增加多屏显示，视频播放
This commit is contained in:
liuyunhui
+3096
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Load Diff
+298
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/* this ALWAYS GENERATED file contains the definitions for the interfaces */
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/* File created by MIDL compiler version 8.00.0595 */
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/* at Sun Oct 19 12:54:09 2014
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*/
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/* Compiler settings for ..\..\idl\Kinect.INPC.idl:
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Oicf, W1, Zp8, env=Win64 (32b run), target_arch=AMD64 8.00.0595
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protocol : dce , ms_ext, c_ext, robust
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error checks: allocation ref bounds_check enum stub_data
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VC __declspec() decoration level:
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__declspec(uuid()), __declspec(selectany), __declspec(novtable)
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||||
DECLSPEC_UUID(), MIDL_INTERFACE()
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||||
*/
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||||
/* @@MIDL_FILE_HEADING( ) */
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#pragma warning( disable: 4049 ) /* more than 64k source lines */
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/* verify that the <rpcndr.h> version is high enough to compile this file*/
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#ifndef __REQUIRED_RPCNDR_H_VERSION__
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#define __REQUIRED_RPCNDR_H_VERSION__ 475
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#endif
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||||
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||||
/* verify that the <rpcsal.h> version is high enough to compile this file*/
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||||
#ifndef __REQUIRED_RPCSAL_H_VERSION__
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#define __REQUIRED_RPCSAL_H_VERSION__ 100
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#endif
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#include "rpc.h"
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#include "rpcndr.h"
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#ifndef __RPCNDR_H_VERSION__
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#error this stub requires an updated version of <rpcndr.h>
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#endif // __RPCNDR_H_VERSION__
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#ifndef COM_NO_WINDOWS_H
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#include "windows.h"
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#include "ole2.h"
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#endif /*COM_NO_WINDOWS_H*/
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#ifndef __Kinect2EINPC_h__
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#define __Kinect2EINPC_h__
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#if defined(_MSC_VER) && (_MSC_VER >= 1020)
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#pragma once
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#endif
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/* Forward Declarations */
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#ifndef __INotifyPropertyChanged_FWD_DEFINED__
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#define __INotifyPropertyChanged_FWD_DEFINED__
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typedef interface INotifyPropertyChanged INotifyPropertyChanged;
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#endif /* __INotifyPropertyChanged_FWD_DEFINED__ */
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#ifndef __IPropertyChangedEventArgs_FWD_DEFINED__
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#define __IPropertyChangedEventArgs_FWD_DEFINED__
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typedef interface IPropertyChangedEventArgs IPropertyChangedEventArgs;
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#endif /* __IPropertyChangedEventArgs_FWD_DEFINED__ */
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/* header files for imported files */
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#include "oaidl.h"
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#include "ocidl.h"
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#include "mmreg.h"
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#ifdef __cplusplus
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extern "C"{
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#endif
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/* interface __MIDL_itf_Kinect2EINPC_0000_0000 */
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/* [local] */
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typedef INT_PTR WAITABLE_HANDLE;
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typedef INT64 TIMESPAN;
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extern RPC_IF_HANDLE __MIDL_itf_Kinect2EINPC_0000_0000_v0_0_c_ifspec;
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extern RPC_IF_HANDLE __MIDL_itf_Kinect2EINPC_0000_0000_v0_0_s_ifspec;
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#ifndef __INotifyPropertyChanged_INTERFACE_DEFINED__
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||||
#define __INotifyPropertyChanged_INTERFACE_DEFINED__
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/* interface INotifyPropertyChanged */
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/* [object][local][uuid] */
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||||
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||||
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EXTERN_C const IID IID_INotifyPropertyChanged;
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#if defined(__cplusplus) && !defined(CINTERFACE)
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MIDL_INTERFACE("D27A5C77-32E9-4283-A046-9D693E29E3E7")
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INotifyPropertyChanged : public IUnknown
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{
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||||
public:
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||||
virtual HRESULT STDMETHODCALLTYPE SubscribePropertyChanged(
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||||
/* [annotation][out][retval] */
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||||
_Out_ WAITABLE_HANDLE *waitableHandle) = 0;
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virtual HRESULT STDMETHODCALLTYPE UnsubscribePropertyChanged(
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/* [annotation][in] */
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_In_ WAITABLE_HANDLE waitableHandle) = 0;
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virtual HRESULT STDMETHODCALLTYPE GetPropertyChangedEventData(
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/* [annotation][in] */
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_In_ WAITABLE_HANDLE waitableHandle,
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UINT bufferSize,
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||||
/* [annotation][out][retval] */
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_Out_writes_z_(bufferSize) WCHAR *propertyName) = 0;
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|
||||
};
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||||
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||||
|
||||
#else /* C style interface */
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||||
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typedef struct INotifyPropertyChangedVtbl
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||||
{
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||||
BEGIN_INTERFACE
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||||
|
||||
HRESULT ( STDMETHODCALLTYPE *QueryInterface )(
|
||||
INotifyPropertyChanged * This,
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||||
/* [in] */ REFIID riid,
|
||||
/* [annotation][iid_is][out] */
|
||||
_COM_Outptr_ void **ppvObject);
|
||||
|
||||
ULONG ( STDMETHODCALLTYPE *AddRef )(
|
||||
INotifyPropertyChanged * This);
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||||
|
||||
ULONG ( STDMETHODCALLTYPE *Release )(
|
||||
INotifyPropertyChanged * This);
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||||
|
||||
HRESULT ( STDMETHODCALLTYPE *SubscribePropertyChanged )(
|
||||
INotifyPropertyChanged * This,
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/* [annotation][out][retval] */
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||||
_Out_ WAITABLE_HANDLE *waitableHandle);
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HRESULT ( STDMETHODCALLTYPE *UnsubscribePropertyChanged )(
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INotifyPropertyChanged * This,
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/* [annotation][in] */
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_In_ WAITABLE_HANDLE waitableHandle);
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||||
HRESULT ( STDMETHODCALLTYPE *GetPropertyChangedEventData )(
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INotifyPropertyChanged * This,
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/* [annotation][in] */
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||||
_In_ WAITABLE_HANDLE waitableHandle,
|
||||
UINT bufferSize,
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/* [annotation][out][retval] */
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_Out_writes_z_(bufferSize) WCHAR *propertyName);
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END_INTERFACE
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||||
} INotifyPropertyChangedVtbl;
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interface INotifyPropertyChanged
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{
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CONST_VTBL struct INotifyPropertyChangedVtbl *lpVtbl;
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||||
};
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#ifdef COBJMACROS
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#define INotifyPropertyChanged_QueryInterface(This,riid,ppvObject) \
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( (This)->lpVtbl -> QueryInterface(This,riid,ppvObject) )
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#define INotifyPropertyChanged_AddRef(This) \
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||||
( (This)->lpVtbl -> AddRef(This) )
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||||
#define INotifyPropertyChanged_Release(This) \
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( (This)->lpVtbl -> Release(This) )
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#define INotifyPropertyChanged_SubscribePropertyChanged(This,waitableHandle) \
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( (This)->lpVtbl -> SubscribePropertyChanged(This,waitableHandle) )
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#define INotifyPropertyChanged_UnsubscribePropertyChanged(This,waitableHandle) \
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( (This)->lpVtbl -> UnsubscribePropertyChanged(This,waitableHandle) )
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#define INotifyPropertyChanged_GetPropertyChangedEventData(This,waitableHandle,bufferSize,propertyName) \
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( (This)->lpVtbl -> GetPropertyChangedEventData(This,waitableHandle,bufferSize,propertyName) )
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#endif /* COBJMACROS */
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||||
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#endif /* C style interface */
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||||
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||||
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||||
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#endif /* __INotifyPropertyChanged_INTERFACE_DEFINED__ */
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#ifndef __IPropertyChangedEventArgs_INTERFACE_DEFINED__
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#define __IPropertyChangedEventArgs_INTERFACE_DEFINED__
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/* interface IPropertyChangedEventArgs */
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/* [object][local][uuid] */
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EXTERN_C const IID IID_IPropertyChangedEventArgs;
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||||
#if defined(__cplusplus) && !defined(CINTERFACE)
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||||
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MIDL_INTERFACE("574E9321-9DD9-41C8-BC51-C11F3F38D6B5")
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IPropertyChangedEventArgs : public IUnknown
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||||
{
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||||
public:
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virtual /* [propget] */ HRESULT STDMETHODCALLTYPE get_PropertyName(
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UINT bufferSize,
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||||
/* [annotation][out][retval] */
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||||
_Out_writes_z_(bufferSize) WCHAR *propertyName) = 0;
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||||
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||||
};
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||||
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||||
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||||
#else /* C style interface */
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||||
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||||
typedef struct IPropertyChangedEventArgsVtbl
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||||
{
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BEGIN_INTERFACE
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HRESULT ( STDMETHODCALLTYPE *QueryInterface )(
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IPropertyChangedEventArgs * This,
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/* [in] */ REFIID riid,
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||||
/* [annotation][iid_is][out] */
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||||
_COM_Outptr_ void **ppvObject);
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||||
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||||
ULONG ( STDMETHODCALLTYPE *AddRef )(
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||||
IPropertyChangedEventArgs * This);
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||||
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||||
ULONG ( STDMETHODCALLTYPE *Release )(
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IPropertyChangedEventArgs * This);
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/* [propget] */ HRESULT ( STDMETHODCALLTYPE *get_PropertyName )(
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IPropertyChangedEventArgs * This,
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UINT bufferSize,
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/* [annotation][out][retval] */
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_Out_writes_z_(bufferSize) WCHAR *propertyName);
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END_INTERFACE
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||||
} IPropertyChangedEventArgsVtbl;
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||||
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||||
interface IPropertyChangedEventArgs
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||||
{
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||||
CONST_VTBL struct IPropertyChangedEventArgsVtbl *lpVtbl;
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||||
};
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||||
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||||
#ifdef COBJMACROS
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#define IPropertyChangedEventArgs_QueryInterface(This,riid,ppvObject) \
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( (This)->lpVtbl -> QueryInterface(This,riid,ppvObject) )
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#define IPropertyChangedEventArgs_AddRef(This) \
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( (This)->lpVtbl -> AddRef(This) )
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#define IPropertyChangedEventArgs_Release(This) \
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( (This)->lpVtbl -> Release(This) )
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||||
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#define IPropertyChangedEventArgs_get_PropertyName(This,bufferSize,propertyName) \
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( (This)->lpVtbl -> get_PropertyName(This,bufferSize,propertyName) )
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#endif /* COBJMACROS */
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||||
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||||
|
||||
#endif /* C style interface */
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||||
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||||
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||||
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||||
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#endif /* __IPropertyChangedEventArgs_INTERFACE_DEFINED__ */
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||||
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||||
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||||
/* Additional Prototypes for ALL interfaces */
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||||
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||||
/* end of Additional Prototypes */
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#ifdef __cplusplus
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}
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||||
#endif
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#endif
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+10667
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Load Diff
BIN
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BIN
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+68
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#pragma once
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#include <memory>
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#include "NuiSensor.h"
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#include "Lockable.h"
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namespace Xbox { namespace Kinect { class NuiSensor; } }
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class KinectExposure
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{
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public:
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KinectExposure() = default;
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||||
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||||
// Fully automatic exposure setting.
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||||
// Exposure compensation: negative value gives an underexposed image,
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// positive gives an overexposed image.
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void SetAutoExposure(float exposure_compensation = 0);
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// Sets a pseudo-exposure time in ms, value in range [0.0, 640] ms.
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//
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// The actual frame integration time is set to a multiple of fluorescent light period
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// that is shorter than the requested time e.g. requesting 16 ms will set 10 ms
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// in Australia (100Hz), 8.33 ms in USA (120Hz).
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// The gain is automatically set to compensate for the reduced integration time.
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//
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||||
// Requesting less than a single fluorescent light period will set the integration time
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// to the requested value.
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||||
//
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// To set the shortest non-flickering integration period for any country, simply set
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// a pseudo-exposure time of between (10.0, 16.667) ms, which will automatically drop
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// the integration time to 10 or 8.3 ms depending on country, while setting the analog
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// gain control to a brighter value.
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||||
void SetSemiAutoExposure(float pseudo_exposure_time_ms);
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||||
// Manually set true exposure time and analog gain.
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||||
void SetManualExposure(float integration_time_ms, float analog_gain);
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||||
|
||||
// Use one of the SET commands.
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||||
void SetFloat(Xbox::Kinect::NUISENSOR_RGB_COMMAND_TYPE command, float value);
|
||||
void SetUint(Xbox::Kinect::NUISENSOR_RGB_COMMAND_TYPE command, uint32_t value);
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||||
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||||
// Use one of the GET commands.
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uint32_t GetCommand(Xbox::Kinect::NUISENSOR_RGB_COMMAND_TYPE command);
|
||||
float GetCommandFloat(Xbox::Kinect::NUISENSOR_RGB_COMMAND_TYPE command);
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private:
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||||
LockableSharedPtr<Xbox::Kinect::NuiSensor> _sensor;
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||||
|
||||
void Connect();
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||||
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||||
//private Dictionary<NUISENSOR_RGB_COMMAND_TYPE, uint> GetCommands(NUISENSOR_RGB_COMMAND_TYPE[] commands)
|
||||
//{
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||||
// NUISENSOR_RGB_CHANGE_STREAM_SETTING setting;
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||||
// NUISENSOR_RGB_CHANGE_STREAM_SETTING_REPLY reply;
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||||
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||||
// setting.SequenceId = 0;
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||||
// setting.Commands = commands.Select(command = > new NUISENSOR_RGB_CHANGE_SETTING_CMD{ Cmd = (uint)command, Arg = 0 }).ToArray();
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||||
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||||
// lock(_sensor)
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||||
// {
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||||
// _sensor.ColorChangeCameraSettings(ref setting, out reply);
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||||
// }
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||||
|
||||
// return commands.Zip(reply.Status, (c, r) = > { return Tuple.Create(c, r.Data); }).ToDictionary(t = > t.Item1, t = > t.Item2);
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||||
//}
|
||||
|
||||
uint32_t SetCommand(Xbox::Kinect::NUISENSOR_RGB_COMMAND_TYPE command, uint32_t argument);
|
||||
void SetCommand(Xbox::Kinect::NUISENSOR_RGB_COMMAND_TYPE command, float argument);
|
||||
};
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||||
+108
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#pragma once
|
||||
#ifndef LOCKABLE_H_
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||||
#define LOCKABLE_H_
|
||||
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
|
||||
// Acts like a pointer to the locked object, but holds a lock for the given variable.
|
||||
template<typename T>
|
||||
class Locked
|
||||
{
|
||||
public:
|
||||
Locked(T& obj, std::mutex& mutex) : _obj(obj), _mutex(mutex) { _mutex.lock(); }
|
||||
Locked& operator=(const Locked&) = delete;
|
||||
~Locked() { _mutex.unlock(); }
|
||||
// Access members of the locked value.
|
||||
const T* operator->() const noexcept { return &_obj; }
|
||||
// Access members of the locked value.
|
||||
T* operator->() noexcept { return &_obj; }
|
||||
// Access the locked value.
|
||||
const T& operator*() const noexcept { return _obj; }
|
||||
// Access the locked value.
|
||||
T& operator*() noexcept { return _obj; }
|
||||
|
||||
private:
|
||||
T& _obj;
|
||||
std::mutex& _mutex;
|
||||
};
|
||||
|
||||
// Lockable value type.
|
||||
template<typename T>
|
||||
class Lockable
|
||||
{
|
||||
public:
|
||||
// Only exists if T() exists.
|
||||
Lockable() = default;
|
||||
explicit Lockable(T obj) : _obj(std::move(obj)) {}
|
||||
// Lock-guards the value for the lifetime of the returned object.
|
||||
auto lock() const noexcept { return Locked<const T>(_obj, _mutex); }
|
||||
// Lock-guards the value for the lifetime of the returned object.
|
||||
auto lock() noexcept { return Locked<T>(_obj, _mutex); }
|
||||
|
||||
private:
|
||||
T _obj;
|
||||
mutable std::mutex _mutex;
|
||||
};
|
||||
|
||||
|
||||
// Acts like a shared_ptr, but holds a lock for the given pointer.
|
||||
template<typename TPtr>
|
||||
class LockedPtr
|
||||
{
|
||||
public:
|
||||
LockedPtr(TPtr& obj, std::mutex& mutex) : _obj(obj), _mutex(mutex) { _mutex.lock(); }
|
||||
LockedPtr& operator=(const LockedPtr&) = delete;
|
||||
~LockedPtr() { _mutex.unlock(); }
|
||||
// Access members of the locked shared_ptr.
|
||||
auto* operator->() const noexcept { return _obj.get(); }
|
||||
// Dereference the locked shared_ptr.
|
||||
auto& operator*() const noexcept { return *_obj; }
|
||||
// Test if the locked shared_ptr is null.
|
||||
explicit operator bool() const noexcept { return bool(_obj); }
|
||||
// Assign to the locked shared_ptr (assigns the shared_ptr, not the inner T value).
|
||||
void operator=(TPtr obj) { _obj = std::move(obj); }
|
||||
// Reset the locked shared_ptr.
|
||||
void reset() noexcept { _obj.reset(); }
|
||||
// Get the pointer type.
|
||||
// WARNING: this is potentially unsafe since the data can be passed around unlocked.
|
||||
TPtr value() const noexcept { return _obj; }
|
||||
|
||||
private:
|
||||
TPtr& _obj;
|
||||
std::mutex& _mutex;
|
||||
};
|
||||
|
||||
// Lockable templated pointer type.
|
||||
template<typename TPtr>
|
||||
class LockablePtr
|
||||
{
|
||||
public:
|
||||
LockablePtr()
|
||||
: _obj()
|
||||
, _mutex(std::make_shared<std::mutex>())
|
||||
{
|
||||
}
|
||||
explicit LockablePtr(TPtr obj)
|
||||
: _obj(std::move(obj))
|
||||
, _mutex(std::make_shared<std::mutex>())
|
||||
{
|
||||
}
|
||||
// Lock-guards the pointer for the lifetime of the returned object.
|
||||
auto lock() const noexcept { return LockedPtr<const TPtr>(_obj, *_mutex); }
|
||||
// Lock-guards the pointer for the lifetime of the returned object.
|
||||
auto lock() noexcept { return LockedPtr<TPtr>(_obj, *_mutex); }
|
||||
|
||||
private:
|
||||
TPtr _obj;
|
||||
mutable std::shared_ptr<std::mutex> _mutex; // Shared so object is copyable e.g. TPtr is shared_ptr<T>
|
||||
};
|
||||
|
||||
|
||||
template<typename T>
|
||||
using LockableSharedPtr = LockablePtr<std::shared_ptr<T>>;
|
||||
|
||||
template<typename T>
|
||||
using LockableUniquePtr = LockablePtr<std::unique_ptr<T>>;
|
||||
|
||||
#endif // LOCKABLE_H_
|
||||
+479
@@ -0,0 +1,479 @@
|
||||
#pragma once
|
||||
|
||||
#include <Windows.h>
|
||||
#include <Ole2.h>
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include <Kinect.h>
|
||||
#include <Kinect.Face.h>
|
||||
|
||||
#include <KinectExposure.h>
|
||||
|
||||
namespace NeoKinect
|
||||
{
|
||||
constexpr unsigned int KinectColorWidth = 1920;
|
||||
constexpr unsigned int KinectColorHeight = 1080;
|
||||
|
||||
constexpr unsigned int KinectDepthWidth = 512;
|
||||
constexpr unsigned int KinectDepthHeight = 424;
|
||||
|
||||
constexpr unsigned int KinectBodyCount = BODY_COUNT;
|
||||
constexpr unsigned int KinectJointCount = JointType_Count;
|
||||
|
||||
struct Vector2
|
||||
{
|
||||
float x, y;
|
||||
|
||||
Vector2() : x(0.f), y(0.f) {}
|
||||
Vector2(float xy) : x(xy), y(xy) {}
|
||||
Vector2(float x, float y) : x(x), y(y) {}
|
||||
explicit Vector2(const DepthSpacePoint& dsp) : x(dsp.X), y(dsp.Y) {}
|
||||
explicit Vector2(const ColorSpacePoint& csp) : x(csp.X), y(csp.Y) {}
|
||||
explicit Vector2(const PointF& pf) : x(pf.X), y(pf.Y) {}
|
||||
|
||||
template<typename T>
|
||||
inline Vector2& operator=(const T& b);
|
||||
|
||||
inline DepthSpacePoint toDepthSpacePoint() const;
|
||||
inline ColorSpacePoint toColorSpacePoint() const;
|
||||
};
|
||||
|
||||
struct Vector3
|
||||
{
|
||||
float x, y, z;
|
||||
|
||||
Vector3() : x(0.f), y(0.f), z(0.f) {}
|
||||
Vector3(float xyz) : x(xyz), y(xyz), z(xyz) {}
|
||||
Vector3(float x, float y, float z) : x(x), y(y), z(z) {}
|
||||
explicit Vector3(const CameraSpacePoint& csp) : x(csp.X), y(csp.Y), z(csp.Z) {}
|
||||
|
||||
inline Vector3& operator=(const CameraSpacePoint& b);
|
||||
inline Vector3& operator/=(const float& b);
|
||||
inline const Vector3 operator/(const float& b) const;
|
||||
inline Vector3& operator*=(const float& b);
|
||||
inline const Vector3 operator*(const float& b) const;
|
||||
|
||||
inline bool IsZero() const;
|
||||
float magnitude() const; // not inline as it uses math header and I didn't want to polute the headers
|
||||
inline Vector3 normalized() const;
|
||||
|
||||
inline CameraSpacePoint toCameraSpacePoint() const;
|
||||
};
|
||||
|
||||
enum class KinectFrameType : BYTE
|
||||
{
|
||||
Color = 0,
|
||||
Depth = 1,
|
||||
Body = 2,
|
||||
BodyIndex = 3,
|
||||
Infrared = 4,
|
||||
LongExposureInfrared = 5,
|
||||
Face = 6,
|
||||
Count = 7
|
||||
};
|
||||
|
||||
enum class KinectCoordinateSpace : BYTE
|
||||
{
|
||||
Camera = 0,
|
||||
Depth = 1,
|
||||
Color = 2,
|
||||
Count = 3
|
||||
};
|
||||
|
||||
enum class KinectPixelFormat : BYTE
|
||||
{
|
||||
B8G8R8A8 = 0,
|
||||
G8 = 1,
|
||||
G16 = 2,
|
||||
Bayer = 3,
|
||||
None = 4,
|
||||
Count = 5
|
||||
};
|
||||
|
||||
struct KinectJoint
|
||||
{
|
||||
Vector4 orientation;
|
||||
CameraSpacePoint position;
|
||||
TrackingState trackingState;
|
||||
JointType type;
|
||||
};
|
||||
|
||||
struct KinectBodyEdges
|
||||
{
|
||||
bool left, right, top, bottom;
|
||||
};
|
||||
|
||||
struct KinectBody
|
||||
{
|
||||
UINT64 trackingId;
|
||||
bool isTracked, isRestricted;
|
||||
|
||||
KinectBodyEdges clippedEdges;
|
||||
|
||||
HandState handLeftState;
|
||||
TrackingState handLeftTrackingState;
|
||||
|
||||
HandState handRightState;
|
||||
TrackingState handRightTrackingState;
|
||||
|
||||
TrackingState leanTrackingState;
|
||||
Vector2 lean;
|
||||
|
||||
KinectJoint joints[JointType_Count];
|
||||
};
|
||||
|
||||
struct KinectFacePoints
|
||||
{
|
||||
Vector2 leftEye;
|
||||
Vector2 rightEye;
|
||||
Vector2 nose;
|
||||
Vector2 leftMouthCorner;
|
||||
Vector2 rightMouthCorner;
|
||||
};
|
||||
|
||||
struct KinectFace
|
||||
{
|
||||
UINT64 trackingId;
|
||||
// face bounding box in color space
|
||||
RectI boxColor;
|
||||
// face bounding box in infrared space
|
||||
RectI boxInfrared;
|
||||
// face rotation in quaternion
|
||||
Vector4 rotation;
|
||||
// face pivot point. The same as the skeleton head joint. It's here for conveninence.
|
||||
CameraSpacePoint pivot;
|
||||
// face alignment points in color space
|
||||
KinectFacePoints pointsColor;
|
||||
// face alignment points in infrared space
|
||||
KinectFacePoints pointsInfrared;
|
||||
|
||||
DetectionResult isEngaged;
|
||||
DetectionResult isHappy;
|
||||
DetectionResult isLookingAway;
|
||||
DetectionResult isMouthMoved;
|
||||
DetectionResult isMouthOpen;
|
||||
DetectionResult isLeftEyeClosed;
|
||||
DetectionResult isRightEyeClosed;
|
||||
DetectionResult isWearingGlasses;
|
||||
|
||||
bool bIsTracked;
|
||||
};
|
||||
|
||||
struct FrameDescription
|
||||
{
|
||||
bool valid;
|
||||
|
||||
float diagonalFieldOfView,
|
||||
horizontalFieldOfView,
|
||||
verticalFieldOfView;
|
||||
|
||||
UINT bytesPerPixel;
|
||||
UINT lengthInPixels;
|
||||
int width, height;
|
||||
|
||||
FrameDescription() : valid(false) {}
|
||||
};
|
||||
|
||||
class KinectSensor
|
||||
{
|
||||
public:
|
||||
KinectSensor();
|
||||
~KinectSensor();
|
||||
|
||||
/*
|
||||
Opens the Microsoft API to the sensor.
|
||||
@return Is the sensor API working?
|
||||
*/
|
||||
bool InitSensor();
|
||||
/*
|
||||
Is the sensor on already?
|
||||
It may take some time for the sensor to effectivelly turn on. Keep trying.
|
||||
If it's taking too long, there's probably no connected sensor or it's not working.
|
||||
@return True if the sensor is on.
|
||||
*/
|
||||
bool IsSensorAvailable();
|
||||
/*
|
||||
Is the Microsoft Kinect API responding?
|
||||
@return True if the sensor API is working.
|
||||
*/
|
||||
bool IsSensorOpen();
|
||||
/*
|
||||
Shuts the sensor down and closes the Microsoft API to it.
|
||||
@return True if it worked.
|
||||
*/
|
||||
bool UninitSensor();
|
||||
|
||||
|
||||
/*
|
||||
A Vector4 containing the floor normal (xyz) and height (w).
|
||||
Valid only if frequently locking and unlocking Body frame. That's when
|
||||
it gets updated.
|
||||
@return A Vector4 containing the floor normal (xyz) and height (w).
|
||||
*/
|
||||
Vector4 GetFloorClipPlane();
|
||||
/*
|
||||
Uses the floor clip plane to calculate how much the sensor is tilted.
|
||||
@return The sensor tilt in degrees. Looking down gives negative values.
|
||||
*/
|
||||
float GetSensorTilt();
|
||||
|
||||
FrameDescription GetFrameDescription(const KinectFrameType frameType) const;
|
||||
|
||||
bool SetUseFrame(const KinectFrameType frameType, const bool use = true);
|
||||
bool GetIsUsingFrame(const KinectFrameType frameType) const;
|
||||
bool LockLatestFrame(KinectFrameType frameType);
|
||||
void UnlockLatestFrame(KinectFrameType frameType);
|
||||
bool GetIsFrameLocked(KinectFrameType frameType) const;
|
||||
bool GetLatestFrameData(const KinectFrameType frameType, BYTE *& buffer, const KinectPixelFormat pixelFormat = KinectPixelFormat::None);
|
||||
bool GetLatestFrameData(KinectBody bodies[BODY_COUNT]);
|
||||
bool GetLatestFrameData(KinectFace faces[BODY_COUNT]);
|
||||
|
||||
/*
|
||||
Gets a frame remapped to another coordinate system.
|
||||
All the remapping methods depend on the Depth frame. So make sure you're
|
||||
frequently locking and unlocking it.
|
||||
@return True if it worked.
|
||||
*/
|
||||
bool GetRemappedFrameData(
|
||||
const KinectFrameType frameType, const KinectCoordinateSpace targetSpace,
|
||||
BYTE *const buffer, const KinectPixelFormat pixelFormat);
|
||||
/*
|
||||
Gets a point remapped to another coordinate system.
|
||||
All the remapping methods depend on the Depth frame. So make sure you're
|
||||
frequently locking and unlocking it.
|
||||
@return True if it worked.
|
||||
*/
|
||||
bool GetRemappedPoint(
|
||||
const KinectCoordinateSpace fromSpace, const KinectCoordinateSpace toSpace,
|
||||
const Vector2& srcPoint, Vector2& resultPoint);
|
||||
bool GetRemappedPoint(
|
||||
const KinectCoordinateSpace fromSpace, const KinectCoordinateSpace toSpace,
|
||||
const Vector2& srcPoint, Vector3& resultPoint) const;
|
||||
bool GetRemappedPoint(
|
||||
const KinectCoordinateSpace fromSpace, const KinectCoordinateSpace toSpace,
|
||||
const Vector3& srcPoint, Vector2& resultPoint) const;
|
||||
|
||||
/*
|
||||
Samples distance from the Depth frame.
|
||||
The pixel used will be the round result of X and Y.
|
||||
Note: this only works if the Depth frame is used and is being locked and
|
||||
unlocked frequently.
|
||||
*/
|
||||
UINT16 SampleDepthFrame(const Vector2& point);
|
||||
/*
|
||||
Samples distance from the Depth frame using a coordinate from the Color frame.
|
||||
The pixel used will be the round result of X and Y after remapped to the Depth frame.
|
||||
Note: this only works if the 'Depth' and 'Depth remapped to Color' frames are both
|
||||
used and are being locked and unlocked frequently.
|
||||
*/
|
||||
UINT16 SampleDepthFromColorCoords(const Vector2& colorPoint);
|
||||
|
||||
/*
|
||||
Fully automatic exposure setting.
|
||||
@param exposureCompensation Negative value gives an underexposed image,
|
||||
positive gives an overexposed image.
|
||||
*/
|
||||
void SetAutoExposure(float exposureCompensation = 0);
|
||||
|
||||
/*
|
||||
Sets a pseudo-exposure time in ms.
|
||||
|
||||
The actual frame integration time is set to a multiple of fluorescent light period
|
||||
that is shorter than the requested time e.g. requesting 16 ms will set 10 ms
|
||||
in Australia (100Hz), 8.33 ms in USA (120Hz).
|
||||
The gain is automatically set to compensate for the reduced integration time.
|
||||
|
||||
Requesting less than a single fluorescent light period will set the integration time
|
||||
to the requested value.
|
||||
|
||||
To set the shortest non-flickering integration period for any country, simply set
|
||||
a pseudo-exposure time of between (10.0, 16.667) ms, which will automatically drop
|
||||
the integration time to 10 or 8.3 ms depending on country, while setting the analog
|
||||
gain control to a brighter value.
|
||||
|
||||
@param pseudoExposureTime Pseudo-exposure time in ms. [0.0, 640]ms
|
||||
*/
|
||||
void SetSemiAutoExposure(float pseudoExposureTime);
|
||||
|
||||
/*
|
||||
Manually set true exposure time and analog gain.
|
||||
@param frameExposureTime Time of exposure for each frame, in ms. [0.0, 640]ms
|
||||
@param analogGain Exposure analog gain.
|
||||
*/
|
||||
void SetManualExposure(float frameExposureTime, float analogGain);
|
||||
|
||||
private:
|
||||
IKinectSensor *pSensor; // Kinect sensor
|
||||
//IMultiSourceFrameReader *pMultiFrameReader;
|
||||
//IMultiSourceFrame *pMultiFrame;
|
||||
|
||||
KinectExposure exposureControl;
|
||||
|
||||
// Frame types
|
||||
#define FRAME_VAR(name) I ##name## Frame *p ##name## Frame; I ##name## FrameReader *p ##name## FrameReader;
|
||||
FRAME_VAR(Body);
|
||||
FRAME_VAR(BodyIndex);
|
||||
FRAME_VAR(Color);
|
||||
FRAME_VAR(Depth);
|
||||
FRAME_VAR(Infrared);
|
||||
FRAME_VAR(LongExposureInfrared);
|
||||
#undef FRAME_VAR
|
||||
|
||||
// Face frame resources
|
||||
/* Features we'll use from face frames */
|
||||
static const DWORD cFaceFrameFeatures =
|
||||
FaceFrameFeatures_FaceEngagement
|
||||
| FaceFrameFeatures_Happy
|
||||
| FaceFrameFeatures_LookingAway
|
||||
| FaceFrameFeatures_Glasses
|
||||
| FaceFrameFeatures_LeftEyeClosed
|
||||
| FaceFrameFeatures_RightEyeClosed
|
||||
| FaceFrameFeatures_MouthMoved
|
||||
| FaceFrameFeatures_MouthOpen
|
||||
| FaceFrameFeatures_RotationOrientation
|
||||
| FaceFrameFeatures_PointsInColorSpace
|
||||
| FaceFrameFeatures_PointsInInfraredSpace
|
||||
| FaceFrameFeatures_BoundingBoxInColorSpace
|
||||
| FaceFrameFeatures_BoundingBoxInInfraredSpace;
|
||||
IFaceFrameSource *pFaceFrameSources[BODY_COUNT];
|
||||
IFaceFrameReader *pFaceFrameReaders[BODY_COUNT];
|
||||
IFaceFrame *pFaceFrames[BODY_COUNT];
|
||||
|
||||
// Converts between depth, color and 3d coords
|
||||
ICoordinateMapper *pMapper;
|
||||
DepthSpacePoint *pColorMappedToDepth;
|
||||
bool bIsColorMappedToDepthDirty;
|
||||
/* We keep a copy of the latest depth frame so the user can convert points
|
||||
between spaces anytime, not only when the depth frame is locked.
|
||||
This copy is updated everytime the frame is locked. Because of it, some
|
||||
coordinate space convertions may not work if the depth frame is not in use
|
||||
nor locked frequently. */
|
||||
UINT16 *pDepthRawCopy;
|
||||
|
||||
IBody *bodies[BODY_COUNT];
|
||||
Joint joints[JointType_Count]; // keep joints array in memory to avoid frequent allocations
|
||||
JointOrientation jointOrientations[JointType_Count];
|
||||
Vector4 floorClipPlane;
|
||||
|
||||
inline bool InitMapper();
|
||||
inline void UpdateColorMappedToDepth();
|
||||
inline int IndexFromXY(int pitch, float x, float y) const;
|
||||
};
|
||||
|
||||
/* Print formatted string to the Output window */
|
||||
void Printf(const char *szFormat, ...);
|
||||
void LogFailedHResult(const HRESULT hr, const char *functionName, const int line, const char *action = "");
|
||||
template <typename T>
|
||||
inline void SafeRelease(T*& pointer);
|
||||
template <typename T>
|
||||
inline void SafeReleaseArray(T*& pointer);
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
Templates and inlines implementation
|
||||
-------------------------------------------------------------------------*/
|
||||
|
||||
template<typename T>
|
||||
Vector2& Vector2::operator=(const T& b)
|
||||
{
|
||||
if (this != &b)
|
||||
{
|
||||
this->x = b.X;
|
||||
this->y = b.Y;
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
DepthSpacePoint Vector2::toDepthSpacePoint() const
|
||||
{
|
||||
DepthSpacePoint b;
|
||||
b.X = this->x;
|
||||
b.Y = this->y;
|
||||
return b;
|
||||
}
|
||||
|
||||
ColorSpacePoint Vector2::toColorSpacePoint() const
|
||||
{
|
||||
ColorSpacePoint b;
|
||||
b.X = this->x;
|
||||
b.Y = this->y;
|
||||
return b;
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator=(const CameraSpacePoint& b)
|
||||
{
|
||||
this->x = b.X;
|
||||
this->y = b.Y;
|
||||
this->z = b.Z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator/=(const float& other)
|
||||
{
|
||||
x /= other;
|
||||
y /= other;
|
||||
z /= other;
|
||||
return *this;
|
||||
}
|
||||
|
||||
const Vector3 Vector3::operator/(const float& other) const
|
||||
{
|
||||
Vector3 result(*this);
|
||||
return result /= other;
|
||||
}
|
||||
|
||||
Vector3& Vector3::operator*=(const float& other)
|
||||
{
|
||||
x *= other;
|
||||
y *= other;
|
||||
z *= other;
|
||||
return *this;
|
||||
}
|
||||
|
||||
const Vector3 Vector3::operator*(const float& other) const
|
||||
{
|
||||
Vector3 result(*this);
|
||||
return result *= other;
|
||||
}
|
||||
|
||||
bool Vector3::IsZero() const
|
||||
{
|
||||
return x == 0.f && y == 0.f && z == 0.f;
|
||||
}
|
||||
|
||||
Vector3 Vector3::normalized() const
|
||||
{
|
||||
if (IsZero())
|
||||
return Vector3();
|
||||
return (*this / magnitude());
|
||||
}
|
||||
|
||||
CameraSpacePoint Vector3::toCameraSpacePoint() const
|
||||
{
|
||||
CameraSpacePoint b;
|
||||
b.X = this->x;
|
||||
b.Y = this->y;
|
||||
b.Z = this->z;
|
||||
return b;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline void SafeRelease(T*& pointer)
|
||||
{
|
||||
if (pointer)
|
||||
{
|
||||
pointer->Release();
|
||||
}
|
||||
pointer = nullptr;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
inline void SafeReleaseArray(T*& pointer)
|
||||
{
|
||||
if (pointer)
|
||||
{
|
||||
delete[] pointer;
|
||||
}
|
||||
pointer = nullptr;
|
||||
}
|
||||
}
|
||||
+145
@@ -0,0 +1,145 @@
|
||||
// Conversion from the original C++/CLI implementation.
|
||||
|
||||
#pragma once
|
||||
#include <vector>
|
||||
typedef struct _NUISENSOR_HANDLE *NUISENSOR_HANDLE, **PNUISENSOR_HANDLE;
|
||||
|
||||
//using namespace System;
|
||||
//using namespace System::Runtime::InteropServices;
|
||||
|
||||
namespace Xbox
|
||||
{
|
||||
namespace Kinect
|
||||
{
|
||||
|
||||
enum NUISENSOR_RGB_COMMAND_TYPE
|
||||
{
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_MODE = 0,
|
||||
NUISENSOR_RGB_COMMAND_SET_INTEGRATION_TIME = 1,
|
||||
NUISENSOR_RGB_COMMAND_GET_INTEGRATION_TIME = 2,
|
||||
|
||||
NUISENSOR_RGB_COMMAND_SET_WHITE_BALANCE_MODE = 10,
|
||||
NUISENSOR_RGB_COMMAND_SET_RED_CHANNEL_GAIN = 11,
|
||||
NUISENSOR_RGB_COMMAND_SET_GREEN_CHANNEL_GAIN = 12,
|
||||
NUISENSOR_RGB_COMMAND_SET_BLUE_CHANNEL_GAIN = 13,
|
||||
NUISENSOR_RGB_COMMAND_GET_RED_CHANNEL_GAIN = 14,
|
||||
NUISENSOR_RGB_COMMAND_GET_GREEN_CHANNEL_GAIN = 15,
|
||||
NUISENSOR_RGB_COMMAND_GET_BLUE_CHANNEL_GAIN = 16,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_TIME_MS = 17,
|
||||
NUISENSOR_RGB_COMMAND_GET_EXPOSURE_TIME_MS = 18,
|
||||
NUISENSOR_RGB_COMMAND_SET_DIGITAL_GAIN = 19,
|
||||
NUISENSOR_RGB_COMMAND_GET_DIGITAL_GAIN = 20,
|
||||
NUISENSOR_RGB_COMMAND_SET_ANALOG_GAIN = 21,
|
||||
NUISENSOR_RGB_COMMAND_GET_ANALOG_GAIN = 22,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_COMPENSATION = 23,
|
||||
NUISENSOR_RGB_COMMAND_GET_EXPOSURE_COMPENSATION = 24,
|
||||
NUISENSOR_RGB_COMMAND_SET_ACS = 25,
|
||||
NUISENSOR_RGB_COMMAND_GET_ACS = 26,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_MODE = 27,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONES = 28,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_0_WEIGHT = 29,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_1_WEIGHT = 30,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_2_WEIGHT = 31,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_3_WEIGHT = 32,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_4_WEIGHT = 33,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_5_WEIGHT = 34,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_6_WEIGHT = 35,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_7_WEIGHT = 36,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_8_WEIGHT = 37,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_9_WEIGHT = 38,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_10_WEIGHT = 39,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_11_WEIGHT = 40,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_12_WEIGHT = 41,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_13_WEIGHT = 42,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_14_WEIGHT = 43,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_15_WEIGHT = 44,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_16_WEIGHT = 45,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_17_WEIGHT = 46,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_18_WEIGHT = 47,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_19_WEIGHT = 48,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_20_WEIGHT = 49,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_21_WEIGHT = 50,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_22_WEIGHT = 51,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_23_WEIGHT = 52,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_24_WEIGHT = 53,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_25_WEIGHT = 54,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_26_WEIGHT = 55,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_27_WEIGHT = 56,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_28_WEIGHT = 57,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_29_WEIGHT = 58,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_30_WEIGHT = 59,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_31_WEIGHT = 60,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_32_WEIGHT = 61,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_33_WEIGHT = 62,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_34_WEIGHT = 63,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_35_WEIGHT = 64,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_36_WEIGHT = 65,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_37_WEIGHT = 66,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_38_WEIGHT = 67,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_39_WEIGHT = 68,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_40_WEIGHT = 69,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_41_WEIGHT = 70,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_42_WEIGHT = 71,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_43_WEIGHT = 72,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_44_WEIGHT = 73,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_45_WEIGHT = 74,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_46_WEIGHT = 75,
|
||||
NUISENSOR_RGB_COMMAND_SET_EXPOSURE_METERING_ZONE_47_WEIGHT = 76,
|
||||
NUISENSOR_RGB_COMMAND_SET_MAX_ANALOG_GAIN_CAP = 77,
|
||||
NUISENSOR_RGB_COMMAND_SET_MAX_DIGITAL_GAIN_CAP = 78,
|
||||
NUISENSOR_RGB_COMMAND_SET_FLICKER_FREE_FREQUENCY = 79,
|
||||
NUISENSOR_RGB_COMMAND_GET_EXPOSURE_MODE = 80,
|
||||
NUISENSOR_RGB_COMMAND_GET_WHITE_BALANCE_MODE = 81,
|
||||
NUISENSOR_RGB_COMMAND_SET_FRAME_RATE = 82,
|
||||
NUISENSOR_RGB_COMMAND_GET_FRAME_RATE = 83,
|
||||
|
||||
// This range is reserved. Do not re-use.
|
||||
NUISENSOR_RGB_COMMAND_RESERVED_BASE = 400,
|
||||
NUISENSOR_RGB_COMMAND_RESERVED_END = NUISENSOR_RGB_COMMAND_RESERVED_BASE + 200,
|
||||
// End of reserved region
|
||||
|
||||
};
|
||||
|
||||
struct NUISENSOR_RGB_CHANGE_SETTING_CMD
|
||||
{
|
||||
uint32_t Cmd;
|
||||
uint32_t Arg;
|
||||
};
|
||||
|
||||
struct NUISENSOR_RGB_CHANGE_STREAM_SETTING
|
||||
{
|
||||
uint32_t SequenceId;
|
||||
std::vector<NUISENSOR_RGB_CHANGE_SETTING_CMD> Commands;
|
||||
};
|
||||
|
||||
struct NUISENSOR_RGB_CHANGE_STREAM_SETTING_REPLY_STATUS
|
||||
{
|
||||
uint32_t Status;
|
||||
uint32_t Data;
|
||||
};
|
||||
|
||||
struct NUISENSOR_RGB_CHANGE_STREAM_SETTING_REPLY
|
||||
{
|
||||
uint32_t CommandListStatus;
|
||||
std::vector<NUISENSOR_RGB_CHANGE_STREAM_SETTING_REPLY_STATUS> Status;
|
||||
};
|
||||
|
||||
|
||||
class NuiSensor
|
||||
{
|
||||
public:
|
||||
NuiSensor();
|
||||
~NuiSensor();
|
||||
|
||||
void Shutdown();
|
||||
|
||||
void ColorChangeCameraSettings(const NUISENSOR_RGB_CHANGE_STREAM_SETTING& settings, NUISENSOR_RGB_CHANGE_STREAM_SETTING_REPLY* p_reply);
|
||||
|
||||
private:
|
||||
void TestResult(int success);
|
||||
|
||||
NUISENSOR_HANDLE _sensor = nullptr;
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
BIN
Binary file not shown.
Reference in New Issue
Block a user