AstraDotNet Demo

This is a simple .Net solution to demonstrate working with Orbbec Astra (Pro) depth sensors from C#.

Features:

• Visualization of depth and color streams
• Visualization of body tracking (as stick skeletons over depth map)
• Calculation of actual frame rate (FPS, frames per second)
• Support for multiple sensors connected to one PC
• Registration mode switcher for depth stream (registration allows to align depth map with color image)
• Any CPU (support for both 32-bit and 64-bit architectures)

How to use:

• Open AstraDotNetDemo.sln in Visual Studio 2017
• Build and run AstraTestWpf application (F5)
• All required binaries and libraries are already in repository (see externals folder) and are copied automatically to output directory during build

Known issues in Astra SDK:

1. For Astra PRO actual frame rate is not exactly 30 FPS. It is about 29.7 FPS for depth only mode, and about 28.5 FPS for depth+color mode.
2. When more than one sensor is connected to one and the same PC, the following limitations take place:

• For Astra PRO sensors: lowering of frame rate to 15 FPS if color stream is on
• For Astra PRO sensors: you can see live color stream only from one sensor (black screen for other sensors)
• Body (skeletal) tracking doesn't work if it is turned on for more than one sensor

3. Wrong information about field-of-view for color stream.
4. Donot unplug sensor while application is running. In other case application may crash on exit.

Stuff used to make this:

• .Net Framework 4.6.1
• Visual Studio 2017 (Commutiny Edition)
• Astra SDK v2.0.15 (win32 and win64 versions for VS 2015)

License:

Astra SDK is licensed under Apache v2.0 and includes components of OpenNI and OpenCV projects.

This sample code is licensed under MIT license.