Updated BT samples to use the BT SDK 1.1.1 (microsoft#66)

* Fixed cmake issues

* Update BT samples to use the Body Tracking SDK 1.1.1

Co-authored-by: Vache Katsadze <v-vkatsadze@microsoft.com>

CMakeLists.txt

@@ -3,7 +3,7 @@
 
 cmake_minimum_required(VERSION 3.9.0)
 
-cmake_policy(SET CMP0048 NEW)
+set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
 
 project(Azure-Kinect-Samples LANGUAGES C CXX
     VERSION 1.4)

body-tracking-samples/CMakeLists.txt

@@ -1,7 +1,34 @@
 # Copyright (c) Microsoft Corporation. All rights reserved.
 # Licensed under the MIT License.
 
+if (NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/extern/glfw/src/CMakeLists.txt")
+    find_package(Git REQUIRED QUIET)
+    if (Git_FOUND)
+        message(STATUS "Fetching git modules...")
+        execute_process(
+            COMMAND
+                ${GIT_EXECUTABLE} submodule update --init --recursive
+            WORKING_DIRECTORY
+                ${CMAKE_CURRENT_SOURCE_DIR}
+            RESULT_VARIABLE
+                GIT_SUBMODULE_UPDATE_RESULT
+            OUTPUT_VARIABLE
+                GIT_SUBMODULE_UPDATE_OUTPUT
+        )
+
+        if (NOT (${GIT_SUBMODULE_UPDATE_RESULT} EQUAL 0))
+            message(FATAL_ERROR "git submodule update failed: ${GIT_SUBMODULE_UDPATE_OUTPUT}")
+        endif()
+    endif()
+endif()
+
+list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR}/cmake)
+
 add_subdirectory(extern)
+add_subdirectory(camera_space_transform_sample)
+add_subdirectory(floor_detector_sample)
+add_subdirectory(jump_analysis_sample)
+add_subdirectory(offline_processor)
 add_subdirectory(simple_3d_viewer)
 add_subdirectory(simple_sample)
 add_subdirectory(sample_helper_libs)

body-tracking-samples/camera_space_transform_sample/CMakeLists.txt

@@ -0,0 +1,11 @@
+# Copyright (c) Microsoft Corporation. All rights reserved.
+# Licensed under the MIT License.
+
+add_executable(camera_space_transform_sample
+    main.cpp
+)
+
+target_link_libraries(camera_space_transform_sample PRIVATE
+    k4a
+    k4abt
+)

body-tracking-samples/camera_space_transform_sample/camera_space_transform_sample.vcxproj

@@ -14,19 +14,19 @@
     <VCProjectVersion>15.0</VCProjectVersion>
     <ProjectGuid>{A7D2F1BE-0030-4436-B391-FEDE1E756B02}</ProjectGuid>
     <RootNamespace>cameraspacetransformsample</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.17134.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>MultiByte</CharacterSet>
   </PropertyGroup>
@@ -91,18 +91,16 @@
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
-    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.3.0\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.3.0\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
-    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.0.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.0.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets')" />
-    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.targets')" />
-    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.targets')" />
+    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
+    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.1.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.1.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets')" />
+    <Import Project="$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.1.10.0\build\native\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.targets" Condition="Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.1.10.0\build\native\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.targets')" />
   </ImportGroup>
   <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
     <PropertyGroup>
       <ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them.  For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
     </PropertyGroup>
-    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.3.0\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.3.0\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
-    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.0.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.0.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets'))" />
-    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.targets'))" />
-    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.0.9.1\build\native\Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN.targets'))" />
+    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
+    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.1.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.1.1.1\build\native\Microsoft.Azure.Kinect.BodyTracking.targets'))" />
+    <Error Condition="!Exists('$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.1.10.0\build\native\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\packages\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.1.10.0\build\native\Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime.targets'))" />
   </Target>
-</Project>
+</Project>

body-tracking-samples/camera_space_transform_sample/camera_space_transform_sample.vcxproj.filters

@@ -15,7 +15,7 @@
     </Filter>
   </ItemGroup>
   <ItemGroup>
-    <ClCompile Include="main.c">
+    <ClCompile Include="main.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
@@ -24,4 +24,4 @@
     <None Include="dnn_model_2_0.onnx" />
     <None Include="$(MSBuildThisFileDirectory)..\..\content\**\*.*" />
   </ItemGroup>
-</Project>
+</Project>

body-tracking-samples/camera_space_transform_sample/main.cpp

@@ -80,7 +80,58 @@ void transform_body_index_map_from_depth_to_color(
         K4ABT_BODY_INDEX_MAP_BACKGROUND), "Failed to transform body index map to color space!");
 }
 
-int main()
+bool ProcessArguments(k4abt_tracker_configuration_t& tracker_config, int argc, char** argv)
+{
+#ifdef _WIN32
+    printf("Usage: k4abt_camera_space_transform_sample PROCESSING_MODE[CUDA, CPU, DirectML ( default ), or TensorRT](optional) -model MODEL_FILEPATH(optional).\n");
+#else
+    printf("Usage: k4abt_camera_space_transform_sample PROCESSING_MODE[CUDA ( default ), CPU, or TensorRT](optional) -model MODEL_FILEPATH(optional).\n");
+#endif
+
+    for (int i = 1; i < argc; i++)
+    {
+        if (0 == strcmp(argv[i], "TensorRT"))
+        {
+            tracker_config.processing_mode = K4ABT_TRACKER_PROCESSING_MODE_GPU_TENSORRT;
+        }
+        else if (0 == strcmp(argv[i], "CUDA"))
+        {
+            tracker_config.processing_mode = K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA;
+        }
+        else if (0 == strcmp(argv[i], "CPU"))
+        {
+            tracker_config.processing_mode = K4ABT_TRACKER_PROCESSING_MODE_CPU;
+        }
+#ifdef _WIN32
+        else if (0 == strcmp(argv[i], "DirectML"))
+        {
+            tracker_config.processing_mode = K4ABT_TRACKER_PROCESSING_MODE_GPU_DIRECTML;
+        }
+#endif
+        else if (0 == strcmp(argv[i], "-model"))
+        {
+            if( i < argc - 1 )
+                tracker_config.model_path = argv[++i];
+            else
+            {
+                printf("Error: model filepath missing\n");
+                return false;
+            }
+        }
+        else
+        {
+#ifdef _WIN32
+            printf("Invalid processing mode ! Accepted values are CUDA, CPU, DirectML ( default ), or TensorRT.\n");
+#else
+            printf("Invalid processing mode ! Accepted values are CUDA ( default ), CPU, or TensorRT.\n");
+#endif
+            return false;
+        }
+    }
+    return true;
+}
+
+int main(int argc, char** argv)
 {
     k4a_device_configuration_t device_config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
     device_config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
@@ -106,6 +157,8 @@ int main()
 
     k4abt_tracker_t tracker = NULL;
     k4abt_tracker_configuration_t tracker_config = K4ABT_TRACKER_CONFIG_DEFAULT;
+    if (!ProcessArguments(tracker_config, argc, argv))
+        exit(1);
     VERIFY(k4abt_tracker_create(&sensor_calibration, tracker_config, &tracker), "Body tracker initialization failed!");
 
     // Preallocated the buffers to hold the depth image in color space and the body index map in color space

body-tracking-samples/camera_space_transform_sample/packages.config

@@ -1,7 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <packages>
-  <package id="Microsoft.Azure.Kinect.BodyTracking" version="1.0.1" targetFramework="native" />
-  <package id="Microsoft.Azure.Kinect.BodyTracking.Dependencies" version="0.9.1" targetFramework="native" />
-  <package id="Microsoft.Azure.Kinect.BodyTracking.Dependencies.cuDNN" version="0.9.1" targetFramework="native" />
-  <package id="Microsoft.Azure.Kinect.Sensor" version="1.3.0" targetFramework="native" />
+  <package id="Microsoft.Azure.Kinect.BodyTracking" version="1.1.1" targetFramework="native" />
+  <package id="Microsoft.Azure.Kinect.BodyTracking.ONNXRuntime" version="1.10.0" targetFramework="native" />
+  <package id="Microsoft.Azure.Kinect.Sensor" version="1.4.1" targetFramework="native" />
 </packages>