UnityKinectDepthExplorer - 我如何将这个示例与 Kinect v1 一起使用？

Question

我有兴趣在 Unity 中使用 Kinect for Windows 显示深度数据。不幸的是，我有 Kinect v1.8，我知道这很容易通过 Kinect V2 (Kinect Fusion) 完成。

我找到了这个例子：https://github.com/rickbarraza/UnityKinectDepthExplorer 我安装了所有必要的组件，现在得到 DLLNOTFOUNDEXCEPTION：

未能加载“资产/插件/x86_64/KinectUnityAddin.dll”

关于我目前阅读的所有帖子和论坛，这是因为我使用的是 SDK 1.8（而不是 SDK 2.0）。

有什么方法可以将这个示例与 Kinect v1.8 一起使用？我也尝试联系作者，但他没有回复。

非常感谢！

Answer 1

我在大学项目中遇到了同样的问题，也许对你来说还不晚。 这是我制作的 Kinect v1.8 Wrapper，仅用于读取 kinect 深度图像。我使用 Unity-Assetstore 中的带有 MS-SDK 的 Kinect 作为指导，您不必下载它。您所需要的只是本准则。 使用 Init() 方法启动，使用 GetDepthArray() 函数获取深度帧。 希望它对你有用！

您必须安装 Kinect 1.8 sdk 或在 Windows/System32 文件夹中至少包含 1.8 sdk 中的 Kinect10.dll

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System.Runtime.InteropServices;
using System;
using System.Runtime.CompilerServices;

public class OwnKinectWrapper : MonoBehaviour {

DepthBuffer db;

#region Nui Variables/Structs/Intefraces
IntPtr streamReferenz;

public struct NuiImageViewArea
{
    public int eDigitalZoom;
    public int lCenterX;
    public int lCenterY;
}

public struct NuiSurfaceDesc
{
    uint width;
    uint height;
}

public struct DepthBuffer
{
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 640 * 480, ArraySubType = UnmanagedType.U2)]
    public ushort[] pixels;
}

public struct NuiLockedRect
{
    public int pitch;
    public int size;
    public IntPtr pBits;

}
public struct NuiImageFrame
{
    public Int64 liTimeStamp;
    public uint dwFrameNumber;
    public int eImageType;
    public int eResolution;
    public IntPtr pFrameTexture;
    public uint dwFrameFlags_NotUsed;
    public NuiImageViewArea ViewArea_NotUsed;
}



[Guid("13ea17f5-ff2e-4670-9ee5-1297a6e880d1")]
[InterfaceType(ComInterfaceType.InterfaceIsIUnknown)]
[ComImport()]
public interface INuiFrameTexture
{
    [MethodImpl(MethodImplOptions.InternalCall, MethodCodeType = MethodCodeType.Runtime)]
    [PreserveSig]
    int BufferLen();
    [MethodImpl(MethodImplOptions.InternalCall, MethodCodeType = MethodCodeType.Runtime)]
    [PreserveSig]
    int Pitch();
    [MethodImpl(MethodImplOptions.InternalCall, MethodCodeType = MethodCodeType.Runtime)]
    [PreserveSig]
    int LockRect(uint Level, ref NuiLockedRect pLockedRect, IntPtr pRect, uint Flags);
    [MethodImpl(MethodImplOptions.InternalCall, MethodCodeType = MethodCodeType.Runtime)]
    [PreserveSig]
    int GetLevelDesc(uint Level, ref NuiSurfaceDesc pDesc);
    [MethodImpl(MethodImplOptions.InternalCall, MethodCodeType = MethodCodeType.Runtime)]
    [PreserveSig]
    int UnlockRect(uint Level);
}
#endregion
// Use this for initialization
public int Init() {
    int init = 0;
    try {
        init = NuiInitialize(0x00000020);
        Debug.Log("init : " + init);

        streamReferenz = IntPtr.Zero;
        NuiImageStreamOpen(4, 2, 0, 2, IntPtr.Zero, ref streamReferenz);



    }
    catch (DllNotFoundException e)
    {
        string message = "Please check the Kinect SDK installation.";
        Debug.LogError(message);
        Debug.LogError(e.ToString());

        return -1;
    }
    catch (Exception e)
    {
        Debug.LogError(e.ToString());

        return -1;
    }

    return init;
}

// Update is called once per frame
void Update()
{
    IntPtr imageStreamFrameReferenz = IntPtr.Zero;
    int test = NuiImageStreamGetNextFrame(streamReferenz, 0, ref imageStreamFrameReferenz);
    if (test == 0) {
        NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageStreamFrameReferenz, typeof(NuiImageFrame));
        INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);

        NuiLockedRect lockedRectPtr = new NuiLockedRect();
        IntPtr r = IntPtr.Zero;
        frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
        db = (DepthBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(DepthBuffer));
        frameTexture.UnlockRect(0);
        NuiImageStreamReleaseFrame(streamReferenz, imageStreamFrameReferenz);
    }
}

void OnDisable() {
    NuiShutdown();
}

public ushort[] GetDepthArray(){
    return db.pixels;
}


[DllImportAttribute(@"Kinect10.dll",EntryPoint="NuiInitialize")]
public static extern int NuiInitialize (uint dwFlags);


[DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamOpen")]
public static extern int NuiImageStreamOpen(int enumImageType,int enumImgageResolution, uint image_Flags, uint frameBufferLimit, IntPtr nextFrameEvent, ref IntPtr streamHandle );


[DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamGetNextFrame")]
public static extern int NuiImageStreamGetNextFrame(IntPtr streamReferenz, uint dwMillisecondsToWait, ref IntPtr ImageFrameReferenz);


[DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiImageStreamReleaseFrame")]
public static extern int NuiImageStreamReleaseFrame(IntPtr phStreamHandle, IntPtr ppcImageFrame);


[DllImportAttribute(@"Kinect10.dll",EntryPoint="NuiDepthPixelToDepth")]
public static extern ushort NuiDepthPixelToDepth (ushort depthPixel);


[DllImportAttribute(@"Kinect10.dll", EntryPoint = "NuiShutdown")]
public static extern void NuiShutdown();


}

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