice();
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/**
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* Call "stop_camara" and "close" to Native Kinect Device,
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* and release all instaces about Native Kinect.
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*/
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UFUNCTION(BlueprintCallable, Category = "IO")
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bool StopDevice();
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/**
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* Check if Kinect Device is open.
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*/
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UFUNCTION(BlueprintCallable, Category = "IO")
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bool IsOpen() const { return bOpen; }
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/**
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* Return a number of Skeletons currently aquired and stored.
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*/
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UFUNCTION(BlueprintCallable, Category = "Skeletons")
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int32 GetNumTrackedSkeletons() const;
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/**
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* Return an array of Skeletons currently aquired and stored.
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*/
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UFUNCTION(BlueprintCallable, Category = "Skeletons")
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const TArray<FAzureKinectSkeleton>& GetSkeletons() const;
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/**
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* Return a Skeleton struct by Index (not Skeleton ID).
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* If given Index is out of range, return a null struct.
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*/
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UFUNCTION(BlueprintCallable, Category = "Skeletons")
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FAzureKinectSkeleton GetSkeleton(int32 Index) const;
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/**
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* Update and process raw feed from Kinect Device asynchronously.
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* Should be called out of main thread.
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*/
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void UpdateAsync();
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TArray<TSharedPtr<FString>> DeviceList;
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private:
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bool bOpen;
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void CaptureColorImage();
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void CaptureDepthImage();
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void CaptureInflaredImage();
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void CaptureBodyIndexImage(const k4abt::frame& BodyFrame);
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static FTransform JointToTransform(const k4abt_joint_t& Joint, int32 Index);
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void UpdateSkeletons();
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void CalcFrameCount();
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k4a::device NativeDevice;
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k4a::capture Capture;
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std::chrono::milliseconds FrameTime;
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k4a::image RemapImage;
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k4a::calibration KinectCalibration;
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k4a::transformation KinectTransformation;
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k4abt::tracker BodyTracker;
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FAzureKinectDeviceThread* Thread;
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int32 NumTrackedSkeletons;
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TArray<FAzureKinectSkeleton> Skeletons;
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};
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