/** \file k4abttypes.h * Kinect For Azure Body Tracking SDK Type definitions. */ #ifndef K4ABTTYPES_H #define K4ABTTYPES_H #include #ifdef __cplusplus extern "C" { #endif /** * \defgroup btcsdk C Reference * */ /** * \defgroup bthandles Handles * \ingroup btcsdk * Handles represent object instances. * * Handles are opaque pointers returned by the SDK which represent an object. * * @{ */ /** Handle to k4a body tracking component. * * Handles are created with k4abt_tracker_create() and destroyed * with k4abt_tracker_destroy(). * Invalid handles are set to 0. */ K4A_DECLARE_HANDLE(k4abt_tracker_t); /** Handle to a k4a body tracking frame. * * Handles are created with k4abt_tracker_pop_result and closed * with k4abt_frame_release. Invalid handles are set to 0. */ K4A_DECLARE_HANDLE(k4abt_frame_t); /** * * @} * * \defgroup btenums Enumerations * \ingroup btcsdk * * Enumeration types used by APIs. * * @{ */ /** Model fitting joint definition */ typedef enum { K4ABT_JOINT_PELVIS = 0, K4ABT_JOINT_SPINE_NAVEL, K4ABT_JOINT_SPINE_CHEST, K4ABT_JOINT_NECK, K4ABT_JOINT_CLAVICLE_LEFT, K4ABT_JOINT_SHOULDER_LEFT, K4ABT_JOINT_ELBOW_LEFT, K4ABT_JOINT_WRIST_LEFT, K4ABT_JOINT_HAND_LEFT, K4ABT_JOINT_HANDTIP_LEFT, K4ABT_JOINT_THUMB_LEFT, K4ABT_JOINT_CLAVICLE_RIGHT, K4ABT_JOINT_SHOULDER_RIGHT, K4ABT_JOINT_ELBOW_RIGHT, K4ABT_JOINT_WRIST_RIGHT, K4ABT_JOINT_HAND_RIGHT, K4ABT_JOINT_HANDTIP_RIGHT, K4ABT_JOINT_THUMB_RIGHT, K4ABT_JOINT_HIP_LEFT, K4ABT_JOINT_KNEE_LEFT, K4ABT_JOINT_ANKLE_LEFT, K4ABT_JOINT_FOOT_LEFT, K4ABT_JOINT_HIP_RIGHT, K4ABT_JOINT_KNEE_RIGHT, K4ABT_JOINT_ANKLE_RIGHT, K4ABT_JOINT_FOOT_RIGHT, K4ABT_JOINT_HEAD, K4ABT_JOINT_NOSE, K4ABT_JOINT_EYE_LEFT, K4ABT_JOINT_EAR_LEFT, K4ABT_JOINT_EYE_RIGHT, K4ABT_JOINT_EAR_RIGHT, K4ABT_JOINT_COUNT } k4abt_joint_id_t; /** Sensor mounting orientation types. * * \remarks * This enumeration specifies the sensor mounting orientation. Passing the correct orientation in k4abt_tracker_create() * can help the body tracker to achieve more accurate body tracking. * * \remarks * The sensor orientation is defined while facing the camera. */ typedef enum { K4ABT_SENSOR_ORIENTATION_DEFAULT = 0, /**< Mount the sensor at its default orientation */ K4ABT_SENSOR_ORIENTATION_CLOCKWISE90, /**< Clockwisely rotate the sensor 90 degree */ K4ABT_SENSOR_ORIENTATION_COUNTERCLOCKWISE90, /**< Counter-clockwisely rotate the sensor 90 degrees */ K4ABT_SENSOR_ORIENTATION_FLIP180, /**< Mount the sensor upside-down */ } k4abt_sensor_orientation_t; /** Tracker processing mode types. * * \remarks * The CPU only mode doesn't require the machine to have a GPU to run this SDK. But it will be much slower * than the GPU mode. */ typedef enum { K4ABT_TRACKER_PROCESSING_MODE_GPU = 0, /**< SDK will use the most appropriate GPU mode for the operating system to run the tracker */ /**< Currently this is ONNX DirectML EP for Windows and ONNX Cuda EP for Linux. ONNX TensorRT EP is experimental */ K4ABT_TRACKER_PROCESSING_MODE_CPU, /**< SDK will use CPU only mode to run the tracker */ K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA, /**< SDK will use ONNX Cuda EP to run the tracker */ K4ABT_TRACKER_PROCESSING_MODE_GPU_TENSORRT, /**< SDK will use ONNX TensorRT EP to run the tracker */ K4ABT_TRACKER_PROCESSING_MODE_GPU_DIRECTML /**< SDK will use ONNX DirectML EP to run the tracker (Windows only) */ } k4abt_tracker_processing_mode_t; /** Configuration parameters for a k4abt body tracker * * \remarks * Used by k4abt_tracker_create() to specify the configuration of the k4abt tracker */ typedef struct _k4abt_tracker_configuration_t { /** The sensor mounting orientation type. * * Setting the correct orientation can help the body tracker to achieve more accurate body tracking results */ k4abt_sensor_orientation_t sensor_orientation; /** Specify whether to use CPU only mode or GPU mode to run the tracker. * * The CPU only mode doesn't require the machine to have a GPU to run this SDK. But it will be much slower * than the GPU mode. */ k4abt_tracker_processing_mode_t processing_mode; /** Specify the GPU device ID to run the tracker. * * The setting is only effective if the processing_mode setting is set to K4ABT_TRACKER_PROCESSING_MODE_GPU. */ int32_t gpu_device_id; /** Specify the model file name and location used by the tracker. * * If specified, the tracker will use this model instead of the default one. */ const char* model_path; } k4abt_tracker_configuration_t; /** * * @} * * \defgroup btstructures Structures * \ingroup btcsdk * * Structures used in the API. * * @{ */ /** k4a_quaternion_t */ typedef union { /** WXYZ or array representation of quaternion */ struct _wxyz { float w; /**< W representation of a quaternion */ float x; /**< X representation of a quaternion */ float y; /**< Y representation of a quaternion */ float z; /**< Z representation of a quaternion */ } wxyz; /**< W, X, Y, Z representation of a quaternion */ float v[4]; /**< Array representation of a quaternion */ } k4a_quaternion_t; /** k4abt_joint_confidence_level_t * * \remarks * This enumeration specifies the joint confidence level. */ typedef enum { K4ABT_JOINT_CONFIDENCE_NONE = 0, /**< The joint is out of range (too far from depth camera) */ K4ABT_JOINT_CONFIDENCE_LOW = 1, /**< The joint is not observed (likely due to occlusion), predicted joint pose */ K4ABT_JOINT_CONFIDENCE_MEDIUM = 2, /**< Medium confidence in joint pose. Current SDK will only provide joints up to this confidence level */ K4ABT_JOINT_CONFIDENCE_HIGH = 3, /**< High confidence in joint pose. Placeholder for future SDK */ K4ABT_JOINT_CONFIDENCE_LEVELS_COUNT = 4, /**< The total number of confidence levels. */ } k4abt_joint_confidence_level_t; /** Structure to define a single joint * * The position and orientation together defines the coordinate system for the given joint. They are defined relative * to the sensor global coordinate system. */ typedef struct _k4abt_joint_t { k4a_float3_t position; /**< The position of the joint specified in millimeters*/ k4a_quaternion_t orientation; /**< The orientation of the joint specified in normalized quaternion*/ k4abt_joint_confidence_level_t confidence_level; /**< The confidence level of the joint*/ } k4abt_joint_t; /** Structure to define joints for skeleton */ typedef struct _k4abt_skeleton_t { k4abt_joint_t joints[K4ABT_JOINT_COUNT]; /**< The joints for the body*/ } k4abt_skeleton_t; /** Structure to define body */ typedef struct _k4abt_body_t { uint32_t id; /**< An id for the body that can be used for frame-to-frame correlation*/ k4abt_skeleton_t skeleton; /**< The skeleton information for the body */ } k4abt_body_t; /** * * @} * * \defgroup btdefinitions Definitions * \ingroup btcsdk * * Definition of constant values. * * @{ */ /** The pixel value that indicates the pixel belong to the background in the body id map */ #define K4ABT_BODY_INDEX_MAP_BACKGROUND 255 /** The invalid body id value */ #define K4ABT_INVALID_BODY_ID 0xFFFFFFFF /** The default tracker temporal smoothing factor */ #define K4ABT_DEFAULT_TRACKER_SMOOTHING_FACTOR 0.0f /** Default configuration setting for k4abt tracker. * * \remarks * Use this setting to initialize a \ref k4abt_tracker_configuration_t to a default state. */ static const k4abt_tracker_configuration_t K4ABT_TRACKER_CONFIG_DEFAULT = { K4ABT_SENSOR_ORIENTATION_DEFAULT, // sensor_orientation #ifdef _WIN32 K4ABT_TRACKER_PROCESSING_MODE_GPU_DIRECTML, // default processing_mode for Windows #else K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA, // default processing_mode if not Windows #endif 0, // gpu_device_id NULL }; // model_path /** * @} */ #ifdef __cplusplus } #endif #endif /* K4ABTTYPES_H */