C# integration of nuitrack.net.dll

Nuitrack SDK
1

Hi all,

after playing around with the different examples of the SDK, I started writing an own c# application
usiing the INTEL D435 Sensor.
What I did so far:

  1. added the reference nuitrack.net.dll to the project
  2. added “using nuitrack” directive

So far everything works fine. I sticked to the exampel code

       ....
       try
        {
            Nuitrack.Init("");
        }
        catch (nuitrack.Exception exception)
        {
            Console.WriteLine("Can not initialize Nuitrack. Exception: ", exception);
        }

         _depthSensor = DepthSensor.Create();
        _depthSensor.SetMirror(false);

          _depthSensor.OnUpdateEvent += onDepthSensorUpdate;

         try
        {
            Nuitrack.Run();
        }
        catch (nuitrack.Exception exception)
        {
            Console.WriteLine("Can not start Nuitrack. Exception: ", exception);
        }
     }

         private void onDepthSensorUpdate(DepthFrame depthFrame)
    {
        _depthFrame = depthFrame;
    }

Code Complies and I see in the Output:

DepthProviderManager: AstraProPerseeDepthProvider can’t create RGB Stream (VideoCapture device ID is not valid)
DepthProviderManager: Couldn’t open device ( DeviceOpen using default: no devices found
)
DepthProviderManager: Can not create OpenNI depth generator (OpenNI Status: Can’t create any node of the requested type!)

I also see that the sensor starts working.
But the “onDepthSensorUpdate” function is never called. ( I see that through breakpoint in the function)

What do I miss to make it work?

Thanks in advance.

Best regards,
Björn

2

Ok so after some more digging I think it´s somehow related to the fact that I´m using a C# WPF Project.
the code below compiles and starts the sensor but it never calls “onDepthSensorUpdate” the Eventhandler

using System;
using System.Windows;
using System.Runtime.InteropServices;
using System.Threading;
using nuitrack;
using nuitrack.issues;

namespace NuitrackTest
{

/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
    private DepthSensor _depthSensor;
    private ColorSensor _colorSensor;
    private UserTracker _userTracker;
    private SkeletonTracker _skeletonTracker;
    private GestureRecognizer _gestureRecognizer;
    private HandTracker _handTracker;

    private DepthFrame _depthFrame;
    private SkeletonData _skeletonData;
    private HandTrackerData _handTrackerData;
    private IssuesData _issuesData = null;


    public MainWindow()
    {
        //InitializeComponent();

        //Sensor sx = new Sensor();
        //sx.Start();
        try
        {
            Nuitrack.Init("C:/nuitrack/data/nuitrack.config");
        }
        catch (nuitrack.Exception exception)
        {
            Console.WriteLine("Can not initialize Nuitrack. Exception: ", exception);
        }

        //Thread.Sleep(1000);

        //// Create and setup all required modules
        _depthSensor = DepthSensor.Create();
        _depthSensor.SetMirror(false);

        _colorSensor = ColorSensor.Create();
        _userTracker = UserTracker.Create();
        _skeletonTracker = SkeletonTracker.Create();
        _handTracker = HandTracker.Create();
        _gestureRecognizer = GestureRecognizer.Create();

        // Add module event handlers
        _depthSensor.OnUpdateEvent += onDepthSensorUpdate;
        //_colorSensor.OnUpdateEvent += onColorSensorUpdate;
        //_userTracker.OnUpdateEvent += onUserTrackerUpdate;
        //_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
        //_handTracker.OnUpdateEvent += onHandTrackerUpdate;
        //_gestureRecognizer.OnNewGesturesEvent += onNewGestures;

        // Add an event handler for the IssueUpdate event 
        Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;

        // Create and configure the Bitmap object according to the depth sensor output mode
        OutputMode mode = _depthSensor.GetOutputMode();


        // Run Nuitrack. This starts sensor data processing.
        try
        {
            Nuitrack.Run();
        }
        catch (nuitrack.Exception exception)
        {
            Console.WriteLine("Can not start Nuitrack. Exception: ", exception);
        }
    }


    // Nuitrack depth sensor module data update callback
    private void onDepthSensorUpdate(DepthFrame depthFrame)
    {
        _depthFrame = depthFrame;
    }

    private void onIssueDataUpdate(IssuesData issuesData)
    {
        _issuesData = issuesData;
    }

 }
}

Can anyone confirm this?

Best regards,
Björn

3

Hi Björn,

You have to call Nuitrack.Update method in the main loop of your application. Please take a look at OnPaint method in nuitrack_csharp_sample.

Also, if you installed Nuitrack, you don’t have to specify the path to nuitrack.config file in Nuitrack.Init, otherwise you’ll have to modify nuitrack.config file. Therefore, please use Nuitrack.Init() for Nuitrack initialization.

4

Hi Olga,

thanks for the reply. Now it works.

Best regards,
Björn