78 lines
3.8 KiB
C#
78 lines
3.8 KiB
C#
using UnityEngine;
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using System.Collections;
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using System.Collections.Generic;
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namespace com.rfilkov.kinect
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{
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public interface DepthSensorInterface
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{
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// returns the depth sensor platform
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KinectInterop.DepthSensorPlatform GetSensorPlatform();
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// returns the list of available sensors, controlled by this sensor interface
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List<KinectInterop.SensorDeviceInfo> GetAvailableSensors();
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// opens the given sensor and inits needed resources. returns new sensor-data object
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KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth);
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// initializes the secondary sensor data, after sensor initialization
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void InitSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager);
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// closes the sensor and frees used resources
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void CloseSensor(KinectInterop.SensorData sensorData);
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// polls data frames in the sensor-specific thread
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void PollSensorFrames(KinectInterop.SensorData sensorData);
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// polls coordinate transformation frames and data in the sensor-specific thread
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void PollCoordTransformFrames(KinectInterop.SensorData sensorData);
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// post-processes the sensor data after polling
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void ProcessSensorDataInThread(KinectInterop.SensorData sensorData);
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// updates sensor data, if needed
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// returns true if update is successful, false otherwise
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bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager, bool isPlayMode);
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// updates transformed frame textures, if needed
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// returns true if update is successful, false otherwise
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bool UpdateTransformedFrameTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager);
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// updates the selected sensor textures, if needed
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// returns true if update is successful, false otherwise
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bool UpdateSensorTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager, ulong prevDepthFrameTime);
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// returns sensor-to-world matrix
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Matrix4x4 GetSensorToWorldMatrix();
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// returns sensor transform. Please note transform updates depend on the getPoseFrames-KM setting.
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Transform GetSensorTransform();
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// returns the depth camera space table
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Vector3[] GetDepthCameraSpaceTable(KinectInterop.SensorData sensorData);
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// returns the color camera space table
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Vector3[] GetColorCameraSpaceTable(KinectInterop.SensorData sensorData);
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// returns depth camera space coordinates for the given depth image point
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Vector3 MapDepthPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal);
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// returns depth image coordinates for the given depth camera space point
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Vector2 MapSpacePointToDepthCoords(KinectInterop.SensorData sensorData, Vector3 spacePos);
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// returns color camera space coordinates for the given color image point
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Vector3 MapColorPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 colorPos, ushort depthVal);
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// returns color image coordinates for the given color camera space point
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Vector2 MapSpacePointToColorCoords(KinectInterop.SensorData sensorData, Vector3 spacePos);
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// returns color image coordinates for the given depth image point
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Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal);
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// returns depth image coordinates for the given color image point
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Vector2 MapColorPointToDepthCoords(KinectInterop.SensorData sensorData, Vector2 colorPos);
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// returns the resolution in pixels of the point-cloud textures
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Vector2Int GetPointCloudTexResolution(KinectInterop.SensorData sensorData);
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}
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}
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