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@@ -0,0 +1,629 @@
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+{
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+ This file is part of the Free Pascal run time library.
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+ Copyright (c) 2013 by the Free Pascal development team
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+
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+ Microsoft Kinect SDK import.
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+
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+ See the file COPYING.FPC, included in this distribution,
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+ for details about the copyright.
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+
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+ This program is distributed in the hope that it will be useful,
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+ but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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+
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+ **********************************************************************}
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+
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+{
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+ Original C++ Microsoft headers are (c) Microsoft:
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+ NuiSensor.h, NuiApi.h, NuiSkeleton.h and NuiImageCamera.h
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+}
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+
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+{$MODE objfpc}
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+{$H+}
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+{$PACKRECORDS C}
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+
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+unit libkinect10;
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+
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+interface
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+
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+uses sysutils, windows;
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+
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+const
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+ LibKinect = 'kinect10.dll';
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+
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+Const
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+ NUI_INITIALIZE_FLAG_USES_AUDIO = $10000000;
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+ NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX = $00000001;
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+ NUI_INITIALIZE_FLAG_USES_COLOR = $00000002;
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+ NUI_INITIALIZE_FLAG_USES_SKELETON = $00000008;
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+ NUI_INITIALIZE_FLAG_USES_DEPTH = $00000020;
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+ NUI_INITIALIZE_FLAG_USES_HIGH_QUALITY_COLOR = $00000040;
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+ NUI_INITIALIZE_DEFAULT_HARDWARE_THREAD = $FFFFFFFF;
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+
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+ ERROR_DEVICE_NOT_CONNECTED = 1167;
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+ E_NUI_DEVICE_NOT_CONNECTED = ERROR_DEVICE_NOT_CONNECTED;
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+ E_NUI_DEVICE_NOT_READY = ERROR_NOT_READY;
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+ E_NUI_ALREADY_INITIALIZED = ERROR_ALREADY_INITIALIZED;
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+ E_NUI_NO_MORE_ITEMS = ERROR_NO_MORE_ITEMS;
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+
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+ FACILITY_NUI = $301;
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+ S_NUI_INITIALIZING = $03010001;
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+ E_NUI_FRAME_NO_DATA = $83010001;
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+ E_NUI_STREAM_NOT_ENABLED = $83010002;
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+ E_NUI_IMAGE_STREAM_IN_USE = $83010003;
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+ E_NUI_FRAME_LIMIT_EXCEEDED = $83010004;
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+ E_NUI_FEATURE_NOT_INITIALIZED = $83010005;
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+ E_NUI_NOTGENUINE = $83010006;
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+ E_NUI_INSUFFICIENTBANDWIDTH = $83010007;
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+ E_NUI_NOTSUPPORTED = $83010008;
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+ E_NUI_DEVICE_IN_USE = $83010009;
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+ E_NUI_DATABASE_NOT_FOUND = $8301000D;
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+ E_NUI_DATABASE_VERSION_MISMATCH = $8301000E;
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+ E_NUI_HARDWARE_FEATURE_UNAVAILABLE = $8301000F;
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+ E_NUI_NOTCONNECTED = $83010014;
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+ E_NUI_NOTREADY = $83010015;
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+ E_NUI_SKELETAL_ENGINE_BUSY = $830100AA;
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+ E_NUI_NOTPOWERED = $8301027F;
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+ E_NUI_BADINDEX = $83010585;
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+ E_NUI_BADIINDEX = E_NUI_BADINDEX;
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+
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+
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+ MICARRAY_ADAPTIVE_BEAM = $1100;
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+ MAX_DEV_STR_LEN = 512;
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+ NUI_SKELETON_COUNT = 6;
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+
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+ NUI_SKELETON_POSITION_HIP_CENTER = 0;
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+ NUI_SKELETON_POSITION_SPINE = NUI_SKELETON_POSITION_HIP_CENTER+1;
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+ NUI_SKELETON_POSITION_SHOULDER_CENTER = NUI_SKELETON_POSITION_SPINE+1;
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+ NUI_SKELETON_POSITION_HEAD = NUI_SKELETON_POSITION_SHOULDER_CENTER+1;
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+ NUI_SKELETON_POSITION_SHOULDER_LEFT = NUI_SKELETON_POSITION_HEAD+1;
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+ NUI_SKELETON_POSITION_ELBOW_LEFT = NUI_SKELETON_POSITION_SHOULDER_LEFT+1;
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+ NUI_SKELETON_POSITION_WRIST_LEFT = NUI_SKELETON_POSITION_ELBOW_LEFT+1;
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+ NUI_SKELETON_POSITION_HAND_LEFT = NUI_SKELETON_POSITION_WRIST_LEFT+1;
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+ NUI_SKELETON_POSITION_SHOULDER_RIGHT = NUI_SKELETON_POSITION_HAND_LEFT+1;
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+ NUI_SKELETON_POSITION_ELBOW_RIGHT = NUI_SKELETON_POSITION_SHOULDER_RIGHT+1;
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+ NUI_SKELETON_POSITION_WRIST_RIGHT = NUI_SKELETON_POSITION_ELBOW_RIGHT+1;
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+ NUI_SKELETON_POSITION_HAND_RIGHT = NUI_SKELETON_POSITION_WRIST_RIGHT+1;
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+ NUI_SKELETON_POSITION_HIP_LEFT = NUI_SKELETON_POSITION_HAND_RIGHT+1;
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+ NUI_SKELETON_POSITION_KNEE_LEFT = NUI_SKELETON_POSITION_HIP_LEFT+1;
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+ NUI_SKELETON_POSITION_ANKLE_LEFT = NUI_SKELETON_POSITION_KNEE_LEFT+1;
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+ NUI_SKELETON_POSITION_FOOT_LEFT = NUI_SKELETON_POSITION_ANKLE_LEFT+1;
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+ NUI_SKELETON_POSITION_HIP_RIGHT = NUI_SKELETON_POSITION_FOOT_LEFT+1;
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+ NUI_SKELETON_POSITION_KNEE_RIGHT = NUI_SKELETON_POSITION_HIP_RIGHT+1;
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+ NUI_SKELETON_POSITION_ANKLE_RIGHT = NUI_SKELETON_POSITION_KNEE_RIGHT+1;
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+ NUI_SKELETON_POSITION_FOOT_RIGHT = NUI_SKELETON_POSITION_ANKLE_RIGHT+1;
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+ NUI_SKELETON_POSITION_COUNT = NUI_SKELETON_POSITION_FOOT_RIGHT+1;
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+
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+ NUI_IMAGE_RESOLUTION_INVALID = -1;
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+ NUI_IMAGE_RESOLUTION_80x60 = 0;
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+ NUI_IMAGE_RESOLUTION_320x240 = NUI_IMAGE_RESOLUTION_80x60+1;
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+ NUI_IMAGE_RESOLUTION_640x480 = NUI_IMAGE_RESOLUTION_320x240+1;
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+ NUI_IMAGE_RESOLUTION_1280x960 = NUI_IMAGE_RESOLUTION_640x480+1;
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+
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+ NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX = 0;
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+ NUI_IMAGE_TYPE_COLOR = NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX+1;
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+ NUI_IMAGE_TYPE_COLOR_YUV = NUI_IMAGE_TYPE_COLOR+1;
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+ NUI_IMAGE_TYPE_COLOR_RAW_YUV = NUI_IMAGE_TYPE_COLOR_YUV+1;
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+ NUI_IMAGE_TYPE_DEPTH = NUI_IMAGE_TYPE_COLOR_RAW_YUV+1;
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+
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+ NUI_SKELETON_POSITION_NOT_TRACKED = 0;
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+ NUI_SKELETON_POSITION_INFERRED = NUI_SKELETON_POSITION_NOT_TRACKED+1;
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+ NUI_SKELETON_POSITION_TRACKED = NUI_SKELETON_POSITION_INFERRED+1;
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+
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+ NUI_SKELETON_NOT_TRACKED = 0;
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+ NUI_SKELETON_POSITION_ONLY = NUI_SKELETON_NOT_TRACKED+1;
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+ NUI_SKELETON_TRACKED = NUI_SKELETON_POSITION_ONLY+1;
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+
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+ NUI_IMAGE_PLAYER_INDEX_SHIFT = 3;
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+ NUI_IMAGE_PLAYER_INDEX_MASK = (1 shl NUI_IMAGE_PLAYER_INDEX_SHIFT)-1;
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+ NUI_IMAGE_DEPTH_MAXIMUM = (4000 shl NUI_IMAGE_PLAYER_INDEX_SHIFT) or NUI_IMAGE_PLAYER_INDEX_MASK;
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+ NUI_IMAGE_DEPTH_MINIMUM = 800 shl NUI_IMAGE_PLAYER_INDEX_SHIFT;
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+ NUI_IMAGE_DEPTH_MAXIMUM_NEAR_MODE = (3000 shl NUI_IMAGE_PLAYER_INDEX_SHIFT) or NUI_IMAGE_PLAYER_INDEX_MASK;
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+ NUI_IMAGE_DEPTH_MINIMUM_NEAR_MODE = 400 shl NUI_IMAGE_PLAYER_INDEX_SHIFT;
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+ NUI_IMAGE_DEPTH_NO_VALUE = 0;
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+ NUI_IMAGE_DEPTH_TOO_FAR_VALUE = $0fff shl NUI_IMAGE_PLAYER_INDEX_SHIFT;
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+ NUI_DEPTH_DEPTH_UNKNOWN_VALUE = $1fff shl NUI_IMAGE_PLAYER_INDEX_SHIFT;
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+
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+ NUI_CAMERA_DEPTH_NOMINAL_FOCAL_LENGTH_IN_PIXELS = 285.63;
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+ NUI_CAMERA_DEPTH_NOMINAL_INVERSE_FOCAL_LENGTH_IN_PIXELS = 3.501e-3;
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+ NUI_CAMERA_DEPTH_NOMINAL_DIAGONAL_FOV = 70.0;
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+ NUI_CAMERA_DEPTH_NOMINAL_HORIZONTAL_FOV = 58.5;
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+ NUI_CAMERA_DEPTH_NOMINAL_VERTICAL_FOV = 45.6;
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+
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+ NUI_CAMERA_COLOR_NOMINAL_FOCAL_LENGTH_IN_PIXELS = 531.15;
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+ NUI_CAMERA_COLOR_NOMINAL_INVERSE_FOCAL_LENGTH_IN_PIXELS = 1.83e-3;
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+ NUI_CAMERA_COLOR_NOMINAL_DIAGONAL_FOV = 73.9;
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+ NUI_CAMERA_COLOR_NOMINAL_HORIZONTAL_FOV = 62.0;
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+ NUI_CAMERA_COLOR_NOMINAL_VERTICAL_FOV = 48.6;
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+
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+ NUI_IMAGE_FRAME_FLAG_NONE = $00000000;
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+ NUI_IMAGE_FRAME_FLAG_VIEW_AREA_UNKNOWN = $00000001;
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+
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+ NUI_IMAGE_STREAM_FLAG_SUPPRESS_NO_FRAME_DATA = $00010000;
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+ NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE = $00020000;
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+ NUI_IMAGE_STREAM_FLAG_DISTINCT_OVERFLOW_DEPTH_VALUES = $00040000;
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+ NUI_IMAGE_STREAM_FRAME_LIMIT_MAXIMUM = 4;
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+ NUI_CAMERA_ELEVATION_MAXIMUM = 27;
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+ NUI_CAMERA_ELEVATION_MINIMUM = -27;
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+
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+ FLT_EPSILON = 1.192092896e-07;
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+
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+ NUI_SKELETON_MAX_TRACKED_COUNT = 2;
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+ NUI_SKELETON_INVALID_TRACKING_ID = 0;
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+ NUI_SKELETON_QUALITY_CLIPPED_RIGHT = $00000001;
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+ NUI_SKELETON_QUALITY_CLIPPED_LEFT = $00000002;
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+ NUI_SKELETON_QUALITY_CLIPPED_TOP = $00000004;
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+ NUI_SKELETON_QUALITY_CLIPPED_BOTTOM = $00000008;
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+ NUI_SKELETON_FRAME_FLAG_SEATED_SUPPORT_ENABLED = $00000008;
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+ NUI_SKELETON_TRACKING_FLAG_SUPPRESS_NO_FRAME_DATA = $00000001;
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+ NUI_SKELETON_TRACKING_FLAG_TITLE_SETS_TRACKED_SKELETONS = $00000002;
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+ NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT = $00000004;
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+ NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE = $00000008;
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+
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+ NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 = NUI_CAMERA_DEPTH_NOMINAL_INVERSE_FOCAL_LENGTH_IN_PIXELS;
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+ NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240 = NUI_CAMERA_DEPTH_NOMINAL_FOCAL_LENGTH_IN_PIXELS;
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+
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+type
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+ Vector4 = record
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+ x,y,z,w : Single;
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+ end;
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+ PVector4 = ^Vector4;
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+ TVector4 = Vector4;
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+
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+ Matrix4 = record
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+ M11, M12, M13, M14,
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+ M21, M22, M23, M24,
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+ M31, M32, M33, M34,
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+ M41, M42, M43, M44 : Single;
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+ end;
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+ PMatrix4 = ^Matrix4;
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+ TMatrix4 = Matrix4;
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+
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+ NUI_SKELETON_POSITION_INDEX = Type Integer;
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+ PNUI_SKELETON_POSITION_INDEX = ^NUI_SKELETON_POSITION_INDEX;
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+ TNUI_SKELETON_POSITION_INDEX = NUI_SKELETON_POSITION_INDEX;
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+
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+ NUI_IMAGE_TYPE = Type Integer;
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+ PNUI_IMAGE_TYPE = ^NUI_IMAGE_TYPE;
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+ TNUI_IMAGE_TYPE = NUI_IMAGE_TYPE;
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+
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+ NUI_IMAGE_RESOLUTION = Type integer;
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+ PNUI_IMAGE_RESOLUTION = ^NUI_IMAGE_RESOLUTION;
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+ TNUI_IMAGE_RESOLUTION = NUI_IMAGE_RESOLUTION;
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+
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+ NUI_IMAGE_VIEW_AREA = record
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+ eDigitalZoom : integer;
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+ lCenterX : Longint;
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+ lCenterY : Longint;
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+ end;
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+ PNUI_IMAGE_VIEW_AREA = ^NUI_IMAGE_VIEW_AREA;
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+ TNUI_IMAGE_VIEW_AREA = NUI_IMAGE_VIEW_AREA;
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+
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+ NUI_TRANSFORM_SMOOTH_PARAMETERS = record
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+ fSmoothing,
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+ fCorrection,
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+ fPrediction,
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+ fJitterRadius,
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+ fMaxDeviationRadius : single;
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+ end;
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+ PNUI_TRANSFORM_SMOOTH_PARAMETERS = ^NUI_TRANSFORM_SMOOTH_PARAMETERS;
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+ TNUI_TRANSFORM_SMOOTH_PARAMETERS = NUI_TRANSFORM_SMOOTH_PARAMETERS;
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+
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+ NUI_SURFACE_DESC = record
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+ Width : cardinal;
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+ Height : cardinal;
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+ end;
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+ PNUI_SURFACE_DESC = ^NUI_SURFACE_DESC;
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+ TNUI_SURFACE_DESC = NUI_SURFACE_DESC;
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+
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+ NUI_SKELETON_POSITION_TRACKING_STATE = Type integer;
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+ PNUI_SKELETON_POSITION_TRACKING_STATE = ^NUI_SKELETON_POSITION_TRACKING_STATE;
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+ TNUI_SKELETON_POSITION_TRACKING_STATE = NUI_SKELETON_POSITION_TRACKING_STATE;
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+
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+ NUI_SKELETON_TRACKING_STATE = Type integer;
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+ PNUI_SKELETON_TRACKING_STATE = ^NUI_SKELETON_TRACKING_STATE;
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+ TNUI_SKELETON_TRACKING_STATE = NUI_SKELETON_TRACKING_STATE;
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+
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+ NUI_SKELETON_DATA = record
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+ eTrackingState : NUI_SKELETON_TRACKING_STATE;
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+ dwTrackingID,
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+ dwEnrollmentIndex,
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+ dwUserIndex : DWORD;
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+ Position : Vector4;
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+ SkeletonPositions : array[0..19] of Vector4;
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+ eSkeletonPositionTrackingState : array[0..19] of NUI_SKELETON_POSITION_TRACKING_STATE;
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+ dwQualityFlags : DWORD;
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+ end;
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+ PNUI_SKELETON_DATA = ^NUI_SKELETON_DATA;
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+ TNUI_SKELETON_DATA = NUI_SKELETON_DATA;
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+
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+ NUI_SKELETON_FRAME = record
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+ liTimeStamp : int64;
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+ dwFrameNumber,
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+ dwFlags : DWORD;
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+ vFloorClipPlane,
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+ vNormalToGravity : Vector4;
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+ SkeletonData : array[0..NUI_SKELETON_COUNT-1] of NUI_SKELETON_DATA;
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+ end;
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+ PNUI_SKELETON_FRAME = ^NUI_SKELETON_FRAME;
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+ TNUI_SKELETON_FRAME = NUI_SKELETON_FRAME;
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+
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+ NUI_SKELETON_BONE_ROTATION = record
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+ rotationMatrix : Matrix4;
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+ rotationQuaternion : Vector4;
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+ end;
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+ PNUI_SKELETON_BONE_ROTATION = ^NUI_SKELETON_BONE_ROTATION;
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+ TNUI_SKELETON_BONE_ROTATION = NUI_SKELETON_BONE_ROTATION;
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+
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+ NUI_SKELETON_BONE_ORIENTATION = record
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+ endJoint : NUI_SKELETON_POSITION_INDEX;
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+ startJoint : NUI_SKELETON_POSITION_INDEX;
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+ hierarchicalRotation : NUI_SKELETON_BONE_ROTATION;
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+ absoluteRotation : NUI_SKELETON_BONE_ROTATION;
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+ end;
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+ PNUI_SKELETON_BONE_ORIENTATION = ^NUI_SKELETON_BONE_ORIENTATION;
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+ TNUI_SKELETON_BONE_ORIENTATION = NUI_SKELETON_BONE_ORIENTATION;
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+
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+ NUI_LOCKED_RECT = record
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+ Pitch : integer;
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+ size : integer;
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+ pBits : pointer;
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+ end;
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+ PNUI_LOCKED_RECT = ^NUI_LOCKED_RECT;
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+ TNUI_LOCKED_RECT = NUI_LOCKED_RECT;
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+
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+ INuiAudioBeam = interface(IUnknown)['{8c3cebfa-a35d-497e-bc9a-e9752a8155e0}']
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+ Function GetBeam(out angle : double) : HRESULT; stdcall;
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+ Function SetBeam(angle : double) : HRESULT; stdcall;
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+ Function GetPosition(out angle, confidence : double) : HRESULT; stdcall;
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+ end;
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+
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+ INuiFrameTexture = interface(IUnknown)['{13ea17f5-ff2e-4670-9ee5-1297a6e880d1}']
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+ Function BufferLen : integer; stdcall;
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+ Function Pitch : integer; stdcall;
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+ Function LockRect(Level : UINT; pLockedRect : PNUI_LOCKED_RECT; pRect : PRECT; Flags : DWORD ) : HRESULT; stdcall;
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+ Function GetLevelDesc(Level : UINT; out desc : NUI_SURFACE_DESC) : HRESULT; stdcall;
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+ Function UnlockRect(Level: UINT) : HRESULT; stdcall;
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+ end;
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+
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+ NUI_IMAGE_FRAME = record
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+ liTimeStamp : int64;
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+ dwFrameNumber : DWORD;
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+ eImageType : NUI_IMAGE_TYPE;
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+ eResolution : NUI_IMAGE_RESOLUTION;
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+ pFrameTexture : INuiFrameTexture;
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+ dwFrameFlags : DWORD;
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+ ViewArea : NUI_IMAGE_VIEW_AREA;
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+ end;
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+ PNUI_IMAGE_FRAME = ^NUI_IMAGE_FRAME;
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+ TNUI_IMAGE_FRAME = NUI_IMAGE_FRAME;
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+
|
|
|
+ NUI_MICROPHONE_ARRAY_DEVICE = record
|
|
|
+ szDeviceName : array[0..MAX_DEV_STR_LEN - 1] of WideChar;
|
|
|
+ szDeviceID : array[0..MAX_DEV_STR_LEN - 1] of WideChar;
|
|
|
+ iDeviceIndex : integer;
|
|
|
+ end;
|
|
|
+ PNUI_MICROPHONE_ARRAY_DEVICE = ^NUI_MICROPHONE_ARRAY_DEVICE;
|
|
|
+ TNUI_MICROPHONE_ARRAY_DEVICE = NUI_MICROPHONE_ARRAY_DEVICE;
|
|
|
+
|
|
|
+ TNuiGetMicrophoneArrayDevices = Function(param1: PNUI_MICROPHONE_ARRAY_DEVICE; param2 : integer; out param3: integer) : HRESULT; stdcall;
|
|
|
+
|
|
|
+ NUI_SPEAKER_DEVICE = record
|
|
|
+ szDeviceName : array[0..MAX_DEV_STR_LEN - 1] of widechar;
|
|
|
+ iDeviceIndex : integer;
|
|
|
+ fDefault : boolean;
|
|
|
+ end;
|
|
|
+ PNUI_SPEAKER_DEVICE = ^NUI_SPEAKER_DEVICE;
|
|
|
+ TNUI_SPEAKER_DEVICE = NUI_SPEAKER_DEVICE;
|
|
|
+
|
|
|
+ INuiSensor = interface(IUnknown)['{1f5e088c-a8c7-41d3-9957-209677a13e85}']
|
|
|
+ Function NuiInitialize(dwFlags : DWORD) : HRESULT; stdcall;
|
|
|
+ Procedure NuiShutdown; stdcall;
|
|
|
+ Function NuiSetFrameEndEvent(hEvent : THandle; dwFrameEventFlag : DWORD) : HRESULT; stdcall;
|
|
|
+ Function NuiImageStreamOpen(eImageType : NUI_IMAGE_TYPE; eResolution : NUI_IMAGE_RESOLUTION; dwImageFrameFlags : DWORD; dwFrameLimit : DWORD; hNextFrameEvent : THandle; out phStreamHandle : THandle) : HRESULT; stdcall;
|
|
|
+ Function NuiImageStreamSetImageFrameFlags(hStream : THandle; dwImageFrameFlags : DWORD) : HRESULT; stdcall;
|
|
|
+ Function NuiImageStreamGetImageFrameFlags(hStream : THandle; pdwImageFrameFlags : PDWORD) : HRESULT; stdcall;
|
|
|
+ Function NuiImageStreamGetNextFrame(hStream : THandle; dwMillisecondsToWait : DWORD; pImageFrame : PNUI_IMAGE_FRAME) : HRESULT; stdcall;
|
|
|
+ Function NuiImageStreamReleaseFrame(hStream : THandle; pImageFrame : PNUI_IMAGE_FRAME) : HRESULT; stdcall;
|
|
|
+ Function NuiImageGetColorPixelCoordinatesFromDepthPixel(eColorResolution : NUI_IMAGE_RESOLUTION; const pcViewArea : PNUI_IMAGE_VIEW_AREA; lDepthX : longint;lDepthY : longint; usDepthValue : word; plColorX : PLongint; plColorY : PLongint) : HRESULT; stdcall;
|
|
|
+ Function NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(eColorResolution : NUI_IMAGE_RESOLUTION;eDepthResolution : NUI_IMAGE_RESOLUTION; const pcViewArea : PNUI_IMAGE_VIEW_AREA; lDepthX : longint; lDepthY : longint; usDepthValue : word; plColorX : PLongint; plColorY : PLongint) : HRESULT; stdcall;
|
|
|
+ Function NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution(eColorResolution : NUI_IMAGE_RESOLUTION; eDepthResolution : NUI_IMAGE_RESOLUTION; cDepthValues : DWORD; pDepthValues : PWORD; cColorCoordinates : DWORD; pColorCoordinates : PLongint) : HRESULT; stdcall;
|
|
|
+ Function NuiCameraElevationSetAngle(lAngleDegrees : longint) : HRESULT; stdcall;
|
|
|
+ Function NuiCameraElevationGetAngle(plAngleDegrees : PLongint) : HRESULT; stdcall;
|
|
|
+ Function NuiSkeletonTrackingEnable(hNextFrameEvent : THandle; dwFlags : DWORD ) : HRESULT; stdcall;
|
|
|
+ Function NuiSkeletonTrackingDisable : HRESULT; stdcall;
|
|
|
+ Function NuiSkeletonSetTrackedSkeletons(TrackingIDs : PDWORD) : HRESULT; stdcall;
|
|
|
+ Function NuiSkeletonGetNextFrame(dwMillisecondsToWait : DWORD;pSkeletonFrame : PNUI_SKELETON_FRAME) : HRESULT; stdcall;
|
|
|
+ Function NuiTransformSmooth(pSkeletonFrame : PNUI_SKELETON_FRAME; const pSmoothingParams : PNUI_TRANSFORM_SMOOTH_PARAMETERS) : HRESULT; stdcall;
|
|
|
+ Function NuiGetAudioSource(out ppDmo : INuiAudioBeam) : HRESULT; stdcall;
|
|
|
+ Function NuiInstanceIndex : integer; stdcall;
|
|
|
+ Function NuiDeviceConnectionId : PWideString; stdcall;
|
|
|
+ Function NuiUniqueId : PWideString; stdcall;
|
|
|
+ Function NuiAudioArrayId : PWideString; stdcall;
|
|
|
+ Function NuiStatus : HRESULT; stdcall;
|
|
|
+ Function NuiInitializationFlags : DWORD; stdcall;
|
|
|
+ end;
|
|
|
+
|
|
|
+ IID_INuiSensor = INuiSensor;
|
|
|
+ IID_INuiFrameTexture = INuiFrameTexture;
|
|
|
+ IID_INuiAudioBeam = INuiAudioBeam;
|
|
|
+
|
|
|
+ TNuiGetSensorCount = Function (out count : integer) : HRESULT; stdcall;
|
|
|
+ TNuiCreateSensorByIndex = Function (index : integer; out ppNuiSensor : INuiSensor) : HRESULT; stdcall;
|
|
|
+ TNuiCreateSensorById = Function (const strInstanceId : PWideString; out ppNuiSensor : INuiSensor) : HRESULT; stdcall;
|
|
|
+ TNuiGetAudioSource = Function (out ppDmo : INuiAudioBeam) : HRESULT; stdcall;
|
|
|
+ TNuiStatusProc = Procedure (hrStatus : HRESULT; const instanceName : PWideString; const uniqueDeviceName : PWideString; pUserData : pointer); stdcall;
|
|
|
+ TNuiSetDeviceStatusCallback = Procedure (callback : TNuiStatusProc; pUserData : pointer); stdcall;
|
|
|
+ TNuiGetSpeakerDevices = Function (pDeviceInfo : PNUI_SPEAKER_DEVICE; size : integer; out piDeviceCount : integer) : HRESULT; stdcall;
|
|
|
+
|
|
|
+ Procedure NuiImageResolutionToSize(res : NUI_IMAGE_RESOLUTION;out refWidth, refHeight : DWORD);
|
|
|
+
|
|
|
+
|
|
|
+ Function NuiDepthPixelToDepth(packedPixel: WORD) : WORD;
|
|
|
+ Function NuiDepthPixelToPlayerIndex(packedPixel : WORD) : WORD;
|
|
|
+
|
|
|
+Type
|
|
|
+ NUI_IMAGE_DIGITALZOOM = (NUI_IMAGE_DIGITAL_ZOOM_1X = 0);
|
|
|
+ TNUI_IMAGE_DIGITALZOOM = NUI_IMAGE_DIGITALZOOM;
|
|
|
+
|
|
|
+ TNuiImageStreamSetImageFrameFlags = Function (hStream : THANDLE; dwImageFrameFlags : DWORD) : HRESULT; stdcall;
|
|
|
+ TNuiImageStreamGetImageFrameFlags = Function (hStream : THANDLE; pdwImageFrameFlags : PDWORD) : HRESULT; stdcall;
|
|
|
+ TNuiSetFrameEndEvent = Function (hEvent : THANDLE; dwFrameEventFlag : DWORD) : HRESULT; stdcall;
|
|
|
+ TNuiImageStreamOpen = Function (eImageType : NUI_IMAGE_TYPE; eResolution : NUI_IMAGE_RESOLUTION; dwImageFrameFlags : DWORD; dwFrameLimit : DWORD; hNextFrameEvent : THANDLE; out phStreamHandle : THANDLE) : HRESULT; stdcall;
|
|
|
+ TNuiImageStreamGetNextFrame = Function (hStream : THANDLE; dwMillisecondsToWait : DWORD;out ppcImageFrame : PNUI_IMAGE_FRAME) : HRESULT; stdcall;
|
|
|
+ TNuiImageStreamReleaseFrame = Function (hStream : THANDLE; CONST pImageFrame : PNUI_IMAGE_FRAME) : HRESULT; stdcall;
|
|
|
+ TNuiImageGetColorPixelCoordinatesFromDepthPixel = Function (eColorResolution : NUI_IMAGE_RESOLUTION;CONST pcViewArea : PNUI_IMAGE_VIEW_AREA;lDepthX : LONGINT;lDepthY : LONGINT; usDepthValue : WORD; out plColorX : LONGINT; out plColorY : LONGINT) : HRESULT; stdcall;
|
|
|
+ TNuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution = Function (eColorResolution : NUI_IMAGE_RESOLUTION;eDepthResolution : NUI_IMAGE_RESOLUTION;CONST pcViewArea : PNUI_IMAGE_VIEW_AREA;lDepthX : LONGINT; lDepthY : LONGINT; usDepthValue : WORD; out plColorX : LONGINT; out plColorY : LONGINT) : HRESULT; stdcall;
|
|
|
+ TNuiCameraElevationGetAngle = Function (out plAngleDegrees : LONGINT) : HRESULT; stdcall;
|
|
|
+ TNuiCameraElevationSetAngle = Function (lAngleDegrees : LONGINT) : HRESULT; stdcall;
|
|
|
+
|
|
|
+ TTrackingIDsArray = array[0..NUI_SKELETON_MAX_TRACKED_COUNT-1] of DWORD;
|
|
|
+
|
|
|
+ TNuiSkeletonTrackingEnable = Function (hNextFrameEvent : THandle;dwFlags : DWORD) : HRESULT; stdcall;
|
|
|
+ TNuiSkeletonTrackingDisable = Function : HRESULT; stdcall;
|
|
|
+ TNuiSkeletonGetNextFrame = Function (dwMillisecondsToWait : DWORD; pSkeletonFrame : PNUI_SKELETON_FRAME) : HRESULT; stdcall;
|
|
|
+ TNuiSkeletonSetTrackedSkeletons = Function (TrackingIDs : TTrackingIDsArray) : HRESULT; stdcall;
|
|
|
+ TNuiTransformSmooth = Function (pSkeletonFrame : PNUI_SKELETON_FRAME;CONST pSmoothingParams : PNUI_TRANSFORM_SMOOTH_PARAMETERS) : HRESULT; stdcall;
|
|
|
+ TNuiSkeletonCalculateBoneOrientations = Function (const pSkeletonData : PNUI_SKELETON_DATA; pBoneOrientations : PNUI_SKELETON_BONE_ORIENTATION) : Integer; stdcall;
|
|
|
+
|
|
|
+// Converted macros
|
|
|
+
|
|
|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out lDepthX : Integer;out lDepthY : Integer; out usDepthValue : word; eResolution : NUI_IMAGE_RESOLUTION); inline;overload;
|
|
|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out lDepthX : Integer;out lDepthY : Integer; out usDepthValue : word); inline;overload;
|
|
|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out fDepthX : single;out fDepthY : single; eResolution : NUI_IMAGE_RESOLUTION); inline;overload;
|
|
|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out fDepthX : single;out fDepthY : single); inline;overload;
|
|
|
+Function NuiTransformDepthImageToSkeleton(lDepthX : Integer;lDepthY : Integer; usDepthValue : word; eResolution : NUI_IMAGE_RESOLUTION) : TVector4; inline;overload;
|
|
|
+Function NuiTransformDepthImageToSkeleton(lDepthX, lDepthY : Integer; usDepthValue : word) : TVector4; inline;overload;
|
|
|
+Function HasSkeletalEngine(pNuiSensor : INuiSensor) : boolean;
|
|
|
+
|
|
|
+type
|
|
|
+ TNuiInitialize = Function (dwFlags : DWORD) : HRESULT; stdcall;
|
|
|
+ TNuiShutdown = Procedure; stdcall;
|
|
|
+
|
|
|
+var
|
|
|
+ NuiInitialize : TNuiInitialize = nil;
|
|
|
+ NuiShutdown : TNuiShutdown = nil;
|
|
|
+ NuiGetSensorCount : TNuiGetSensorCount = nil;
|
|
|
+ NuiCreateSensorByIndex : TNuiCreateSensorByIndex = nil;
|
|
|
+ NuiCreateSensorById : TNuiCreateSensorById = nil;
|
|
|
+ NuiGetAudioSource : TNuiGetAudioSource = nil;
|
|
|
+ NuiSetDeviceStatusCallback : TNuiSetDeviceStatusCallback = nil;
|
|
|
+ NuiSkeletonTrackingEnable : TNuiSkeletonTrackingEnable = nil;
|
|
|
+ NuiSkeletonTrackingDisable : TNuiSkeletonTrackingDisable = nil;
|
|
|
+ NuiSkeletonGetNextFrame : TNuiSkeletonGetNextFrame = nil;
|
|
|
+ NuiSkeletonSetTrackedSkeletons : TNuiSkeletonSetTrackedSkeletons = nil;
|
|
|
+ NuiTransformSmooth : TNuiTransformSmooth = nil;
|
|
|
+ NuiSkeletonCalculateBoneOrientations : TNuiSkeletonCalculateBoneOrientations = nil;
|
|
|
+ NuiImageStreamSetImageFrameFlags : TNuiImageStreamSetImageFrameFlags = nil;
|
|
|
+ NuiImageStreamGetImageFrameFlags : TNuiImageStreamGetImageFrameFlags = nil;
|
|
|
+ NuiSetFrameEndEvent : TNuiSetFrameEndEvent = nil;
|
|
|
+ NuiImageStreamOpen : TNuiImageStreamOpen = nil;
|
|
|
+ NuiImageStreamGetNextFrame : TNuiImageStreamGetNextFrame = nil;
|
|
|
+ NuiImageStreamReleaseFrame : TNuiImageStreamReleaseFrame = nil;
|
|
|
+ NuiImageGetColorPixelCoordinatesFromDepthPixel : TNuiImageGetColorPixelCoordinatesFromDepthPixel = nil;
|
|
|
+ NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution : TNuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution = nil;
|
|
|
+ NuiCameraElevationGetAngle : TNuiCameraElevationGetAngle = nil;
|
|
|
+ NuiCameraElevationSetAngle : TNuiCameraElevationSetAngle = nil;
|
|
|
+
|
|
|
+Function LoadNuiLibrary(Const Filename : string = LibKinect) : Integer;
|
|
|
+Procedure UnloadNuiLibrary;
|
|
|
+
|
|
|
+implementation
|
|
|
+
|
|
|
+uses dynlibs;
|
|
|
+
|
|
|
+var
|
|
|
+ LoadedLib : String;
|
|
|
+ HLib : TLibHandle = NilHandle;
|
|
|
+ ARefCount : Integer = 0;
|
|
|
+
|
|
|
+Function LoadNuiLibrary(Const Filename : string = LibKinect) : Integer;
|
|
|
+begin
|
|
|
+ If (ARefCount>0) then
|
|
|
+ begin
|
|
|
+ If (LoadedLib<>FileName) then
|
|
|
+ Raise Exception.CreateFmt('NUI Library "%s" is already loaded as "%s"',[FileName,LoadedLib]);
|
|
|
+ Inc(ArefCount);
|
|
|
+ Exit;
|
|
|
+ end;
|
|
|
+ HLib:=LoadLibrary(Filename);
|
|
|
+ if HLib=NilHandle then
|
|
|
+ Raise Exception.CreateFmt('Failed to load NUI Library "%s"',[FileName]);
|
|
|
+ Pointer(NuiCameraElevationGetAngle):=GetProcAddress(HLib, 'NuiCameraElevationGetAngle');
|
|
|
+ Pointer(NuiCameraElevationSetAngle):=GetProcAddress(HLib, 'NuiCameraElevationSetAngle');
|
|
|
+ Pointer(NuiCreateSensorById):=GetProcAddress(HLib, 'NuiCreateSensorById');
|
|
|
+ Pointer(NuiCreateSensorByIndex):=GetProcAddress(HLib,'NuiCreateSensorByIndex');
|
|
|
+ Pointer(NuiGetAudioSource):=GetProcAddress(HLib, 'NuiGetAudioSource');
|
|
|
+ Pointer(NuiGetSensorCount):=GetProcAddress(HLib,'NuiGetSensorCount');
|
|
|
+ Pointer(NuiImageGetColorPixelCoordinatesFromDepthPixel):=GetProcAddress(HLib, 'NuiImageGetColorPixelCoordinatesFromDepthPixel');
|
|
|
+ Pointer(NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution):=GetProcAddress(HLib, 'NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution');
|
|
|
+ Pointer(NuiImageStreamGetImageFrameFlags):=GetProcAddress(HLib, 'NuiImageStreamGetImageFrameFlags');
|
|
|
+ Pointer(NuiImageStreamGetNextFrame):=GetProcAddress(HLib, 'NuiImageStreamGetNextFrame');
|
|
|
+ Pointer(NuiImageStreamOpen):=GetProcAddress(HLib, 'NuiImageStreamOpen');
|
|
|
+ Pointer(NuiImageStreamReleaseFrame):=GetProcAddress(HLib, 'NuiImageStreamReleaseFrame');
|
|
|
+ Pointer(NuiImageStreamSetImageFrameFlags):=GetProcAddress(HLib, 'NuiImageStreamSetImageFrameFlags');
|
|
|
+ Pointer(NuiInitialize):=GetProcAddress(HLib,'NuiInitialize');
|
|
|
+ Pointer(NuiSetDeviceStatusCallback):=GetProcAddress(HLib, 'NuiSetDeviceStatusCallback');
|
|
|
+ Pointer(NuiSetFrameEndEvent):=GetProcAddress(HLib, 'NuiSetFrameEndEvent');
|
|
|
+ Pointer(NuiShutdown):=GetProcAddress(HLib,'NuiShutdown');
|
|
|
+ Pointer(NuiSkeletonCalculateBoneOrientations):=GetProcAddress(HLib, 'NuiSkeletonCalculateBoneOrientations');
|
|
|
+ Pointer(NuiSkeletonGetNextFrame):=GetProcAddress(HLib, 'NuiSkeletonGetNextFrame');
|
|
|
+ Pointer(NuiSkeletonSetTrackedSkeletons):=GetProcAddress(HLib, 'NuiSkeletonSetTrackedSkeletons');
|
|
|
+ Pointer(NuiSkeletonTrackingDisable):=GetProcAddress(HLib, 'NuiSkeletonTrackingDisable');
|
|
|
+ Pointer(NuiSkeletonTrackingEnable):=GetProcAddress(HLib, 'NuiSkeletonTrackingEnable');
|
|
|
+ Pointer(NuiTransformSmooth):=GetProcAddress(HLib, 'NuiTransformSmooth');
|
|
|
+ ARefCount:=1;
|
|
|
+end;
|
|
|
+
|
|
|
+Procedure UnloadNuiLibrary;
|
|
|
+begin
|
|
|
+ Dec(ARefcount);
|
|
|
+ If ARefCount>0 then
|
|
|
+ Exit;
|
|
|
+ NuiCameraElevationGetAngle:=nil;
|
|
|
+ NuiCameraElevationSetAngle:=nil;
|
|
|
+ NuiCreateSensorById:=nil;
|
|
|
+ NuiCreateSensorByIndex:=nil;
|
|
|
+ NuiGetAudioSource:=nil;
|
|
|
+ NuiGetSensorCount:=nil;
|
|
|
+ NuiImageGetColorPixelCoordinatesFromDepthPixel:=nil;
|
|
|
+ NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution:=nil;
|
|
|
+ NuiImageStreamGetImageFrameFlags:=nil;
|
|
|
+ NuiImageStreamGetNextFrame:=nil;
|
|
|
+ NuiImageStreamOpen:=nil;
|
|
|
+ NuiImageStreamReleaseFrame:=nil;
|
|
|
+ NuiImageStreamSetImageFrameFlags:=nil;
|
|
|
+ NuiInitialize:=nil;
|
|
|
+ NuiSetDeviceStatusCallback:=nil;
|
|
|
+ NuiSetFrameEndEvent:=nil;
|
|
|
+ NuiShutdown:=nil;
|
|
|
+ NuiSkeletonCalculateBoneOrientations:=nil;
|
|
|
+ NuiSkeletonGetNextFrame:=nil;
|
|
|
+ NuiSkeletonSetTrackedSkeletons:=nil;
|
|
|
+ NuiSkeletonTrackingDisable:=nil;
|
|
|
+ NuiSkeletonTrackingEnable:=nil;
|
|
|
+ NuiTransformSmooth:=nil;
|
|
|
+ FreeLibrary(HLib);
|
|
|
+ HLib:=NilHandle;
|
|
|
+end;
|
|
|
+
|
|
|
+Procedure NuiImageResolutionToSize(res : NUI_IMAGE_RESOLUTION; out refWidth, refHeight : DWORD);
|
|
|
+begin
|
|
|
+ case res of
|
|
|
+ NUI_IMAGE_RESOLUTION_80x60:
|
|
|
+ begin
|
|
|
+ refWidth := 80;
|
|
|
+ refHeight := 60;
|
|
|
+ end;
|
|
|
+ NUI_IMAGE_RESOLUTION_320x240:
|
|
|
+ begin
|
|
|
+ refWidth := 320;
|
|
|
+ refHeight := 240;
|
|
|
+ end;
|
|
|
+ NUI_IMAGE_RESOLUTION_640x480:
|
|
|
+ begin
|
|
|
+ refWidth := 640;
|
|
|
+ refHeight := 480;
|
|
|
+ end;
|
|
|
+ NUI_IMAGE_RESOLUTION_1280x960:
|
|
|
+ begin
|
|
|
+ refWidth := 1280;
|
|
|
+ refHeight := 960;
|
|
|
+ end;
|
|
|
+ else
|
|
|
+ refWidth := 0;
|
|
|
+ refHeight := 0;
|
|
|
+ end;
|
|
|
+end;
|
|
|
+
|
|
|
+Function NuiDepthPixelToDepth(packedPixel: WORD) : WORD;
|
|
|
+begin
|
|
|
+ Result:=packedPixel shr NUI_IMAGE_PLAYER_INDEX_SHIFT;
|
|
|
+end;
|
|
|
+
|
|
|
+Function NuiDepthPixelToPlayerIndex(packedPixel : WORD) : WORD;
|
|
|
+begin
|
|
|
+ Result:=packedPixel and NUI_IMAGE_PLAYER_INDEX_MASK;
|
|
|
+end;
|
|
|
+
|
|
|
+Function HasSkeletalEngine(pNuiSensor : INuiSensor) : boolean;
|
|
|
+
|
|
|
+begin
|
|
|
+ if Not assigned(pNuiSensor) then
|
|
|
+ Result:=False
|
|
|
+ else
|
|
|
+ Result := ((pNuiSensor.NuiInitializationFlags() and NUI_INITIALIZE_FLAG_USES_SKELETON)<>0) or
|
|
|
+ ((pNuiSensor.NuiInitializationFlags() and NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX)<>0);
|
|
|
+end;
|
|
|
+
|
|
|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out lDepthX : Integer;out lDepthY : Integer;out usDepthValue : word; eResolution : NUI_IMAGE_RESOLUTION);inline;
|
|
|
+
|
|
|
+var
|
|
|
+ w, h : DWORD;
|
|
|
+
|
|
|
+begin
|
|
|
+ if (vPoint.z>FLT_EPSILON) then
|
|
|
+ begin
|
|
|
+ NuiImageResolutionToSize(eResolution,w,h);
|
|
|
+ lDepthX:=round(w/2+vPoint.x*(w/320.0)*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240/vPoint.z+0.5);
|
|
|
+ lDepthY:=round(h/2-vPoint.y*(h/240.0)*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240/vPoint.z+0.5);
|
|
|
+ usDepthValue := round(vPoint.z *1000) shl 3;
|
|
|
+ end
|
|
|
+ else
|
|
|
+ begin
|
|
|
+ lDepthX := 0;
|
|
|
+ lDepthY := 0;
|
|
|
+ usDepthValue := 0;
|
|
|
+ end;
|
|
|
+end;
|
|
|
+
|
|
|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out lDepthX : Integer; out lDepthY : Integer;out usDepthValue : word); inline;
|
|
|
+begin
|
|
|
+ NuiTransformSkeletonToDepthImage(vPoint,lDepthX,lDepthY,usDepthValue,NUI_IMAGE_RESOLUTION_320x240);
|
|
|
+end;
|
|
|
+
|
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|
+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out fDepthX : single;out fDepthY : single; eResolution : NUI_IMAGE_RESOLUTION); inline;
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+
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+var
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+ w, h : DWORD;
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+
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+begin
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+ if (vPoint.z>FLT_EPSILON) then
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+ begin
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+ NuiImageResolutionToSize(eResolution,w,h);
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+ fDepthX:=w/2+vPoint.x*(w/320.0)*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240/vPoint.z;
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+ fDepthY:=h/2-vPoint.y*(h/240.0)*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240/vPoint.z;
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+ end
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+ else
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+ begin
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+ fDepthX:=0.0;
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+ fDepthY:=0.0;
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+ end;
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+end;
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+
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+Procedure NuiTransformSkeletonToDepthImage(vPoint : TVector4;out fDepthX : single;out fDepthY : single);
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+begin
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+ NuiTransformSkeletonToDepthImage(vPoint, fDepthX, fDepthY,NUI_IMAGE_RESOLUTION_320x240);
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+end;
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+
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+Function NuiTransformDepthImageToSkeleton(lDepthX : Integer;lDepthY : Integer; usDepthValue : word;eResolution : NUI_IMAGE_RESOLUTION) : TVector4; inline;
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+
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+var
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+ w,h : DWORD;
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+ Z : single;
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+
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+begin
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+ NuiImageResolutionToSize(eResolution,w,h);
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+ Z:=(usDepthValue shr 3)/1000.0;
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+ result.Z:=Z;
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+ result.X:=(lDepthX-w/2.0)*(320.0/w)*NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240*Z;
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+ result.Y:=-(lDepthY-h/2.0)*(240.0/h)*NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240*Z;
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+ result.W:=1.0;
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+end;
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+
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+Function NuiTransformDepthImageToSkeleton(lDepthX,lDepthY : Integer;usDepthValue : word) : TVector4; inline;
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+begin
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+ result:=NuiTransformDepthImageToSkeleton(lDepthX,lDepthY,usDepthValue,NUI_IMAGE_RESOLUTION_320x240);
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+end;
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+
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+end.
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michael