public BodyFrame PopFrame(int timeoutInMS = -1)
{
lock (this)
{
if (this.disposedValue)
{
throw new ObjectDisposedException(nameof(BodyTracker));
}
NativeMethods.k4a_wait_result_t result = NativeMethods.k4abt_tracker_pop_result(this.handle, out NativeMethods.k4abt_frame_t frameHandle, timeoutInMS);
if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
throw new TimeoutException("Timed out waiting for body frame");
}
AzureKinectException.ThrowIfNotSuccess(() => result);
if (frameHandle.IsInvalid)
{
throw new AzureKinectException("k4abt_tracker_pop_result did not return a valid body frame handle");
}
return(new BodyFrame(frameHandle));
}
}
/// <summary>
/// Initializes a new instance of the <see cref="BodyTracker"/> class.
/// </summary>
/// <param name="calibration"></param>
public BodyTracker(Calibration calibration)
{
AzureKinectException.ThrowIfNotSuccess(() => NativeMethods.k4abt_tracker_create(ref calibration, TrackerConfigDefault, out this.handle));
// Hook the native allocator and register this object.
// .Dispose() will be called on this object when the allocator is shut down.
Allocator.Singleton.RegisterForDisposal(this);
}
public Image(ImageFormat format, int width_pixels, int height_pixels, int stride_bytes)
{
AzureKinectException.ThrowIfNotSuccess(NativeMethods.k4a_image_create(format,
width_pixels,
height_pixels,
stride_bytes,
out this.handle));
}
public Skeleton GetBodySkeleton(uint index)
{
lock (this)
{
if (this.disposedValue)
{
throw new ObjectDisposedException(nameof(BodyTracker));
}
Skeleton skeleton = default;
AzureKinectException.ThrowIfNotSuccess(() => NativeMethods.k4abt_frame_get_body_skeleton(this.handle, index, out skeleton));
return(skeleton);
}
}
public void EnqueueCapture(Capture capture, int timeoutInMS = -1)
{
lock (this)
{
if (disposedValue)
{
throw new ObjectDisposedException(nameof(Device));
}
NativeMethods.k4a_wait_result_t result = BodyTrackingNativeMethods.k4abt_tracker_enqueue_capture(handle, capture.DangerousGetHandle(), timeoutInMS);
if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
throw new TimeoutException("Timed out waiting for capture");
}
AzureKinectException.ThrowIfNotSuccess(result);
}
}
public BodyFrame PopResult(int timeoutInMS = -1)
{
lock (this)
{
if (disposedValue)
{
throw new ObjectDisposedException(nameof(Device));
}
NativeMethods.k4a_wait_result_t result = BodyTrackingNativeMethods.k4abt_tracker_pop_result(handle, out BodyTrackingNativeMethods.k4abt_frame_t frame, timeoutInMS);
if (result == NativeMethods.k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
throw new TimeoutException("Timed out waiting for capture");
}
AzureKinectException.ThrowIfNotSuccess(result);
return(new BodyFrame(frame));
}
}
