/// <summary>
/// Add a k4a sensor capture to the tracker input queue to generate its body tracking result asynchronously.
/// </summary>
/// <param name="capture">sensor capture returned by <see cref="Device.GetCapture(TimeSpan)"/>() from k4a SDK. It should contain the depth data for this function to work.Otherwise the function will return failure.</param>
/// <param name="timeout">
/// Specifies the time the function should block waiting to add the sensor capture to the tracker
/// process queue. 0 is a check of the status without blocking. Passing a value of TimeSpan.FromMilliseconds(-1) will block
/// indefinitely until the capture is added to the process queue.
/// </param>
/// <remarks>
/// <para>
/// Add a k4a capture to the tracker input queue so that it can be processed asynchronously to generate the body tracking
/// result. The processed results will be added to an output queue maintained by k4abt_tracker_t instance. Call
/// <see cref="PopResult(TimeSpan)"/> to get the result and pop it from the output queue.
/// If the input queue or output queue is full, this function will block up until the timeout is reached.
/// Once body_frame data is read, the user must call <see cref="Frame.Dispose()"/>() to return the allocated memory to the SDK</para>
/// <para>
/// Upon successfully insert a sensor capture to the input queue this function will return success.
/// </para>
/// <para>
/// This function returns ::K4A_WAIT_RESULT_FAILED when either the tracker is shut down by k4abt_tracker_shutdown() API,
/// or an internal problem is encountered before adding to the input queue: such as low memory condition,
/// sensor_capture_handle not containing the depth data, or other unexpected issues.
/// </para>
/// </remarks>
/// <seealso cref="Tracker"/>
public void EnqueueCapture(Capture capture, TimeSpan timeout)
{
SafeHandleZeroOrMinusOneIsInvalid captureHandle = (SafeHandleZeroOrMinusOneIsInvalid)typeof(Capture).GetField("handle", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic).GetValue(capture);
NativeMethods.k4a_wait_result_t result = NativeMethods.k4abt_tracker_enqueue_capture(this.handle.DangerousGetHandle(), captureHandle.DangerousGetHandle(), (int)timeout.TotalMilliseconds);
if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
throw new TimeoutException();
}
else if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_FAILED)
{
throw new AzureKinectException();
}
}
static extern UInt32 WaitForSingleObject(SafeHandleZeroOrMinusOneIsInvalid hHandle, UInt32 dwMilliseconds);
static extern int TerminateProcess(SafeHandleZeroOrMinusOneIsInvalid hProcess, uint uExitCode);
extern static Boolean SetStdHandle(Int32 nStdHandle, SafeHandleZeroOrMinusOneIsInvalid handle);
/// <summary>
/// This method checks if the handle is invalid then it throws error
/// </summary>
/// <param name="handle">Accepts handle</param>
internal static void VerifyValidHandle(SafeHandleZeroOrMinusOneIsInvalid handle)
{
if (handle.IsInvalid)
{
throw new CryptographicException(SR.Format(SR.Cryptography_OpenInvalidHandle, "Handle"));
}
}
/// <summary>
/// This method checks if the handle is invalid then it throws error
/// </summary>
/// <param name="handle">Accepts handle</param>
internal static void VerifyValidHandle(SafeHandleZeroOrMinusOneIsInvalid handle)
{
if (handle.IsInvalid)
{
//ToDO : Log error. This will be helpful in debugging.
throw new CryptographicException(SR.Format(SR.Cryptography_OpenInvalidHandle, "Handle"));
}
}
