/// <summary>
/// Creates a new coordinate mapper for the specified pipeline.
/// </summary>
/// <param name="pipeline">The specified pipeline.</param>
/// <param name="colorWidth">The desired color frame width.</param>
/// <param name="colorHeight">The desired color frame height.</param>
/// <param name="depthWidth">The desired depth frame width.</param>
/// <param name="depthHeight">The desired depth frame height.</param>
/// <returns>The color/depth coordinate mapper of the current pipline, if all of the supported streams were found. Null otherwise.</returns>
public static CoordinateMapper Create(PipelineProfile pipeline, int colorWidth, int colorHeight, int depthWidth, int depthHeight)
{
if (pipeline == null)
{
return(null);
}
if (pipeline.Streams == null)
{
return(null);
}
if (pipeline.Streams.Count == 0)
{
return(null);
}
StreamProfile colorProfile = null;
StreamProfile depthProfile = null;
foreach (StreamProfile profile in pipeline.Streams)
{
VideoStreamProfile videoProfile = profile as VideoStreamProfile;
if (profile.Stream == Stream.Color && videoProfile.Width == colorWidth && videoProfile.Height == colorHeight)
{
colorProfile = profile;
}
else if (profile.Stream == Stream.Depth && videoProfile.Width == depthWidth && videoProfile.Height == depthHeight)
{
depthProfile = profile;
}
}
if (colorProfile == null)
{
return(null);
}
if (depthProfile == null)
{
return(null);
}
Intrinsics colorIntrinsics = (colorProfile as VideoStreamProfile).GetIntrinsics();
Extrinsics colorExtrinsics = colorProfile.GetExtrinsicsTo(depthProfile);
Intrinsics depthIntrinsics = (depthProfile as VideoStreamProfile).GetIntrinsics();
Extrinsics depthExtrinsics = depthProfile.GetExtrinsicsTo(colorProfile);
return(Create(colorIntrinsics, colorExtrinsics, depthIntrinsics, depthExtrinsics));
}
