New upcoming SDK

[vpenades]

Hi, I would like to know if, for the new SDK, a number of issues will be fixed, in particular, I’m interested in these:

C# Wrapper Garbage Collector performance

I’ve noticed that when running NuiTrack with the C# wrapper, the GC is running almost continuosly; see VS memory diagnostic window below. This happens even with all the most basic examples. Tracking the memory objects being created and disposed, I noticed that new DepthFrame, ColorFrame, UserFrame objects are created, including their internal Byte[] Data arrays. but they’re not reused in the next frames. This may be convenient for naive, simple or short lived applications but for applications…

Kinect2 wrong depth frame size

@jel.cos Indeed, depth frame resolution is resized to 640x480 for further processing by Nuitrack. You don’t have to change anything in nuitrack.config because Nuitrack processes the depth frame in this resolution (640x480). @vpenades Nuitrack uses the OpenNI2 driver for OpenNI-compatible cameras (including Kinect), which causes noise as shown in your screenshot.

and this:

Sensor intrinsics and correlation

ColorSensor doesn’t include information about depth, so converting the real coordinates to projective coordinates is impossible without the depth data from DepthSensor. You can align a depth image to color image and use the converting methods from DepthSensor.