Raumscan als Pointcloud läuft

.gitignore

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+*/[Ll]ibrary/
+*/Software/[Tt]emp/
+*/Software/[Oo]bj/
+*/Software/[Bb]uild/
+*/Software/[Bb]uilds/
+*/Software/Assets/AssetStoreTools*
+
+
+# Autogenerated VS/MD/Consulo solution and project files
+*/Software/ExportedObj/
+*/Software/.consulo/
+
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+
+# Unity3D generated meta files
+*.pidb.meta
+
+# Unity3D Generated File On Crash Reports
+*/Software/sysinfo.txt
+
+# Builds
+*.apk
+*.unitypackage
+*.exe
+
+*.log

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VR Raumrekonstuktion/Assets/Mine/Scripts/MeshTestScript.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class MeshTestScript : MonoBehaviour {
+
+	// Use this for initialization
+	void Start () {
+		
+       
+	}
+	
+	// Update is called once per frame
+	void Update () {
+		
+	}
+}

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VR Raumrekonstuktion/Assets/Mine/Scripts/PointCloudAggregator.cs

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+using System.Collections.Generic;
+using UnityEngine;
+using Windows.Kinect;
+
+
+public class PointCloudAggregator : MonoBehaviour {
+
+    public float accuracy = 1000f;
+
+	public ParticleSystem _particleSystem;
+	private ParticleSystem.Particle[] particles;
+
+	// Kinectsensor foo
+	private MultiSourceManager _MultiManager;
+	private KinectSensor _Sensor;
+	private CoordinateMapper _Mapper;
+	private int depthWidth;
+	private int depthHeight;
+
+	private FrameDescription depthFrameDesc;
+
+	private CameraSpacePoint[] cameraSpacePoints;
+
+	private ColorSpacePoint[] colorSpacePoints;
+	private Texture2D cameraTexture;
+	private Color[] cameraColor;
+
+	Dictionary<Vector2Int, ColorHeight> data = new Dictionary<Vector2Int, ColorHeight>();
+
+	struct ColorHeight
+	{
+		public float height;
+		public Color color;
+		float avgAbout;
+
+		public ColorHeight(float inHeight, Color inColor)
+		{
+			height = inHeight;
+			color = inColor;
+			avgAbout = 1;
+
+		}
+
+		public void UpdateInfo(float newHeight, Color newColor)
+		{
+			color = (color * avgAbout / (avgAbout + 1)) + newColor / avgAbout;
+			height = (height * avgAbout / (avgAbout + 1)) + newHeight / avgAbout;
+			avgAbout++;
+		}
+	}
+
+
+
+    void Start()
+	{
+		_Sensor = KinectSensor.GetDefault();
+		if (_Sensor != null)
+		{
+            _MultiManager = GetComponent<MultiSourceManager>();
+			_Mapper = _Sensor.CoordinateMapper;
+            
+			depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
+			depthWidth = depthFrameDesc.Width;
+			depthHeight = depthFrameDesc.Height;
+
+			if (!_Sensor.IsOpen)
+			{
+				_Sensor.Open();
+			}
+
+
+			cameraSpacePoints = new CameraSpacePoint[depthWidth * depthHeight];
+
+			colorSpacePoints = new ColorSpacePoint[depthWidth * depthHeight];
+
+			cameraColor = new Color[depthWidth * depthHeight];
+		}
+	}
+	
+	// Update is called once per frame
+	void Update () {
+		if (Input.GetKeyDown(KeyCode.Space))
+		{
+            Debug.Log("Snapshot");
+			NewSnapshot();
+		}
+
+		if (Input.GetKeyDown(KeyCode.A))
+		{
+            Debug.Log("Cloud!");
+            Debug.Log(data.Count);
+            ShowAsPointCloud();
+		}
+
+	}
+
+	void NewSnapshot()
+	{
+		Vector3 currentPoint;
+		Vector2Int floorPosition;
+		ushort[] rawdata = _MultiManager.GetDepthData();
+
+		cameraTexture = _MultiManager.GetColorTexture();
+		_Mapper.MapDepthFrameToCameraSpace(rawdata, cameraSpacePoints);
+		_Mapper.MapDepthFrameToColorSpace(rawdata, colorSpacePoints);
+		for(int i = 0; i < cameraSpacePoints.Length; i++)
+		{
+            
+            
+
+			currentPoint = KinectPointToVector3(cameraSpacePoints[i]);
+            currentPoint = transform.InverseTransformPoint(currentPoint);
+			floorPosition = new Vector2Int(Mathf.RoundToInt(currentPoint.x * (int)accuracy), Mathf.RoundToInt(currentPoint.z * (int)accuracy));
+
+
+
+            if (data.ContainsKey(floorPosition))
+            {
+                ColorHeight values = data[floorPosition];
+                values.UpdateInfo(currentPoint.y, GetColorAtIndex(i));
+                data[floorPosition] = values;
+            }
+            else
+            {
+                data[floorPosition] = new ColorHeight(currentPoint.y, GetColorAtIndex(i));
+            }
+
+        }
+    }
+
+	Vector3 KinectPointToVector3(CameraSpacePoint point)
+	{
+		return new Vector3(-point.X, point.Y, point.Z);
+	}
+
+	Color GetColorAtIndex(int index)
+	{
+		Color result = cameraTexture.GetPixel(Mathf.RoundToInt(colorSpacePoints[index].X), Mathf.RoundToInt(colorSpacePoints[index].Y));
+		return result;
+	}
+
+	void ShowAsPointCloud()
+	{
+		ColorHeight colorHeight;
+		particles = new ParticleSystem.Particle[data.Count];    
+        
+        int i = 0;
+		foreach(Vector2Int floorPos in data.Keys)
+		{
+			colorHeight = data[floorPos];
+
+			particles[i].position = new Vector3((float)floorPos.x/accuracy, (float)colorHeight.height, (float)floorPos.y/ accuracy);
+			particles[i].startColor = colorHeight.color;
+            particles[i].startSize = 0.02f;
+			i++;
+		}
+        _particleSystem.SetParticles(particles, particles.Length);
+    }
+
+}

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VR Raumrekonstuktion/Assets/Shared/Kinect/MainScene.unity.meta

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/BodySourceManager.cs

@@ -0,0 +1,70 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class BodySourceManager : MonoBehaviour 
+{
+    private KinectSensor _Sensor;
+    private BodyFrameReader _Reader;
+    private Body[] _Data = null;
+    
+    public Body[] GetData()
+    {
+        return _Data;
+    }
+    
+
+    void Start () 
+    {
+        _Sensor = KinectSensor.GetDefault();
+
+        if (_Sensor != null)
+        {
+            _Reader = _Sensor.BodyFrameSource.OpenReader();
+            
+            if (!_Sensor.IsOpen)
+            {
+                _Sensor.Open();
+            }
+        }   
+    }
+    
+    void Update () 
+    {
+        if (_Reader != null)
+        {
+            var frame = _Reader.AcquireLatestFrame();
+            if (frame != null)
+            {
+                if (_Data == null)
+                {
+                    _Data = new Body[_Sensor.BodyFrameSource.BodyCount];
+                }
+                
+                frame.GetAndRefreshBodyData(_Data);
+                
+                frame.Dispose();
+                frame = null;
+            }
+        }    
+    }
+    
+    void OnApplicationQuit()
+    {
+        if (_Reader != null)
+        {
+            _Reader.Dispose();
+            _Reader = null;
+        }
+        
+        if (_Sensor != null)
+        {
+            if (_Sensor.IsOpen)
+            {
+                _Sensor.Close();
+            }
+            
+            _Sensor = null;
+        }
+    }
+}

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/BodySourceView.cs

@@ -0,0 +1,179 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Kinect = Windows.Kinect;
+
+public class BodySourceView : MonoBehaviour 
+{
+    public Material BoneMaterial;
+    public GameObject BodySourceManager;
+    
+    private Dictionary<ulong, GameObject> _Bodies = new Dictionary<ulong, GameObject>();
+    private BodySourceManager _BodyManager;
+    
+    private Dictionary<Kinect.JointType, Kinect.JointType> _BoneMap = new Dictionary<Kinect.JointType, Kinect.JointType>()
+    {
+        { Kinect.JointType.FootLeft, Kinect.JointType.AnkleLeft },
+        { Kinect.JointType.AnkleLeft, Kinect.JointType.KneeLeft },
+        { Kinect.JointType.KneeLeft, Kinect.JointType.HipLeft },
+        { Kinect.JointType.HipLeft, Kinect.JointType.SpineBase },
+        
+        { Kinect.JointType.FootRight, Kinect.JointType.AnkleRight },
+        { Kinect.JointType.AnkleRight, Kinect.JointType.KneeRight },
+        { Kinect.JointType.KneeRight, Kinect.JointType.HipRight },
+        { Kinect.JointType.HipRight, Kinect.JointType.SpineBase },
+        
+        { Kinect.JointType.HandTipLeft, Kinect.JointType.HandLeft },
+        { Kinect.JointType.ThumbLeft, Kinect.JointType.HandLeft },
+        { Kinect.JointType.HandLeft, Kinect.JointType.WristLeft },
+        { Kinect.JointType.WristLeft, Kinect.JointType.ElbowLeft },
+        { Kinect.JointType.ElbowLeft, Kinect.JointType.ShoulderLeft },
+        { Kinect.JointType.ShoulderLeft, Kinect.JointType.SpineShoulder },
+        
+        { Kinect.JointType.HandTipRight, Kinect.JointType.HandRight },
+        { Kinect.JointType.ThumbRight, Kinect.JointType.HandRight },
+        { Kinect.JointType.HandRight, Kinect.JointType.WristRight },
+        { Kinect.JointType.WristRight, Kinect.JointType.ElbowRight },
+        { Kinect.JointType.ElbowRight, Kinect.JointType.ShoulderRight },
+        { Kinect.JointType.ShoulderRight, Kinect.JointType.SpineShoulder },
+        
+        { Kinect.JointType.SpineBase, Kinect.JointType.SpineMid },
+        { Kinect.JointType.SpineMid, Kinect.JointType.SpineShoulder },
+        { Kinect.JointType.SpineShoulder, Kinect.JointType.Neck },
+        { Kinect.JointType.Neck, Kinect.JointType.Head },
+    };
+    
+    void Update () 
+    {
+        if (BodySourceManager == null)
+        {
+            return;
+        }
+        
+        _BodyManager = BodySourceManager.GetComponent<BodySourceManager>();
+        if (_BodyManager == null)
+        {
+            return;
+        }
+        
+        Kinect.Body[] data = _BodyManager.GetData();
+        if (data == null)
+        {
+            return;
+        }
+        
+        List<ulong> trackedIds = new List<ulong>();
+        foreach(var body in data)
+        {
+            if (body == null)
+            {
+                continue;
+              }
+                
+            if(body.IsTracked)
+            {
+                trackedIds.Add (body.TrackingId);
+            }
+        }
+        
+        List<ulong> knownIds = new List<ulong>(_Bodies.Keys);
+        
+        // First delete untracked bodies
+        foreach(ulong trackingId in knownIds)
+        {
+            if(!trackedIds.Contains(trackingId))
+            {
+                Destroy(_Bodies[trackingId]);
+                _Bodies.Remove(trackingId);
+            }
+        }
+
+        foreach(var body in data)
+        {
+            if (body == null)
+            {
+                continue;
+            }
+            
+            if(body.IsTracked)
+            {
+                if(!_Bodies.ContainsKey(body.TrackingId))
+                {
+                    _Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
+                }
+                
+                RefreshBodyObject(body, _Bodies[body.TrackingId]);
+            }
+        }
+    }
+    
+    private GameObject CreateBodyObject(ulong id)
+    {
+        GameObject body = new GameObject("Body:" + id);
+        
+        for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
+        {
+            GameObject jointObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
+            
+            LineRenderer lr = jointObj.AddComponent<LineRenderer>();
+            lr.SetVertexCount(2);
+            lr.material = BoneMaterial;
+            lr.SetWidth(0.05f, 0.05f);
+            
+            jointObj.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f);
+            jointObj.name = jt.ToString();
+            jointObj.transform.parent = body.transform;
+        }
+        
+        return body;
+    }
+    
+    private void RefreshBodyObject(Kinect.Body body, GameObject bodyObject)
+    {
+        for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
+        {
+            Kinect.Joint sourceJoint = body.Joints[jt];
+            Kinect.Joint? targetJoint = null;
+            
+            if(_BoneMap.ContainsKey(jt))
+            {
+                targetJoint = body.Joints[_BoneMap[jt]];
+            }
+            
+            Transform jointObj = bodyObject.transform.Find(jt.ToString());
+            jointObj.localPosition = GetVector3FromJoint(sourceJoint);
+            
+            LineRenderer lr = jointObj.GetComponent<LineRenderer>();
+            if(targetJoint.HasValue)
+            {
+                lr.SetPosition(0, jointObj.localPosition);
+                lr.SetPosition(1, GetVector3FromJoint(targetJoint.Value));
+                lr.SetColors(GetColorForState (sourceJoint.TrackingState), GetColorForState(targetJoint.Value.TrackingState));
+            }
+            else
+            {
+                lr.enabled = false;
+            }
+        }
+    }
+    
+    private static Color GetColorForState(Kinect.TrackingState state)
+    {
+        switch (state)
+        {
+        case Kinect.TrackingState.Tracked:
+            return Color.green;
+
+        case Kinect.TrackingState.Inferred:
+            return Color.red;
+
+        default:
+            return Color.black;
+        }
+    }
+    
+    private static Vector3 GetVector3FromJoint(Kinect.Joint joint)
+    {
+        return new Vector3(joint.Position.X * 10, joint.Position.Y * 10, joint.Position.Z * 10);
+    }
+}

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/ColorSourceManager.cs

@@ -0,0 +1,78 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class ColorSourceManager : MonoBehaviour 
+{
+    public int ColorWidth { get; private set; }
+    public int ColorHeight { get; private set; }
+
+    private KinectSensor _Sensor;
+    private ColorFrameReader _Reader;
+    private Texture2D _Texture;
+    private byte[] _Data;
+    
+    public Texture2D GetColorTexture()
+    {
+        return _Texture;
+    }
+    
+    void Start()
+    {
+        _Sensor = KinectSensor.GetDefault();
+        
+        if (_Sensor != null) 
+        {
+            _Reader = _Sensor.ColorFrameSource.OpenReader();
+            
+            var frameDesc = _Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
+            ColorWidth = frameDesc.Width;
+            ColorHeight = frameDesc.Height;
+            
+            _Texture = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.RGBA32, false);
+            _Data = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
+            
+            if (!_Sensor.IsOpen)
+            {
+                _Sensor.Open();
+            }
+        }
+    }
+    
+    void Update () 
+    {
+        if (_Reader != null) 
+        {
+            var frame = _Reader.AcquireLatestFrame();
+            
+            if (frame != null)
+            {
+                frame.CopyConvertedFrameDataToArray(_Data, ColorImageFormat.Rgba);
+                _Texture.LoadRawTextureData(_Data);
+                _Texture.Apply();
+                
+                frame.Dispose();
+                frame = null;
+            }
+        }
+    }
+
+    void OnApplicationQuit()
+    {
+        if (_Reader != null) 
+        {
+            _Reader.Dispose();
+            _Reader = null;
+        }
+        
+        if (_Sensor != null) 
+        {
+            if (_Sensor.IsOpen)
+            {
+                _Sensor.Close();
+            }
+            
+            _Sensor = null;
+        }
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/ColorSourceManager.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/ColorSourceView.cs

@@ -0,0 +1,30 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class ColorSourceView : MonoBehaviour
+{
+    public GameObject ColorSourceManager;
+    private ColorSourceManager _ColorManager;
+    
+    void Start ()
+    {
+        gameObject.GetComponent<Renderer>().material.SetTextureScale("_MainTex", new Vector2(-1, 1));
+    }
+    
+    void Update()
+    {
+        if (ColorSourceManager == null)
+        {
+            return;
+        }
+        
+        _ColorManager = ColorSourceManager.GetComponent<ColorSourceManager>();
+        if (_ColorManager == null)
+        {
+            return;
+        }
+        
+        gameObject.GetComponent<Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
+    }
+}

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/DepthSourceManager.cs

@@ -0,0 +1,59 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class DepthSourceManager : MonoBehaviour
+{   
+    private KinectSensor _Sensor;
+    private DepthFrameReader _Reader;
+    private ushort[] _Data;
+
+    public ushort[] GetData()
+    {
+        return _Data;
+    }
+
+    void Start () 
+    {
+        _Sensor = KinectSensor.GetDefault();
+        
+		if (_Sensor != null) {
+			_Reader = _Sensor.DepthFrameSource.OpenReader ();
+			_Data = new ushort[_Sensor.DepthFrameSource.FrameDescription.LengthInPixels];
+        
+		}
+    }
+    
+    void Update () 
+    {
+        if (_Reader != null)
+        {
+            var frame = _Reader.AcquireLatestFrame();
+            if (frame != null)
+            {
+                frame.CopyFrameDataToArray(_Data);
+                frame.Dispose();
+                frame = null;
+            }
+        }
+    }
+    
+    void OnApplicationQuit()
+    {
+        if (_Reader != null)
+        {
+            _Reader.Dispose();
+            _Reader = null;
+        }
+        
+        if (_Sensor != null)
+        {
+            if (_Sensor.IsOpen)
+            {
+                _Sensor.Close();
+            }
+            
+            _Sensor = null;
+        }
+    }
+}

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/DepthSourceView.cs

@@ -0,0 +1,252 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public enum DepthViewMode
+{
+    SeparateSourceReaders,
+    MultiSourceReader,
+}
+
+public class DepthSourceView : MonoBehaviour
+{
+    public DepthViewMode ViewMode = DepthViewMode.SeparateSourceReaders;
+    
+    public GameObject ColorSourceManager;
+    public GameObject DepthSourceManager;
+    public GameObject MultiSourceManager;
+    
+    private KinectSensor _Sensor;
+    private CoordinateMapper _Mapper;
+    private Mesh _Mesh;
+    private Vector3[] _Vertices;
+    private Vector2[] _UV;
+    private int[] _Triangles;
+    
+    // Only works at 4 right now
+    private const int _DownsampleSize = 4;
+    private const double _DepthScale = 0.1f;
+    private const int _Speed = 50;
+    
+    private MultiSourceManager _MultiManager;
+    private ColorSourceManager _ColorManager;
+    private DepthSourceManager _DepthManager;
+
+    void Start()
+    {
+        _Sensor = KinectSensor.GetDefault();
+        if (_Sensor != null)
+        {
+            _Mapper = _Sensor.CoordinateMapper;
+            var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
+
+            // Downsample to lower resolution
+            CreateMesh(frameDesc.Width / _DownsampleSize, frameDesc.Height / _DownsampleSize);
+
+            if (!_Sensor.IsOpen)
+            {
+                _Sensor.Open();
+            }
+        }
+    }
+
+    void CreateMesh(int width, int height)
+    {
+        _Mesh = new Mesh();
+        GetComponent<MeshFilter>().mesh = _Mesh;
+
+        _Vertices = new Vector3[width * height];
+        _UV = new Vector2[width * height];
+        _Triangles = new int[6 * ((width - 1) * (height - 1))];
+
+        int triangleIndex = 0;
+        for (int y = 0; y < height; y++)
+        {
+            for (int x = 0; x < width; x++)
+            {
+                int index = (y * width) + x;
+
+                _Vertices[index] = new Vector3(x, -y, 0);
+                _UV[index] = new Vector2(((float)x / (float)width), ((float)y / (float)height));
+
+                // Skip the last row/col
+                if (x != (width - 1) && y != (height - 1))
+                {
+                    int topLeft = index;
+                    int topRight = topLeft + 1;
+                    int bottomLeft = topLeft + width;
+                    int bottomRight = bottomLeft + 1;
+
+                    _Triangles[triangleIndex++] = topLeft;
+                    _Triangles[triangleIndex++] = topRight;
+                    _Triangles[triangleIndex++] = bottomLeft;
+                    _Triangles[triangleIndex++] = bottomLeft;
+                    _Triangles[triangleIndex++] = topRight;
+                    _Triangles[triangleIndex++] = bottomRight;
+                }
+            }
+        }
+
+        _Mesh.vertices = _Vertices;
+        _Mesh.uv = _UV;
+        _Mesh.triangles = _Triangles;
+        _Mesh.RecalculateNormals();
+    }
+    
+    void OnGUI()
+    {
+        GUI.BeginGroup(new Rect(0, 0, Screen.width, Screen.height));
+        GUI.TextField(new Rect(Screen.width - 250 , 10, 250, 20), "DepthMode: " + ViewMode.ToString());
+        GUI.EndGroup();
+    }
+
+    void Update()
+    {
+        if (_Sensor == null)
+        {
+            return;
+        }
+        
+        if (Input.GetButtonDown("Fire1"))
+        {
+            if(ViewMode == DepthViewMode.MultiSourceReader)
+            {
+                ViewMode = DepthViewMode.SeparateSourceReaders;
+            }
+            else
+            {
+                ViewMode = DepthViewMode.MultiSourceReader;
+            }
+        }
+        
+        float yVal = Input.GetAxis("Horizontal");
+        float xVal = -Input.GetAxis("Vertical");
+
+        transform.Rotate(
+            (xVal * Time.deltaTime * _Speed), 
+            (yVal * Time.deltaTime * _Speed), 
+            0, 
+            Space.Self);
+            
+        if (ViewMode == DepthViewMode.SeparateSourceReaders)
+        {
+            if (ColorSourceManager == null)
+            {
+                return;
+            }
+            
+            _ColorManager = ColorSourceManager.GetComponent<ColorSourceManager>();
+            if (_ColorManager == null)
+            {
+                return;
+            }
+            
+            if (DepthSourceManager == null)
+            {
+                return;
+            }
+            
+            _DepthManager = DepthSourceManager.GetComponent<DepthSourceManager>();
+            if (_DepthManager == null)
+            {
+                return;
+            }
+            
+            gameObject.GetComponent<Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
+            RefreshData(_DepthManager.GetData(),
+                _ColorManager.ColorWidth,
+                _ColorManager.ColorHeight);
+        }
+        else
+        {
+            if (MultiSourceManager == null)
+            {
+                return;
+            }
+            
+            _MultiManager = MultiSourceManager.GetComponent<MultiSourceManager>();
+            if (_MultiManager == null)
+            {
+                return;
+            }
+            
+            gameObject.GetComponent<Renderer>().material.mainTexture = _MultiManager.GetColorTexture();
+            
+            RefreshData(_MultiManager.GetDepthData(),
+                        _MultiManager.ColorWidth,
+                        _MultiManager.ColorHeight);
+        }
+    }
+    
+    private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
+    {
+        var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
+        
+        ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
+        _Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
+        
+        for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
+        {
+            for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
+            {
+                int indexX = x / _DownsampleSize;
+                int indexY = y / _DownsampleSize;
+                int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
+                
+                double avg = GetAvg(depthData, x, y, frameDesc.Width, frameDesc.Height);
+                
+                avg = avg * _DepthScale;
+                
+                _Vertices[smallIndex].z = (float)avg;
+                
+                // Update UV mapping with CDRP
+                var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
+                _UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
+            }
+        }
+        
+        _Mesh.vertices = _Vertices;
+        _Mesh.uv = _UV;
+        _Mesh.triangles = _Triangles;
+        _Mesh.RecalculateNormals();
+    }
+    
+    private double GetAvg(ushort[] depthData, int x, int y, int width, int height)
+    {
+        double sum = 0.0;
+        
+        for (int y1 = y; y1 < y + 4; y1++)
+        {
+            for (int x1 = x; x1 < x + 4; x1++)
+            {
+                int fullIndex = (y1 * width) + x1;
+                
+                if (depthData[fullIndex] == 0)
+                    sum += 4500;
+                else
+                    sum += depthData[fullIndex];
+                
+            }
+        }
+
+        return sum / 16;
+    }
+
+    void OnApplicationQuit()
+    {
+        if (_Mapper != null)
+        {
+            _Mapper = null;
+        }
+        
+        if (_Sensor != null)
+        {
+            if (_Sensor.IsOpen)
+            {
+                _Sensor.Close();
+            }
+
+            _Sensor = null;
+        }
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/DepthSourceView.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/DisableOnStart.cs

@@ -0,0 +1,11 @@
+using UnityEngine;
+using System.Collections;
+
+public class DisableOnStart : MonoBehaviour {
+
+    // Use this for initialization
+    void Start () 
+    {
+        gameObject.SetActive (false);
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/DisableOnStart.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/InfraredSourceManager.cs

@@ -0,0 +1,85 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class InfraredSourceManager : MonoBehaviour 
+{
+    private KinectSensor _Sensor;
+    private InfraredFrameReader _Reader;
+    private ushort[] _Data;
+    private byte[] _RawData;
+    
+    // I'm not sure this makes sense for the Kinect APIs
+    // Instead, this logic should be in the VIEW
+    private Texture2D _Texture;
+
+    public Texture2D GetInfraredTexture()
+    {
+        return _Texture;
+    }
+    
+    void Start()
+    {
+        _Sensor = KinectSensor.GetDefault();
+        if (_Sensor != null) 
+        {
+            _Reader = _Sensor.InfraredFrameSource.OpenReader();
+            var frameDesc = _Sensor.InfraredFrameSource.FrameDescription;
+            _Data = new ushort[frameDesc.LengthInPixels];
+            _RawData = new byte[frameDesc.LengthInPixels * 4];
+            _Texture = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.BGRA32, false);
+            
+            if (!_Sensor.IsOpen)
+            {
+                _Sensor.Open();
+            }
+        }
+    }
+
+    void Update () 
+    {
+        if (_Reader != null) 
+        {
+            var frame = _Reader.AcquireLatestFrame();
+            if (frame != null)
+            {
+                frame.CopyFrameDataToArray(_Data);
+                
+                int index = 0;
+                foreach(var ir in _Data)
+                {
+                    byte intensity = (byte)(ir >> 8);
+                    _RawData[index++] = intensity;
+                    _RawData[index++] = intensity;
+                    _RawData[index++] = intensity;
+                    _RawData[index++] = 255; // Alpha
+                }
+                
+                _Texture.LoadRawTextureData(_RawData);
+                _Texture.Apply();
+                
+                frame.Dispose();
+                frame = null;
+            }
+        }
+    }
+    
+    void OnApplicationQuit()
+    {
+        if (_Reader != null) 
+        {
+            _Reader.Dispose();
+            _Reader = null;
+        }
+        
+        if (_Sensor != null) 
+        {
+            if (_Sensor.IsOpen)
+            {
+                _Sensor.Close();
+            }
+            
+            _Sensor = null;
+        }
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/InfraredSourceManager.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/InfraredSourceView.cs

@@ -0,0 +1,29 @@
+using UnityEngine;
+using System.Collections;
+
+public class InfraredSourceView : MonoBehaviour 
+{
+    public GameObject InfraredSourceManager;
+    private InfraredSourceManager _InfraredManager;
+    
+    void Start () 
+    {
+        gameObject.GetComponent<Renderer>().material.SetTextureScale("_MainTex", new Vector2(-1, 1));
+    }
+    
+    void Update()
+    {
+        if (InfraredSourceManager == null)
+        {
+            return;
+        }
+        
+        _InfraredManager = InfraredSourceManager.GetComponent<InfraredSourceManager>();
+        if (_InfraredManager == null)
+        {
+            return;
+        }
+    
+        gameObject.GetComponent<Renderer>().material.mainTexture = _InfraredManager.GetInfraredTexture();
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/InfraredSourceView.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/MultiSourceManager.cs

@@ -0,0 +1,100 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class MultiSourceManager : MonoBehaviour {
+    public int ColorWidth { get; private set; }
+    public int ColorHeight { get; private set; }
+    
+    private KinectSensor _Sensor;
+    private MultiSourceFrameReader _Reader;
+    private Texture2D _ColorTexture;
+    private ushort[] _DepthData;
+    private byte[] _ColorData;
+
+    public Texture2D GetColorTexture()
+    {
+        return _ColorTexture;
+    }
+    
+    public ushort[] GetDepthData()
+    {
+        return _DepthData;
+    }
+
+    void Start () 
+    {
+        _Sensor = KinectSensor.GetDefault();
+        
+        if (_Sensor != null) 
+        {
+            _Reader = _Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth);
+            
+            var colorFrameDesc = _Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
+            ColorWidth = colorFrameDesc.Width;
+            ColorHeight = colorFrameDesc.Height;
+            
+            _ColorTexture = new Texture2D(colorFrameDesc.Width, colorFrameDesc.Height, TextureFormat.RGBA32, false);
+            _ColorData = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
+            
+            var depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
+            _DepthData = new ushort[depthFrameDesc.LengthInPixels];
+            
+            if (!_Sensor.IsOpen)
+            {
+                _Sensor.Open();
+            }
+        }
+    }
+    
+    void Update () 
+    {
+        if (_Reader != null) 
+        {
+            var frame = _Reader.AcquireLatestFrame();
+            if (frame != null)
+            {
+                var colorFrame = frame.ColorFrameReference.AcquireFrame();
+                if (colorFrame != null)
+                {
+                    var depthFrame = frame.DepthFrameReference.AcquireFrame();
+                    if (depthFrame != null)
+                    {
+                        colorFrame.CopyConvertedFrameDataToArray(_ColorData, ColorImageFormat.Rgba);
+                        _ColorTexture.LoadRawTextureData(_ColorData);
+                        _ColorTexture.Apply();
+                        
+                        depthFrame.CopyFrameDataToArray(_DepthData);
+                        
+                        depthFrame.Dispose();
+                        depthFrame = null;
+                    }
+                
+                    colorFrame.Dispose();
+                    colorFrame = null;
+                }
+                
+                frame = null;
+            }
+        }
+    }
+    
+    void OnApplicationQuit()
+    {
+        if (_Reader != null)
+        {
+            _Reader.Dispose();
+            _Reader = null;
+        }
+        
+        if (_Sensor != null)
+        {
+            if (_Sensor.IsOpen)
+            {
+                _Sensor.Close();
+            }
+            
+            _Sensor = null;
+        }
+    }
+}

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VR Raumrekonstuktion/Assets/Shared/Kinect/Scripts/SetKinectOrigin.cs

@@ -0,0 +1,22 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SetKinectOrigin : MonoBehaviour {
+
+	public Transform trackedOrigin;
+
+	// Use this for initialization
+	void Start () {
+		
+	}
+	
+	// Update is called once per frame
+	void Update () {
+		if(Input.GetKeyDown(KeyCode.Space)){
+			Debug.Log ("Woop");
+			transform.position = trackedOrigin.position;
+			transform.rotation = trackedOrigin.rotation;
+		}
+	}
+}

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VR Raumrekonstuktion/Assets/Shared/Mine/Prefab/Tracker.prefab.meta

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VR Raumrekonstuktion/Assets/Shared/Mine/Scripts.meta

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VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/JointPosition.cs

@@ -0,0 +1,60 @@
+using UnityEngine;
+using System.Collections;
+using Windows.Kinect;
+
+public class JointPosition : MonoBehaviour 
+{
+	public Transform kinectPosition;
+
+    public Windows.Kinect.JointType _jointType;
+    public GameObject _bodySourceManager;
+    private BodySourceManager _bodyManager;
+
+	// Use this for initialization
+	void Start () 
+    {
+	
+	}
+	
+	// Update is called once per frame
+	void Update () 
+    {
+        if (_bodySourceManager == null)
+        {
+            return;
+        }
+
+        _bodyManager = _bodySourceManager.GetComponent<BodySourceManager>();
+        if (_bodyManager == null)
+        {
+            return;
+        }
+
+        Body[] data = _bodyManager.GetData();
+        if (data == null)
+        {
+            return;
+        }
+
+        // get the first tracked body...
+        foreach (Body body in data)
+        {
+            if (body == null)
+            {
+                continue;
+            }
+
+            if (body.IsTracked)
+            {
+               //this.gameObject.transform.position = new Vector3
+               // this.gameObject.transform.localPosition =  body.Joints[_jointType].Position;
+                var pos = body.Joints[_jointType].Position;
+
+				Vector3 tempVector = new Vector3(-pos.X ,  pos.Y , pos.Z );
+				transform.position = tempVector;
+//				transform.position = kinectPosition.TransformPoint (tempVector);
+                break;
+            }
+        }
+	}
+}

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VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/KinectOffsetAdjuster.cs

@@ -0,0 +1,39 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class KinectOffsetAdjuster : MonoBehaviour {
+
+    Vector3 offset;
+
+    // Use this for initialization
+    void Start () {
+        
+    }
+    
+    // Update is called once per frame
+    void Update () {
+        
+    }
+
+    public void AdjustOffset(Slider slider)
+    {
+        switch (slider.name)
+        {
+            case "X":
+                offset.x = slider.value;
+                break;
+            case "Y":
+                offset.y = slider.value;
+                break;
+            case "Z":
+                offset.z = slider.value;
+                break;
+            default:
+                Debug.Log("Unknown Slider");
+                break;
+        }
+        transform.localPosition = offset;
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/KinectOffsetAdjuster.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/SliderValueDisplay.cs

@@ -0,0 +1,20 @@
+using UnityEngine.UI;
+using UnityEngine;
+
+public class SliderValueDisplay : MonoBehaviour {
+
+    Text theText;
+
+    void Start()
+    {
+        theText = GetComponent<Text>();
+    }
+
+    public void SetValue(float value)
+    {
+        theText.text = value.ToString("#.00");
+    }
+        
+
+        
+}

VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/SliderValueDisplay.cs.meta

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VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/TrackerDeviceSetter.cs

@@ -0,0 +1,27 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class TrackerDeviceSetter : MonoBehaviour {
+
+    SteamVR_TrackedObject trackedObj;
+
+	// Use this for initialization
+	void Start () {
+        trackedObj = GetComponent<SteamVR_TrackedObject>();
+		
+	}
+	
+	// Update is called once per frame
+	void Update () {
+		
+	}
+
+
+    public void SetTrackingDevice(Dropdown dropDown)
+    {
+        trackedObj.SetDeviceIndex(dropDown.value);
+
+    }
+}

VR Raumrekonstuktion/Assets/Shared/Mine/Scripts/TrackerDeviceSetter.cs.meta

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VR Raumrekonstuktion/Assets/Standard Assets.meta

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VR Raumrekonstuktion/Assets/Standard Assets/CameraIntrinsics.cs

@@ -0,0 +1,58 @@
+using RootSystem = System;
+using System.Linq;
+using System.Collections.Generic;
+namespace Windows.Kinect
+{
+    //
+    // Windows.Kinect.CameraIntrinsics
+    //
+    [RootSystem.Runtime.InteropServices.StructLayout(RootSystem.Runtime.InteropServices.LayoutKind.Sequential)]
+    public struct CameraIntrinsics
+    {
+        public float FocalLengthX { get; set; }
+        public float FocalLengthY { get; set; }
+        public float PrincipalPointX { get; set; }
+        public float PrincipalPointY { get; set; }
+        public float RadialDistortionSecondOrder { get; set; }
+        public float RadialDistortionFourthOrder { get; set; }
+        public float RadialDistortionSixthOrder { get; set; }
+
+        public override int GetHashCode()
+        {
+            return FocalLengthX.GetHashCode() ^ FocalLengthY.GetHashCode() ^
+                PrincipalPointX.GetHashCode() ^ PrincipalPointY.GetHashCode() ^
+                RadialDistortionSecondOrder.GetHashCode() ^ RadialDistortionFourthOrder.GetHashCode() ^
+                RadialDistortionSixthOrder.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            if (!(obj is CameraIntrinsics))
+            {
+                return false;
+            }
+
+            return this.Equals((CameraIntrinsics)obj);
+        }
+
+        public bool Equals(CameraIntrinsics obj)
+        {
+            return FocalLengthX.Equals(obj.FocalLengthX) && FocalLengthY.Equals(obj.FocalLengthY) &&
+                PrincipalPointX.Equals(obj.PrincipalPointX) && PrincipalPointY.Equals(obj.PrincipalPointY) &&
+                RadialDistortionSecondOrder.Equals(obj.RadialDistortionSecondOrder) &&
+                RadialDistortionFourthOrder.Equals(obj.RadialDistortionFourthOrder) &&
+                RadialDistortionSixthOrder.Equals(obj.RadialDistortionSixthOrder);
+        }
+
+        public static bool operator ==(CameraIntrinsics a, CameraIntrinsics b)
+        {
+            return a.Equals(b);
+        }
+
+        public static bool operator !=(CameraIntrinsics a, CameraIntrinsics b)
+        {
+            return !(a.Equals(b));
+        }
+    }
+
+}

VR Raumrekonstuktion/Assets/Standard Assets/CameraIntrinsics.cs.meta

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VR Raumrekonstuktion/Assets/Standard Assets/CollectionMap.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace Helper
+{
+    class CollectionMap<TKey, TValue> : Helper.ThreadSafeDictionary<TKey, TValue> where TValue : new()
+    {
+        public bool TryAddDefault(TKey key)
+        {
+            lock (_impl)
+            {
+                if (!_impl.ContainsKey(key))
+                {
+                    _impl.Add(key, new TValue());
+                    return true;
+                }
+                else
+                {
+                    return false;
+                }
+            }
+        }
+    }
+}

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VR Raumrekonstuktion/Assets/Standard Assets/Editor.meta

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VR Raumrekonstuktion/Assets/Standard Assets/Editor/KinectCopyPluginDataHelper.cs

@@ -0,0 +1,70 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections.Generic;
+using System.IO;
+
+public static class KinectCopyPluginDataHelper
+{
+    private const string DataDirSuffix = "_Data";
+    private const string PluginsDirName = "Plugins";
+
+    private static Dictionary<BuildTarget, string> TargetToDirName = new Dictionary<BuildTarget, string>()
+        {
+            {BuildTarget.StandaloneWindows, "x86"},
+            {BuildTarget.StandaloneWindows64, "x86_64"}
+        };
+
+    public static void CopyPluginData(BuildTarget target, string buildTargetPath, string subDirToCopy)
+    {
+        string subDirName;
+        if (!TargetToDirName.TryGetValue (target, out subDirName))
+        {
+            // No work to do
+            return;
+        }
+
+        // Get Required Paths
+        var buildName = Path.GetFileNameWithoutExtension(buildTargetPath);
+        var targetDir = Directory.GetParent(buildTargetPath);
+        var separator = Path.DirectorySeparatorChar;
+
+        var buildDataDir = targetDir.FullName + separator + buildName + DataDirSuffix + separator;
+        var tgtPluginsDir = buildDataDir + separator + PluginsDirName + separator + subDirToCopy + separator;
+        var srcPluginsDir = Application.dataPath + separator + PluginsDirName + separator + subDirName + separator + subDirToCopy + separator;
+
+        CopyAll (new DirectoryInfo (srcPluginsDir), new DirectoryInfo(tgtPluginsDir));
+    }
+
+    /// <summary>
+    /// Recursive Copy Directory Method
+    /// </summary>
+    private static void CopyAll(DirectoryInfo source, DirectoryInfo target)
+    {
+        // Check if the source directory exists, if not, don't do any work.
+        if (!Directory.Exists(source.FullName))
+        {
+            return;
+        }
+
+        // Check if the target directory exists, if not, create it.
+        if (!Directory.Exists(target.FullName))
+        {
+            Directory.CreateDirectory(target.FullName);
+        }
+
+        // Copy each file into it’s new directory.
+        foreach (var fileInfo in source.GetFiles())
+        {
+            fileInfo.CopyTo (Path.Combine (target.ToString (), fileInfo.Name), true);
+        }
+        
+        // Copy each subdirectory using recursion.
+        foreach (var subDirInfo in source.GetDirectories())
+        {
+            DirectoryInfo nextTargetSubDir = target.CreateSubdirectory(subDirInfo.Name);
+            CopyAll(subDirInfo, nextTargetSubDir);
+        }
+    }
+
+}

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VR Raumrekonstuktion/Assets/Standard Assets/EventPump.cs

@@ -0,0 +1,78 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Linq;
+
+namespace Helper
+{
+    internal class EventPump : UnityEngine.MonoBehaviour
+    {
+        private static object s_Lock = new object();
+        private Queue<Action> m_Queue = new Queue<Action>();
+
+        public static EventPump Instance
+        {
+            get;
+            private set;
+        }
+
+        public static void EnsureInitialized()
+        {
+            try
+            {
+                if (EventPump.Instance == null)
+                {
+                    lock (s_Lock)
+                    {
+                        if (EventPump.Instance == null)
+                        {
+                            UnityEngine.GameObject parent = new UnityEngine.GameObject("Kinect Desktop Event Pump");
+                            EventPump.Instance = parent.AddComponent<Helper.EventPump>();
+                            DontDestroyOnLoad(parent);
+                        }
+                    }
+                }
+            }
+            catch
+            {
+                UnityEngine.Debug.LogError("Events must be registered on the main thread.");
+                return;
+            }
+        }
+
+        private void Update()
+        {
+            lock (m_Queue)
+            {
+                while (m_Queue.Count > 0)
+                {
+                    var action = m_Queue.Dequeue();
+                    try
+                    {
+                        action.Invoke();
+                    }
+                    catch { }
+                }
+            }
+        }
+
+        private void OnApplicationQuit()
+        {
+            var sensor = Windows.Kinect.KinectSensor.GetDefault();
+            if (sensor != null && sensor.IsOpen)
+            {
+                sensor.Close();
+            }
+
+            NativeObjectCache.Flush();
+        }
+
+        public void Enqueue(Action action)
+        {
+            lock (m_Queue)
+            {
+                m_Queue.Enqueue(action);
+            }
+        }
+    }
+}

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VR Raumrekonstuktion/Assets/Standard Assets/ExceptionHelper.cs

@@ -0,0 +1,50 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace Helper
+{
+    public static class ExceptionHelper
+    {
+        private const int E_NOTIMPL = unchecked((int)0x80004001);
+        private const int E_OUTOFMEMORY = unchecked((int)0x8007000E);
+        private const int E_INVALIDARG = unchecked((int)0x80070057);
+        private const int E_POINTER = unchecked((int) 0x80004003);
+        private const int E_PENDING = unchecked((int)0x8000000A);
+        private const int E_FAIL = unchecked((int)0x80004005);
+
+        public static void CheckLastError()
+        {
+            int hr = Marshal.GetLastWin32Error();
+
+            if ((hr == E_PENDING) || (hr == E_FAIL))
+            {
+                // Ignore E_PENDING/E_FAIL - We use this to indicate no pending or missed frames
+                return;
+            }
+
+            if (hr < 0)
+            {
+                Exception exception = Marshal.GetExceptionForHR(hr);
+                string message = string.Format("This API has returned an exception from an HRESULT: 0x{0:X}", hr);
+
+                switch (hr)
+                {
+                    case E_NOTIMPL:
+                        throw new NotImplementedException(message, exception);
+
+                    case E_OUTOFMEMORY:
+                        throw new OutOfMemoryException(message, exception);
+
+                    case E_INVALIDARG:
+                        throw new ArgumentException(message, exception);
+
+                    case E_POINTER:
+                        throw new ArgumentNullException(message, exception);
+
+                    default:
+                        throw new InvalidOperationException(message, exception);
+                }
+            }
+        }
+    }
+}

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VR Raumrekonstuktion/Assets/Standard Assets/INativeWrapper.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Linq;
+
+namespace Helper
+{
+    internal interface INativeWrapper
+    {
+        System.IntPtr nativePtr { get; }
+    }
+}

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VR Raumrekonstuktion/Assets/Standard Assets/KinectBuffer.cs

@@ -0,0 +1,129 @@
+using RootSystem = System;
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Windows.Kinect
+{
+    // NOTE: This uses an IBuffer under the covers, it is renamed here to give parity to our managed APIs.
+    public class KinectBuffer : Helper.INativeWrapper, IDisposable
+    {
+        internal RootSystem.IntPtr _pNative;
+
+        RootSystem.IntPtr Helper.INativeWrapper.nativePtr { get { return _pNative; } }
+
+        // Constructors and Finalizers
+        internal KinectBuffer(RootSystem.IntPtr pNative)
+        {
+            _pNative = pNative;
+            Windows_Storage_Streams_IBuffer_AddRefObject(ref _pNative);
+        }
+
+        ~KinectBuffer()
+        {
+            Dispose(false);
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl)]
+        private static extern void Windows_Storage_Streams_IBuffer_ReleaseObject(ref RootSystem.IntPtr pNative);
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl)]
+        private static extern void Windows_Storage_Streams_IBuffer_AddRefObject(ref RootSystem.IntPtr pNative);
+        private void Dispose(bool disposing)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                return;
+            }
+
+            Helper.NativeObjectCache.RemoveObject<KinectBuffer>(_pNative);
+
+            if (disposing)
+            {
+                Windows_Storage_Streams_IBuffer_Dispose(_pNative);
+            }
+
+            Windows_Storage_Streams_IBuffer_ReleaseObject(ref _pNative);
+
+            _pNative = RootSystem.IntPtr.Zero;
+        }
+
+
+        // Public Properties
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern uint Windows_Storage_Streams_IBuffer_get_Capacity(RootSystem.IntPtr pNative);
+        public uint Capacity
+        {
+            get
+            {
+                if (_pNative == RootSystem.IntPtr.Zero)
+                {
+                    throw new RootSystem.ObjectDisposedException("KinectBuffer");
+                }
+
+                uint capacity = Windows_Storage_Streams_IBuffer_get_Capacity(_pNative);
+                Helper.ExceptionHelper.CheckLastError();
+                return capacity;
+            }
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern uint Windows_Storage_Streams_IBuffer_get_Length(RootSystem.IntPtr pNative);
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern void Windows_Storage_Streams_IBuffer_put_Length(RootSystem.IntPtr pNative, uint value);
+        public uint Length
+        {
+            get
+            {
+                if (_pNative == RootSystem.IntPtr.Zero)
+                {
+                    throw new RootSystem.ObjectDisposedException("KinectBuffer");
+                }
+
+                uint length = Windows_Storage_Streams_IBuffer_get_Length(_pNative);
+                Helper.ExceptionHelper.CheckLastError();
+                return length;
+            }
+            set
+            {
+                if (_pNative == RootSystem.IntPtr.Zero)
+                {
+                    throw new RootSystem.ObjectDisposedException("KinectBuffer");
+                }
+
+                Windows_Storage_Streams_IBuffer_put_Length(_pNative, value);
+                Helper.ExceptionHelper.CheckLastError();
+            }
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl)]
+        private static extern void Windows_Storage_Streams_IBuffer_Dispose(RootSystem.IntPtr pNative);
+        // Constructors and Finalizers
+        public void Dispose()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("KinectBuffer");
+            }
+
+            Dispose(true);
+            RootSystem.GC.SuppressFinalize(this);
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Storage_Streams_IBuffer_get_UnderlyingBuffer(RootSystem.IntPtr pNative);
+        public IntPtr UnderlyingBuffer
+        {
+            get
+            {
+                if (_pNative == RootSystem.IntPtr.Zero)
+                {
+                    throw new RootSystem.ObjectDisposedException("KinectBuffer");
+                }
+
+                RootSystem.IntPtr value = Windows_Storage_Streams_IBuffer_get_UnderlyingBuffer(_pNative);
+                Helper.ExceptionHelper.CheckLastError();
+                return value;
+            }
+        }
+    }
+}

VR Raumrekonstuktion/Assets/Standard Assets/KinectBuffer.cs.meta

@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: a27f97f1b27134f4bbee290cf18c791c
+timeCreated: 18446744011573954816
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

VR Raumrekonstuktion/Assets/Standard Assets/KinectSpecialCases.cs

@@ -0,0 +1,604 @@
+using RootSystem = System;
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Windows.Kinect
+{
+    [RootSystem.Runtime.InteropServices.StructLayout(RootSystem.Runtime.InteropServices.LayoutKind.Sequential)]
+    public struct PointF
+    {
+        public float X { get; set; }
+        public float Y { get; set; }
+
+        public override int GetHashCode()
+        {
+            return X.GetHashCode() ^ Y.GetHashCode();
+        }
+
+        public override bool Equals(object obj)
+        {
+            if (!(obj is PointF))
+            {
+                return false;
+            }
+
+            return this.Equals((ColorSpacePoint)obj);
+        }
+
+        public bool Equals(ColorSpacePoint obj)
+        {
+            return (X == obj.X) && (Y == obj.Y);
+        }
+
+        public static bool operator ==(PointF a, PointF b)
+        {
+            return a.Equals(b);
+        }
+
+        public static bool operator !=(PointF a, PointF b)
+        {
+            return !(a.Equals(b));
+        }
+    }
+
+    public sealed partial class AudioBeamSubFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_AudioBeamSubFrame_CopyFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_AudioBeamSubFrame_CopyFrameDataToIntPtr(RootSystem.IntPtr pNative, RootSystem.IntPtr frameData, uint frameDataSize);
+        public void CopyFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("AudioBeamSubFrame");
+            }
+
+            Windows_Kinect_AudioBeamSubFrame_CopyFrameDataToIntPtr(_pNative, frameData, size);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_AudioBeamSubFrame_LockAudioBuffer(RootSystem.IntPtr pNative);
+        public Windows.Kinect.KinectBuffer LockAudioBuffer()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("AudioBeamSubFrame");
+            }
+
+            RootSystem.IntPtr objectPointer = Windows_Kinect_AudioBeamSubFrame_LockAudioBuffer(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            if (objectPointer == RootSystem.IntPtr.Zero)
+            {
+                return null;
+            }
+
+            return Helper.NativeObjectCache.CreateOrGetObject<Windows.Kinect.KinectBuffer>(objectPointer, n => new Windows.Kinect.KinectBuffer(n));
+        }
+    }
+
+    public sealed partial class AudioBeamFrame
+    {
+        private Windows.Kinect.AudioBeamSubFrame[] _subFrames = null;
+
+        private void Dispose(bool disposing)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                return;
+            }
+
+            if (_subFrames != null)
+            {
+                foreach (var subFrame in _subFrames)
+                {
+                    subFrame.Dispose();
+                }
+
+                _subFrames = null;
+            }
+
+            __EventCleanup();
+
+            Helper.NativeObjectCache.RemoveObject<AudioBeamFrame>(_pNative);
+            Windows_Kinect_AudioBeamFrame_ReleaseObject(ref _pNative);
+
+            if (disposing)
+            {
+                Windows_Kinect_AudioBeamFrame_Dispose(_pNative);
+            }
+
+            _pNative = RootSystem.IntPtr.Zero;
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl)]
+        private static extern void Windows_Kinect_AudioBeamFrame_Dispose(RootSystem.IntPtr pNative);
+        public void Dispose()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                return;
+            }
+
+            Dispose(true);
+            RootSystem.GC.SuppressFinalize(this);
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern int Windows_Kinect_AudioBeamFrame_get_SubFrames(RootSystem.IntPtr pNative, [RootSystem.Runtime.InteropServices.Out] RootSystem.IntPtr[] outCollection, int outCollectionSize);
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl)]
+        private static extern int Windows_Kinect_AudioBeamFrame_get_SubFrames_Length(RootSystem.IntPtr pNative);
+        public RootSystem.Collections.Generic.IList<Windows.Kinect.AudioBeamSubFrame> SubFrames
+        {
+            get
+            {
+                if (_pNative == RootSystem.IntPtr.Zero)
+                {
+                    throw new RootSystem.ObjectDisposedException("AudioBeamFrame");
+                }
+
+                if (_subFrames == null)
+                {
+                    int collectionSize = Windows_Kinect_AudioBeamFrame_get_SubFrames_Length(_pNative);
+                    var outCollection = new RootSystem.IntPtr[collectionSize];
+                    _subFrames = new Windows.Kinect.AudioBeamSubFrame[collectionSize];
+
+                    collectionSize = Windows_Kinect_AudioBeamFrame_get_SubFrames(_pNative, outCollection, collectionSize);
+                    Helper.ExceptionHelper.CheckLastError();
+
+                    for (int i = 0; i < collectionSize; i++)
+                    {
+                        if (outCollection[i] == RootSystem.IntPtr.Zero)
+                        {
+                            continue;
+                        }
+
+                        var obj = Helper.NativeObjectCache.GetObject<Windows.Kinect.AudioBeamSubFrame>(outCollection[i]);
+                        if (obj == null)
+                        {
+                            obj = new Windows.Kinect.AudioBeamSubFrame(outCollection[i]);
+                            Helper.NativeObjectCache.AddObject<Windows.Kinect.AudioBeamSubFrame>(outCollection[i], obj);
+                        }
+
+                        _subFrames[i] = obj;
+                    }
+                }
+
+                return _subFrames;
+            }
+        }
+    }
+
+    public sealed partial class BodyFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern void Windows_Kinect_BodyFrame_GetAndRefreshBodyData(RootSystem.IntPtr pNative, [RootSystem.Runtime.InteropServices.Out] RootSystem.IntPtr[] bodies, int bodiesSize);
+        public void GetAndRefreshBodyData(RootSystem.Collections.Generic.IList<Windows.Kinect.Body> bodies)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("BodyFrame");
+            }
+
+            int _bodies_idx = 0;
+            var _bodies = new RootSystem.IntPtr[bodies.Count];
+            for (int i = 0; i < bodies.Count; i++)
+            {
+                if (bodies[i] == null)
+                {
+                    bodies[i] = new Body();
+                }
+
+                _bodies[_bodies_idx] = bodies[i].GetIntPtr();
+                _bodies_idx++;
+            }
+
+            Windows_Kinect_BodyFrame_GetAndRefreshBodyData(_pNative, _bodies, bodies.Count);
+            Helper.ExceptionHelper.CheckLastError();
+
+            for (int i = 0; i < bodies.Count; i++)
+            {
+                bodies[i].SetIntPtr(_bodies[i]);
+            }
+        }
+    }
+
+    public sealed partial class Body
+    {
+        internal void SetIntPtr(RootSystem.IntPtr value) { _pNative = value; }
+        internal RootSystem.IntPtr GetIntPtr() { return _pNative; }
+
+        internal Body() { }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_Body_get_Lean(RootSystem.IntPtr pNative);
+        public Windows.Kinect.PointF Lean
+        {
+            get
+            {
+                if (_pNative == RootSystem.IntPtr.Zero)
+                {
+                    throw new RootSystem.ObjectDisposedException("Body");
+                }
+
+                var objectPointer = Windows_Kinect_Body_get_Lean(_pNative);
+                Helper.ExceptionHelper.CheckLastError();
+
+                var obj = (Windows.Kinect.PointF)RootSystem.Runtime.InteropServices.Marshal.PtrToStructure(objectPointer, typeof(Windows.Kinect.PointF));
+                RootSystem.Runtime.InteropServices.Marshal.FreeHGlobal(objectPointer);
+                return obj;
+            }
+        }
+    }
+
+    public sealed partial class ColorFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_ColorFrame_CopyRawFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_ColorFrame_CopyRawFrameDataToIntPtr(RootSystem.IntPtr pNative, IntPtr frameData, uint frameDataSize);
+        public void CopyRawFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("ColorFrame");
+            }
+
+            Windows_Kinect_ColorFrame_CopyRawFrameDataToIntPtr(_pNative, frameData, size);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_ColorFrame_CopyConvertedFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_ColorFrame_CopyConvertedFrameDataToIntPtr(RootSystem.IntPtr pNative, IntPtr frameData, uint frameDataSize, Windows.Kinect.ColorImageFormat colorFormat);
+        public void CopyConvertedFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size, Windows.Kinect.ColorImageFormat colorFormat)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("ColorFrame");
+            }
+
+            Windows_Kinect_ColorFrame_CopyConvertedFrameDataToIntPtr(_pNative, frameData, size, colorFormat);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_ColorFrame_LockRawImageBuffer(RootSystem.IntPtr pNative);
+        public Windows.Kinect.KinectBuffer LockRawImageBuffer()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("ColorFrame");
+            }
+
+            RootSystem.IntPtr objectPointer = Windows_Kinect_ColorFrame_LockRawImageBuffer(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            if (objectPointer == RootSystem.IntPtr.Zero)
+            {
+                return null;
+            }
+
+            return Helper.NativeObjectCache.CreateOrGetObject<Windows.Kinect.KinectBuffer>(objectPointer, n => new Windows.Kinect.KinectBuffer(n));
+        }
+
+    }
+
+    public sealed partial class DepthFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_DepthFrame_CopyFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_DepthFrame_CopyFrameDataToIntPtr(RootSystem.IntPtr pNative, IntPtr frameData, uint frameDataSize);
+        public void CopyFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("DepthFrame");
+            }
+
+            Windows_Kinect_DepthFrame_CopyFrameDataToIntPtr(_pNative, frameData, size / sizeof(ushort));
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_DepthFrame_LockImageBuffer(RootSystem.IntPtr pNative);
+        public Windows.Kinect.KinectBuffer LockImageBuffer()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("DepthFrame");
+            }
+
+            RootSystem.IntPtr objectPointer = Windows_Kinect_DepthFrame_LockImageBuffer(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            if (objectPointer == RootSystem.IntPtr.Zero)
+            {
+                return null;
+            }
+
+            return Helper.NativeObjectCache.CreateOrGetObject<Windows.Kinect.KinectBuffer>(objectPointer, n => new Windows.Kinect.KinectBuffer(n));
+        }
+    }
+
+    public sealed partial class BodyIndexFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_BodyIndexFrame_CopyFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_BodyIndexFrame_CopyFrameDataToIntPtr(RootSystem.IntPtr pNative, IntPtr frameData, uint frameDataSize);
+        public void CopyFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("BodyIndexFrame");
+            }
+
+            Windows_Kinect_BodyIndexFrame_CopyFrameDataToIntPtr(_pNative, frameData, size);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_BodyIndexFrame_LockImageBuffer(RootSystem.IntPtr pNative);
+        public Windows.Kinect.KinectBuffer LockImageBuffer()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("BodyIndexFrame");
+            }
+
+            RootSystem.IntPtr objectPointer = Windows_Kinect_BodyIndexFrame_LockImageBuffer(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            if (objectPointer == RootSystem.IntPtr.Zero)
+            {
+                return null;
+            }
+
+            return Helper.NativeObjectCache.CreateOrGetObject<Windows.Kinect.KinectBuffer>(objectPointer, n => new Windows.Kinect.KinectBuffer(n));
+        }
+
+    }
+
+    public sealed partial class InfraredFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_InfraredFrame_CopyFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_InfraredFrame_CopyFrameDataToIntPtr(RootSystem.IntPtr pNative, IntPtr frameData, uint frameDataSize);
+        public void CopyFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("InfraredFrame");
+            }
+
+            Windows_Kinect_InfraredFrame_CopyFrameDataToIntPtr(_pNative, frameData, size / sizeof(ushort));
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_InfraredFrame_LockImageBuffer(RootSystem.IntPtr pNative);
+        public Windows.Kinect.KinectBuffer LockImageBuffer()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("InfraredFrame");
+            }
+
+            RootSystem.IntPtr objectPointer = Windows_Kinect_InfraredFrame_LockImageBuffer(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            if (objectPointer == RootSystem.IntPtr.Zero)
+            {
+                return null;
+            }
+
+            return Helper.NativeObjectCache.CreateOrGetObject<Windows.Kinect.KinectBuffer>(objectPointer, n => new Windows.Kinect.KinectBuffer(n));
+        }
+
+    }
+
+    public sealed partial class KinectSensor
+    {
+        private void Dispose(bool disposing)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                return;
+            }
+
+            if (IsOpen)
+            {
+                Close();
+            }
+
+            __EventCleanup();
+
+            Helper.NativeObjectCache.RemoveObject<KinectSensor>(_pNative);
+            Windows_Kinect_KinectSensor_ReleaseObject(ref _pNative);
+
+            _pNative = RootSystem.IntPtr.Zero;
+        }
+    }
+
+    public sealed partial class LongExposureInfraredFrame
+    {
+        [RootSystem.Runtime.InteropServices.DllImport(
+            "KinectUnityAddin",
+            EntryPoint = "Windows_Kinect_LongExposureInfraredFrame_CopyFrameDataToArray",
+            CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl,
+            SetLastError = true)]
+        private static extern void Windows_Kinect_LongExposureInfraredFrame_CopyFrameDataToIntPtr(RootSystem.IntPtr pNative, IntPtr frameData, uint frameDataSize);
+        public void CopyFrameDataToIntPtr(RootSystem.IntPtr frameData, uint size)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("LongExposureInfraredFrame");
+            }
+
+            Windows_Kinect_LongExposureInfraredFrame_CopyFrameDataToIntPtr(_pNative, frameData, size / sizeof(ushort));
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_LongExposureInfraredFrame_LockImageBuffer(RootSystem.IntPtr pNative);
+        public Windows.Kinect.KinectBuffer LockImageBuffer()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("LongExposureInfraredFrame");
+            }
+
+            RootSystem.IntPtr objectPointer = Windows_Kinect_LongExposureInfraredFrame_LockImageBuffer(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            if (objectPointer == RootSystem.IntPtr.Zero)
+            {
+                return null;
+            }
+
+            return Helper.NativeObjectCache.CreateOrGetObject<Windows.Kinect.KinectBuffer>(objectPointer, n => new Windows.Kinect.KinectBuffer(n));
+        }
+
+    }
+
+    public sealed partial class CoordinateMapper
+    {
+        private PointF[] _DepthFrameToCameraSpaceTable = null;
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern RootSystem.IntPtr Windows_Kinect_CoordinateMapper_GetDepthCameraIntrinsics(RootSystem.IntPtr pNative);
+        public Windows.Kinect.CameraIntrinsics GetDepthCameraIntrinsics()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("CoordinateMapper");
+            }
+
+            var objectPointer = Windows_Kinect_CoordinateMapper_GetDepthCameraIntrinsics(_pNative);
+            Helper.ExceptionHelper.CheckLastError();
+
+            var obj = (Windows.Kinect.CameraIntrinsics)RootSystem.Runtime.InteropServices.Marshal.PtrToStructure(objectPointer, typeof(Windows.Kinect.CameraIntrinsics));
+            RootSystem.Runtime.InteropServices.Marshal.FreeHGlobal(objectPointer);
+            return obj;
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern int Windows_Kinect_CoordinateMapper_GetDepthFrameToCameraSpaceTable(RootSystem.IntPtr pNative, RootSystem.IntPtr outCollection, uint outCollectionSize);
+        public Windows.Kinect.PointF[] GetDepthFrameToCameraSpaceTable()
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("CoordinateMapper");
+            }
+
+            if (_DepthFrameToCameraSpaceTable == null)
+            {
+                var desc = KinectSensor.GetDefault().DepthFrameSource.FrameDescription;
+                _DepthFrameToCameraSpaceTable = new PointF[desc.Width * desc.Height];
+
+                var pointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(_DepthFrameToCameraSpaceTable, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
+                var _points = pointsSmartGCHandle.AddrOfPinnedObject();
+                Windows_Kinect_CoordinateMapper_GetDepthFrameToCameraSpaceTable(_pNative, _points, (uint)_DepthFrameToCameraSpaceTable.Length);
+                Helper.ExceptionHelper.CheckLastError();
+            }
+
+            return _DepthFrameToCameraSpaceTable;
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern void Windows_Kinect_CoordinateMapper_MapColorFrameToDepthSpace(
+            RootSystem.IntPtr pNative,
+            RootSystem.IntPtr depthFrameData,
+            uint depthFrameDataSize,
+            RootSystem.IntPtr depthSpacePoints,
+            uint depthSpacePointsSize);
+        public void MapColorFrameToDepthSpaceUsingIntPtr(RootSystem.IntPtr depthFrameData, uint depthFrameSize, RootSystem.IntPtr depthSpacePoints, uint depthSpacePointsSize)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("CoordinateMapper");
+            }
+
+            uint length = depthFrameSize / sizeof(UInt16);
+            Windows_Kinect_CoordinateMapper_MapColorFrameToDepthSpace(_pNative, depthFrameData, length, depthSpacePoints, depthSpacePointsSize);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern void Windows_Kinect_CoordinateMapper_MapColorFrameToCameraSpace(
+            RootSystem.IntPtr pNative,
+            RootSystem.IntPtr depthFrameData,
+            uint depthFrameDataSize,
+            RootSystem.IntPtr cameraSpacePoints,
+            uint cameraSpacePointsSize);
+        public void MapColorFrameToCameraSpaceUsingIntPtr(RootSystem.IntPtr depthFrameData, int depthFrameSize, RootSystem.IntPtr cameraSpacePoints, uint cameraSpacePointsSize)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("CoordinateMapper");
+            }
+
+            uint length = (uint)depthFrameSize / sizeof(UInt16);
+            Windows_Kinect_CoordinateMapper_MapColorFrameToCameraSpace(_pNative, depthFrameData, length, cameraSpacePoints, cameraSpacePointsSize);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern void Windows_Kinect_CoordinateMapper_MapDepthFrameToColorSpace(
+            RootSystem.IntPtr pNative,
+            RootSystem.IntPtr depthFrameData,
+            uint depthFrameDataSize,
+            RootSystem.IntPtr colorSpacePoints,
+            uint colorSpacePointsSize);
+        public void MapDepthFrameToColorSpaceUsingIntPtr(RootSystem.IntPtr depthFrameData, int depthFrameSize, RootSystem.IntPtr colorSpacePoints, uint colorSpacePointsSize)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("CoordinateMapper");
+            }
+
+            uint length = (uint)depthFrameSize / sizeof(UInt16);
+            Windows_Kinect_CoordinateMapper_MapDepthFrameToColorSpace(_pNative, depthFrameData, length, colorSpacePoints, colorSpacePointsSize);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+
+
+        [RootSystem.Runtime.InteropServices.DllImport("KinectUnityAddin", CallingConvention = RootSystem.Runtime.InteropServices.CallingConvention.Cdecl, SetLastError = true)]
+        private static extern void Windows_Kinect_CoordinateMapper_MapDepthFrameToCameraSpace(
+            RootSystem.IntPtr pNative,
+            IntPtr depthFrameData,
+            uint depthFrameDataSize,
+            RootSystem.IntPtr cameraSpacePoints,
+            uint cameraSpacePointsSize);
+        public void MapDepthFrameToCameraSpaceUsingIntPtr(RootSystem.IntPtr depthFrameData, int depthFrameSize, RootSystem.IntPtr cameraSpacePoints, uint cameraSpacePointsSize)
+        {
+            if (_pNative == RootSystem.IntPtr.Zero)
+            {
+                throw new RootSystem.ObjectDisposedException("CoordinateMapper");
+            }
+
+            uint length = (uint)depthFrameSize / sizeof(UInt16);
+            Windows_Kinect_CoordinateMapper_MapDepthFrameToCameraSpace(_pNative, depthFrameData, length, cameraSpacePoints, cameraSpacePointsSize);
+            Helper.ExceptionHelper.CheckLastError();
+        }
+    }
+}

VR Raumrekonstuktion/Assets/Standard Assets/KinectSpecialCases.cs.meta

@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: c59b79770236fae42a76e291570f2447
+timeCreated: 18446744011573954816
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

VR Raumrekonstuktion/Assets/Standard Assets/NativeObjectCache.cs

@@ -0,0 +1,136 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Linq;
+
+namespace Helper
+{
+    public static class NativeObjectCache
+    {
+        private static object _lock = new object();
+        private static Dictionary<Type, Dictionary<IntPtr, WeakReference>> _objectCache = new Dictionary<Type, Dictionary<IntPtr, WeakReference>>();
+        public static void AddObject<T>(IntPtr nativePtr, T obj) where T : class
+        {
+            lock (_lock)
+            {
+                Dictionary<IntPtr, WeakReference> objCache = null;
+
+                if (!_objectCache.TryGetValue(typeof(T), out objCache) || objCache == null)
+                {
+                    objCache = new Dictionary<IntPtr, WeakReference>();
+                    _objectCache[typeof(T)] = objCache;
+                }
+
+                objCache[nativePtr] = new WeakReference(obj);
+            }
+        }
+
+        public static void Flush()
+        {
+            lock(_lock)
+            {
+                foreach (var byType in _objectCache.ToArray())
+                {
+                    foreach(var kvp in byType.Value.ToArray())
+                    {
+                        IDisposable disp = kvp.Value.Target as IDisposable;
+                        if(disp != null)
+                        {
+                            disp.Dispose();
+                        }
+
+                    }
+                }
+            }
+        }
+
+        public static void RemoveObject<T>(IntPtr nativePtr)
+        {
+            lock (_lock)
+            {
+                Dictionary<IntPtr, WeakReference> objCache = null;
+
+                if (!_objectCache.TryGetValue(typeof(T), out objCache) || objCache == null)
+                {
+                    objCache = new Dictionary<IntPtr, WeakReference>();
+                    _objectCache[typeof(T)] = objCache;
+                }
+
+                if (objCache.ContainsKey(nativePtr))
+                {
+                    objCache.Remove(nativePtr);
+                }
+            }
+        }
+
+        public static T GetObject<T>(IntPtr nativePtr) where T : class
+        {
+            lock (_lock)
+            {
+                Dictionary<IntPtr, WeakReference> objCache = null;
+
+                if (!_objectCache.TryGetValue(typeof(T), out objCache) || objCache == null)
+                {
+                    objCache = new Dictionary<IntPtr, WeakReference>();
+                    _objectCache[typeof(T)] = objCache;
+                }
+
+                WeakReference reference = null;
+                if (objCache.TryGetValue(nativePtr, out reference))
+                {
+                    if (reference != null)
+                    {
+                        T obj = reference.Target as T;
+                        if (obj != null)
+                        {
+                            return (T)obj;
+                        }
+                    }
+                }
+
+                return null;
+            }
+        }
+
+        public static T CreateOrGetObject<T>(IntPtr nativePtr, Func<System.IntPtr,T> create) where T : class
+        {
+            T outputValue = null;
+
+            lock (_lock)
+            {
+                Dictionary<IntPtr, WeakReference> objCache = null;
+
+                if (!_objectCache.TryGetValue(typeof(T), out objCache) || objCache == null)
+                {
+                    objCache = new Dictionary<IntPtr, WeakReference>();
+                    _objectCache[typeof(T)] = objCache;
+                }
+
+                WeakReference reference = null;
+                if (objCache.TryGetValue(nativePtr, out reference))
+                {
+                    if ((reference != null) && reference.IsAlive)
+                    {
+                        outputValue = reference.Target as T;
+                    }
+                }
+
+                if (outputValue == null)
+                { 
+                    if (create != null)
+                    {
+                        outputValue = create(nativePtr);
+                        objCache[nativePtr] = new WeakReference(outputValue);
+                    }
+                    else if(typeof(T) == typeof(System.Object)) 
+                    {
+                        //T is an object, so lets just pass back our IntPtr, which is an object.
+                        outputValue = (T)(System.Object)nativePtr;
+                    }
+                }
+            }
+
+            return outputValue;
+        }
+    }
+}

VR Raumrekonstuktion/Assets/Standard Assets/NativeObjectCache.cs.meta

@@ -0,0 +1,12 @@
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+guid: 96cf7d466b0b0bb4d92fb09d817ad613
+timeCreated: 18446744011573954816
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

VR Raumrekonstuktion/Assets/Standard Assets/NativeWrapper.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Linq;
+
+namespace Helper
+{
+    public static class NativeWrapper
+    {
+        public static System.IntPtr GetNativePtr(Object obj)
+        {
+        	if(obj == null)
+        	{
+        		return System.IntPtr.Zero;
+        	}
+
+            var nativeWrapperIface = obj as INativeWrapper;
+            if(nativeWrapperIface != null)
+            {
+                return nativeWrapperIface.nativePtr;
+            }
+            else
+            {
+                throw new ArgumentException("Object must wrap native type");
+            }
+        }
+    }
+}