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KanaHayamaKanaHayama
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Found a way to load k4abt from somewhere else
1 parent c2beafb commit fd3cd1a

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4 files changed

+86
-2
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4 files changed

+86
-2
lines changed

‎Components/AzureKinect.BodyTracking.Visualizer.WPF/AzureKinect.BodyTracking.Visualizer.WPF.csproj‎

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</PropertyGroup>
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<ItemGroup>
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<PackageReference Include="Microsoft.Azure.Kinect.BodyTracking" Version="1.1.2" />
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<PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.2" />
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<PackageReference Include="Microsoft.Psi.Calibration" Version="0.19.100.1-beta" />
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<PackageReference Include="System.Composition" Version="8.0.0" />

‎Components/AzureKinect.BodyTracking/AzureKinect.BodyTracking.csproj‎

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<Nullable>enable</Nullable>
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<LangVersion>latest</LangVersion>
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<EmbedAllSources>true</EmbedAllSources>
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<BodyTrackerLibFolder>k4abt</BodyTrackerLibFolder>
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</PropertyGroup>
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<ItemGroup>
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<PackageReference Include="MathNet.Spatial.Signed" Version="0.6.0" />
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<PackageReference Include="Microsoft.Azure.Kinect.BodyTracking" Version="1.1.2"/>
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<PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.2" />
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<PackageReference Include="System.Composition" Version="8.0.0"/>
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<PackageReference Include="System.Runtime.Loader" Version="4.3.0" />
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</ItemGroup>
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<ItemGroup>
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<ProjectReference Include="..\..\ComponentContract\ComponentContract.csproj" />
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</ItemGroup>
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<!--Copy special DLLs to a subfolder.-->
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<ItemGroup>
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<!--NOTE: This native DLL loads ONNX runtime DLLs, so it also needs to be moved.-->
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<Content Include="$(NuGetPackageRoot)microsoft.azure.kinect.bodytracking\1.1.2\lib\native\amd64\release\k4abt.dll">
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<Link>$(BodyTrackerLibFolder)\k4abt.dll</Link>
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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<CopyToPublishDirectory>PreserveNewest</CopyToPublishDirectory>
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</Content>
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<Content Include="$(NuGetPackageRoot)microsoft.azure.kinect.bodytracking.onnxruntime\1.10.0\lib\native\amd64\release\onnxruntime.dll">
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<Link>$(BodyTrackerLibFolder)\onnxruntime.dll</Link>
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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<CopyToPublishDirectory>PreserveNewest</CopyToPublishDirectory>
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</Content>
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<Content Include="$(NuGetPackageRoot)microsoft.azure.kinect.bodytracking.onnxruntime\1.10.0\lib\native\amd64\release\onnxruntime_providers_cuda.dll">
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<Link>$(BodyTrackerLibFolder)\onnxruntime_providers_cuda.dll</Link>
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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<CopyToPublishDirectory>PreserveNewest</CopyToPublishDirectory>
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</Content>
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<Content Include="$(NuGetPackageRoot)microsoft.azure.kinect.bodytracking.onnxruntime\1.10.0\lib\native\amd64\release\onnxruntime_providers_shared.dll">
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<Link>$(BodyTrackerLibFolder)\onnxruntime_providers_shared.dll</Link>
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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<CopyToPublishDirectory>PreserveNewest</CopyToPublishDirectory>
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</Content>
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<Content Include="$(NuGetPackageRoot)microsoft.azure.kinect.bodytracking.onnxruntime\1.10.0\lib\native\amd64\release\onnxruntime_providers_tensorrt.dll">
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<Link>$(BodyTrackerLibFolder)\onnxruntime_providers_tensorrt.dll</Link>
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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<CopyToPublishDirectory>PreserveNewest</CopyToPublishDirectory>
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</Content>
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<Content Include="$(NuGetPackageRoot)microsoft.azure.kinect.bodytracking.onnxruntime\1.10.0\lib\native\amd64\release\directml.dll">
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<Link>$(BodyTrackerLibFolder)\directml.dll</Link>
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<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
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<CopyToPublishDirectory>PreserveNewest</CopyToPublishDirectory>
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</Content>
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</ItemGroup>
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</Project>
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</Project>

‎Components/AzureKinect.BodyTracking/AzureKinectBodyTracker.cs‎

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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Diagnostics;
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using System.IO;
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using System.Runtime.CompilerServices;
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using System.Runtime.InteropServices;
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using Microsoft.Azure.Kinect.BodyTracking;
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using Microsoft.Azure.Kinect.Sensor;
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using Microsoft.Extensions.Logging;
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namespace OpenSense.Components.AzureKinect.BodyTracking {
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public sealed class AzureKinectBodyTracker : INotifyPropertyChanged, IDisposable {
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private const string K4abtLibDir = "k4abt";//Set in csproj
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private const string K4abtDll = "k4abt.dll";
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#region Options
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private SensorOrientation sensorOrientation;
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GpuDeviceId = GpuDeviceId,
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ModelPath = modelPath,
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};
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PreloadK4abtAndDependencies();
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/** NOTE:
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* AzureKinectBodyTrackingCreateException does not contain any error detail.
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* To know the detail, you need to look at its log.
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}
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#endregion
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#region P/Invoke
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[DllImport("kernel32.dll", SetLastError = true, CharSet = CharSet.Auto)]
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private static extern IntPtr LoadLibraryEx(string lpFileName, IntPtr hFile, uint dwFlags);
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public static void PreloadK4abtAndDependencies() {
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var baseDir = AppContext.BaseDirectory;
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if (File.Exists(Path.Combine(baseDir, K4abtDll))) {
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/* NOTE:
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* Since the dependencies of k4abt.dll are located in both the application base directory and the AzureKinectLibs directory (LOAD_LIBRARY_SEARCH_USER_DIRS),
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* we need to enable both locations in the DLL search path.
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*
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* However, Windows only supports enabling or disabling directories for DLL searches—it does not allow us to explicitly define the search order between them.
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*
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* This means that if k4abt.dll exists in the application base directory, its dependencies (ONNX DLLs) will be loaded from the base directory, even if we explicitly load k4abt.dll from AzureKinectLibs.
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* This behavior is counterintuitive, but observed.
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*
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* As a result, we ensure that k4abt.dll does not exist in the application base directory.
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*/
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throw new Exception($"k4abt.dll exists in application base directory. It shouldn't be there.");
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}
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var extraDllDir = Path.Combine(baseDir, K4abtLibDir);
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var k4abtPath = Path.Combine(extraDllDir, K4abtDll);
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var handle = LoadLibraryEx(k4abtPath, IntPtr.Zero, 0);//We have to load this k4abt.dll, otherwise there is no chance our application knows it is there.
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if (handle == IntPtr.Zero) {
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int error = Marshal.GetLastWin32Error();
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throw new InvalidOperationException($"Failed to load k4abt.dll, error code: {error}");
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}
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}
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#endregion
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#region IDisposable
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private bool disposed;
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‎WpfApplication/WpfApplication.csproj‎

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<Resource Include="Resource\Icon\vflip.ico" />
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</ItemGroup>
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<ItemGroup>
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<!--We have a special k4abt.dll in a special folder. This will cause issues.-->
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<FilesToRemove Include="$(OutputPath)k4abt.dll" Condition="'$(OutputPath)' != ''" />
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<FilesToRemove Include="$(PublishDir)k4abt.dll" Condition="'$(PublishDir)' != ''" />
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</ItemGroup>
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<Target Name="RemoveUnwantedFiles" AfterTargets="Build;Publish">
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<Delete Files="@(FilesToRemove)" />
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</Target>
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</Project>

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