k4abttypes.h

#ifndef K4ABTTYPES_H
#define K4ABTTYPES_H

#include <k4a/k4atypes.h>

#ifdef __cplusplus
extern "C" {
#endif

K4A_DECLARE_HANDLE(k4abt_tracker_t);

K4A_DECLARE_HANDLE(k4abt_frame_t);

typedef enum
{
    K4ABT_JOINT_PELVIS = 0,
    K4ABT_JOINT_SPINE_NAVEL,
    K4ABT_JOINT_SPINE_CHEST,
    K4ABT_JOINT_NECK,
    K4ABT_JOINT_CLAVICLE_LEFT,
    K4ABT_JOINT_SHOULDER_LEFT,
    K4ABT_JOINT_ELBOW_LEFT,
    K4ABT_JOINT_WRIST_LEFT,
    K4ABT_JOINT_HAND_LEFT,
    K4ABT_JOINT_HANDTIP_LEFT,
    K4ABT_JOINT_THUMB_LEFT,
    K4ABT_JOINT_CLAVICLE_RIGHT,
    K4ABT_JOINT_SHOULDER_RIGHT,
    K4ABT_JOINT_ELBOW_RIGHT,
    K4ABT_JOINT_WRIST_RIGHT,
    K4ABT_JOINT_HAND_RIGHT,
    K4ABT_JOINT_HANDTIP_RIGHT,
    K4ABT_JOINT_THUMB_RIGHT,
    K4ABT_JOINT_HIP_LEFT,
    K4ABT_JOINT_KNEE_LEFT,
    K4ABT_JOINT_ANKLE_LEFT,
    K4ABT_JOINT_FOOT_LEFT,
    K4ABT_JOINT_HIP_RIGHT,
    K4ABT_JOINT_KNEE_RIGHT,
    K4ABT_JOINT_ANKLE_RIGHT,
    K4ABT_JOINT_FOOT_RIGHT,
    K4ABT_JOINT_HEAD,
    K4ABT_JOINT_NOSE,
    K4ABT_JOINT_EYE_LEFT,
    K4ABT_JOINT_EAR_LEFT,
    K4ABT_JOINT_EYE_RIGHT,
    K4ABT_JOINT_EAR_RIGHT,
    K4ABT_JOINT_COUNT
} k4abt_joint_id_t;

typedef enum
{
    K4ABT_SENSOR_ORIENTATION_DEFAULT = 0,        
    K4ABT_SENSOR_ORIENTATION_CLOCKWISE90,        
    K4ABT_SENSOR_ORIENTATION_COUNTERCLOCKWISE90, 
    K4ABT_SENSOR_ORIENTATION_FLIP180,            
} k4abt_sensor_orientation_t;

typedef enum
{
    K4ABT_TRACKER_PROCESSING_MODE_GPU = 0, 
    K4ABT_TRACKER_PROCESSING_MODE_CPU,     
    K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA,     
    K4ABT_TRACKER_PROCESSING_MODE_GPU_TENSORRT, 
    K4ABT_TRACKER_PROCESSING_MODE_GPU_DIRECTML 
} k4abt_tracker_processing_mode_t;

typedef struct _k4abt_tracker_configuration_t
{
    k4abt_sensor_orientation_t sensor_orientation;

    k4abt_tracker_processing_mode_t processing_mode;

    int32_t gpu_device_id;

    const char* model_path;
} k4abt_tracker_configuration_t;

typedef union
{
    struct _wxyz
    {
        float w; 
        float x; 
        float y; 
        float z; 
    } wxyz;      
    float v[4];  
} k4a_quaternion_t;

typedef enum
{
    K4ABT_JOINT_CONFIDENCE_NONE = 0,          
    K4ABT_JOINT_CONFIDENCE_LOW = 1,           
    K4ABT_JOINT_CONFIDENCE_MEDIUM = 2,        
    K4ABT_JOINT_CONFIDENCE_HIGH = 3,          
    K4ABT_JOINT_CONFIDENCE_LEVELS_COUNT = 4,  
} k4abt_joint_confidence_level_t;

typedef struct _k4abt_joint_t
{
    k4a_float3_t     position;    
    k4a_quaternion_t orientation; 
    k4abt_joint_confidence_level_t confidence_level; 
} k4abt_joint_t;

typedef struct _k4abt_skeleton_t
{
    k4abt_joint_t joints[K4ABT_JOINT_COUNT]; 
} k4abt_skeleton_t;

typedef struct _k4abt_body_t
{
    uint32_t id;                
    k4abt_skeleton_t skeleton;  
} k4abt_body_t;

#define K4ABT_BODY_INDEX_MAP_BACKGROUND 255

#define K4ABT_INVALID_BODY_ID 0xFFFFFFFF

#define K4ABT_DEFAULT_TRACKER_SMOOTHING_FACTOR 0.0f

static const k4abt_tracker_configuration_t K4ABT_TRACKER_CONFIG_DEFAULT = { K4ABT_SENSOR_ORIENTATION_DEFAULT,  // sensor_orientation
#ifdef _WIN32
                                                                            K4ABT_TRACKER_PROCESSING_MODE_GPU_DIRECTML, // default processing_mode for Windows
#else
                                                                            K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA, // default processing_mode if not Windows
#endif
                                                                            0,                               // gpu_device_id
                                                                            NULL };                          // model_path

#ifdef __cplusplus
}
#endif

#endif /* K4ABTTYPES_H */