Nuitrack v0.34.1

3DiVi · Nov 3, 2020 · 4de7f91 · 4de7f91
1 parent cf55d8c
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,34 @@
+# Release v0.34.1
+**Release Date**: 03 Nov 2020  
+**Nuitrack Runtime version**: 0.34.1  
+**Nuitrack SDK version**: 1.9.0
+
+## API Changes
+
+* **`Nuitrack SDK v1.9.0` requires `Nuitrack v0.34.1` to be installed**
+
+### C++ API
+
+* Fixed an occasional compiler error `type has C-linkage specified, but returns UDT which is incompatible with C`
+
+## New Features
+
+* Added support for the **Realsense L515** camera (`Windows x86`, `Windows x86_64`, and `Ubuntu amd64`)
+* `NuitrackSDK.unitypackage`:
+  * connection to the **TVico** and **VicoVR** sensors on `Android` is now possible without installing [VicoVR.apk](https://play.google.com/store/apps/details?id=com.vicovr.manager) (only the `SkeletonTracker` data is transferred)
+
+## Bug Fixes and Improvements
+
+* Fixed the exception handling issue in `nuitrack-windows-x86.exe`
+* `NuitrackSDK.unitypackage`:
+  * fixed issues with *Async Init* mode
+* Edited the [Creating an AR Football Game using Nuitrack and ARCore/ARKit](/doc/Unity_AR_Football.md) tutorial
+
+## Known Issues
+
+ - USB cameras permission issue on **Android 9 (Pie) or higher**
+ - Gesture recognition may fail for sitting pose
+
 # Release v0.34.0
 **Release Date**: 09 Oct 2020  
 **Nuitrack Runtime version**: 0.34.0  

diff --git a/Examples/nuitrack_csharp_device_api_sample/nuitrack.net.dll b/Examples/nuitrack_csharp_device_api_sample/nuitrack.net.dll
diff --git a/Examples/nuitrack_csharp_sample/nuitrack.net.dll b/Examples/nuitrack_csharp_sample/nuitrack.net.dll
diff --git a/Examples/nuitrack_gl_sample/android/libs/nuitrackhelper.jar b/Examples/nuitrack_gl_sample/android/libs/nuitrackhelper.jar
diff --git a/Examples/nuitrack_ni_gl_sample/android/libs/nuitrackhelper.jar b/Examples/nuitrack_ni_gl_sample/android/libs/nuitrackhelper.jar
diff --git a/Nuitrack/include/nuitrack/capi/DepthSensor_CAPI.h b/Nuitrack/include/nuitrack/capi/DepthSensor_CAPI.h
@@ -70,11 +70,11 @@ extern "C" NUITRACK_API NUITRACK_DEPRECATED const uint16_t* nuitrack_GetRgbFrame
 
 extern "C" void NUITRACK_API nuitrack_GetDepthSensorOutputMode(NuitrackModulePtr, tdv::nuitrack::OutputMode*);
 
-extern "C" tdv::nuitrack::Vector3 NUITRACK_API nuitrack_ConvertProjToRealCoordsXYZ(NuitrackModulePtr, int, int, uint16_t);
-extern "C" tdv::nuitrack::Vector3 NUITRACK_API nuitrack_ConvertProjToRealCoordsVector3(NuitrackModulePtr, tdv::nuitrack::Vector3);
+extern "C" tdv::nuitrack::CVector3 NUITRACK_API nuitrack_ctypes_ConvertProjToRealCoordsXYZ(NuitrackModulePtr, int, int, uint16_t);
+extern "C" tdv::nuitrack::CVector3 NUITRACK_API nuitrack_ctypes_ConvertProjToRealCoordsVector3(NuitrackModulePtr, tdv::nuitrack::CVector3);
 
-extern "C" tdv::nuitrack::Vector3 NUITRACK_API nuitrack_ConvertRealToProjCoordsXYZ(NuitrackModulePtr, float, float, float);
-extern "C" tdv::nuitrack::Vector3 NUITRACK_API nuitrack_ConvertRealToProjCoordsVector3(NuitrackModulePtr, tdv::nuitrack::Vector3);
+extern "C" tdv::nuitrack::CVector3 NUITRACK_API nuitrack_ctypes_ConvertRealToProjCoordsXYZ(NuitrackModulePtr, float, float, float);
+extern "C" tdv::nuitrack::CVector3 NUITRACK_API nuitrack_ctypes_ConvertRealToProjCoordsVector3(NuitrackModulePtr, tdv::nuitrack::CVector3);
 
 extern "C" bool NUITRACK_API nuitrack_IsDepthSensorMirror(NuitrackModulePtr);
 extern "C" void NUITRACK_API nuitrack_SetDepthSensorMirror(NuitrackModulePtr, bool);

diff --git a/Nuitrack/include/nuitrack/modules/DepthSensor.h b/Nuitrack/include/nuitrack/modules/DepthSensor.h
@@ -163,7 +163,8 @@ class DepthSensor : public tdv::nuitrack::HeaderOnlyAPI_Module
 	 */
 	Vector3 convertProjToRealCoords(const Vector3& p) const
 	{
-		return nuitrack_ConvertProjToRealCoordsVector3(_pimpl, p);
+		CVector3 c_vec { p.x, p.y, p.z };
+		return Vector3(nuitrack_ctypes_ConvertProjToRealCoordsVector3(_pimpl, c_vec));
 	}
 
 	/**
@@ -174,7 +175,7 @@ class DepthSensor : public tdv::nuitrack::HeaderOnlyAPI_Module
 	*/
 	virtual Vector3 convertProjToRealCoords(size_t x, size_t y, DepthFrame::DataType depth) const
 	{
-		return nuitrack_ConvertProjToRealCoordsXYZ(_pimpl, x, y, depth);
+		return Vector3(nuitrack_ctypes_ConvertProjToRealCoordsXYZ(_pimpl, x, y, depth));
 	}
 
 	/**
@@ -184,7 +185,8 @@ class DepthSensor : public tdv::nuitrack::HeaderOnlyAPI_Module
 	 */
 	virtual Vector3 convertRealToProjCoords(const Vector3& p) const
 	{
-		return nuitrack_ConvertRealToProjCoordsVector3(_pimpl, p);
+		CVector3 c_vec { p.x, p.y, p.z };
+		return Vector3(nuitrack_ctypes_ConvertRealToProjCoordsVector3(_pimpl, c_vec));
 	}
 
 	/**
@@ -194,7 +196,7 @@ class DepthSensor : public tdv::nuitrack::HeaderOnlyAPI_Module
 	*/
 	virtual Vector3 convertRealToProjCoords(float x, float y, float z) const
 	{
-		return nuitrack_ConvertRealToProjCoordsXYZ(_pimpl, x, y, z);
+		return Vector3(nuitrack_ctypes_ConvertRealToProjCoordsXYZ(_pimpl, x, y, z));
 	}
 
 	bool canUpdate() const

diff --git a/Nuitrack/include/nuitrack/modules/NuitrackModule.h b/Nuitrack/include/nuitrack/modules/NuitrackModule.h
@@ -10,38 +10,42 @@ class ExceptionHolder
 {
 public:
 	ExceptionHolder(tdv::nuitrack::ExceptionType type = tdv::nuitrack::OK, std::string message = "")
-	    : type(type), message(message)
+		: _type(type), _message(message)
 	{
 	}
 
-	virtual tdv::nuitrack::ExceptionType getType() const { return type; }
-	virtual void setType(tdv::nuitrack::ExceptionType type) { this->type = type; }
-	virtual std::string getMessage() const { return message; }
-	virtual void setMessage(std::string message) { this->message = message; }
+	virtual ~ExceptionHolder() {}
+
+	virtual tdv::nuitrack::ExceptionType getType() const { return _type; }
+	virtual void setType(tdv::nuitrack::ExceptionType type) { _type = type; }
+	virtual std::string getMessage() const { return _message; }
+	virtual void setMessage(std::string message) { _message = message; }
 
 protected:
-	tdv::nuitrack::ExceptionType type;
-	std::string message;
+	tdv::nuitrack::ExceptionType _type;
+	std::string _message;
 };
 
 class AtomicExceptionHolder : public ExceptionHolder {
 public:
 	tdv::nuitrack::ExceptionType getType() const override {
 		std::lock_guard<std::mutex> lock(_mutex);
-		return type;
+		return _type;
 	}
 	void setType(tdv::nuitrack::ExceptionType type) override {
 		std::lock_guard<std::mutex> lock(_mutex);
-		this->type = type;
+		_type = type;
 	}
 	std::string getMessage() const override {
 		std::lock_guard<std::mutex> lock(_mutex);
-		return message;
+		return _message;
 	}
 	void setMessage(std::string message) override {
 		std::lock_guard<std::mutex> lock(_mutex);
-		this->message = message;
+		_message = message;
 	}
+
+	virtual ~AtomicExceptionHolder() {}
 private:
 	mutable std::mutex _mutex;
 };

diff --git a/Nuitrack/include/nuitrack/types/Color3.h b/Nuitrack/include/nuitrack/types/Color3.h
@@ -6,16 +6,17 @@ namespace tdv
 namespace nuitrack
 {
 
+extern "C" {
+
 struct Color3
 {
-	Color3(uint8_t red = 0, uint8_t green = 0, uint8_t blue = 0)
-		: blue(blue), green(green), red(red) {}
-
 	uint8_t blue;
 	uint8_t green;
 	uint8_t red;
 };
 
+}
+
 }
 }
 

diff --git a/Nuitrack/include/nuitrack/types/Vector3.h b/Nuitrack/include/nuitrack/types/Vector3.h
@@ -6,9 +6,21 @@ namespace tdv
 namespace nuitrack
 {
 
+extern "C" {
+
+struct CVector3
+{
+	float x;
+	float y;
+	float z;
+};
+
+}
+
 struct Vector3
 {
 	Vector3(float x = 0, float y = 0, float z = 0) : x(x), y(y), z(z) {}
+	Vector3(CVector3 c_vec) : x(c_vec.x), y(c_vec.y), z(c_vec.z) {}
 
 	float x;
 	float y;

diff --git a/Nuitrack/lib/android-arm64/libOpenNI.so b/Nuitrack/lib/android-arm64/libOpenNI.so
diff --git a/Nuitrack/lib/android-arm64/libmiddleware.so b/Nuitrack/lib/android-arm64/libmiddleware.so
diff --git a/Nuitrack/lib/android-arm64/libnuitrack.so b/Nuitrack/lib/android-arm64/libnuitrack.so
diff --git a/Nuitrack/lib/android-arm64/nuitrackhelper.jar b/Nuitrack/lib/android-arm64/nuitrackhelper.jar
diff --git a/Nuitrack/lib/android/libOpenNI.so b/Nuitrack/lib/android/libOpenNI.so
diff --git a/Nuitrack/lib/android/libmiddleware.so b/Nuitrack/lib/android/libmiddleware.so
diff --git a/Nuitrack/lib/android/libnuitrack.so b/Nuitrack/lib/android/libnuitrack.so
diff --git a/Nuitrack/lib/android/nuitrackhelper.jar b/Nuitrack/lib/android/nuitrackhelper.jar
diff --git a/Nuitrack/lib/csharp/nuitrack.net.dll b/Nuitrack/lib/csharp/nuitrack.net.dll
diff --git a/Nuitrack/lib/linux64/libmiddleware.so b/Nuitrack/lib/linux64/libmiddleware.so
diff --git a/Nuitrack/lib/linux64/libnuitrack.so b/Nuitrack/lib/linux64/libnuitrack.so
diff --git a/Nuitrack/lib/linux_arm/libmiddleware.so b/Nuitrack/lib/linux_arm/libmiddleware.so
diff --git a/Nuitrack/lib/linux_arm/libnuitrack.so b/Nuitrack/lib/linux_arm/libnuitrack.so
diff --git a/Nuitrack/lib/win32/middleware.lib b/Nuitrack/lib/win32/middleware.lib
diff --git a/Nuitrack/lib/win32/nuitrack.lib b/Nuitrack/lib/win32/nuitrack.lib
diff --git a/Nuitrack/lib/win64/middleware.lib b/Nuitrack/lib/win64/middleware.lib
diff --git a/Nuitrack/lib/win64/nuitrack.lib b/Nuitrack/lib/win64/nuitrack.lib
diff --git a/Platforms/Nuitrack.apk b/Platforms/Nuitrack.apk
diff --git a/Platforms/Nuitrack_arm64.apk b/Platforms/Nuitrack_arm64.apk
diff --git a/Platforms/nuitrack-linux-armhf.deb b/Platforms/nuitrack-linux-armhf.deb
diff --git a/Platforms/nuitrack-ubuntu-amd64.deb b/Platforms/nuitrack-ubuntu-amd64.deb
diff --git a/Platforms/nuitrack-windows-x64.exe b/Platforms/nuitrack-windows-x64.exe
diff --git a/Platforms/nuitrack-windows-x86.exe b/Platforms/nuitrack-windows-x86.exe
diff --git a/Unity3D/NuitrackSDK.unitypackage b/Unity3D/NuitrackSDK.unitypackage
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-1.8.1
+1.9.0
diff --git a/doc/Install.md b/doc/Install.md
@@ -161,7 +161,7 @@ _**Warning**: Kinect SDK v2.0 does not support 32-bit version of Windows._
 
 #### Android
 
-Support for RealSense on Android was added in Nuitrack v.
+Support for RealSense on Android was added in Nuitrack v0.26.0.
 
 * Recommended RealSense D415/D435 firmware version is 5.11.1.0
 * Rooted and non-rooted devices can be used.