public PoseFinder(Engine e)
{
this.volume = e.FusionVolume;
this.engine = e;
// Create a camera pose finder with default parameters
CameraPoseFinderParameters cameraPoseFinderParams = CameraPoseFinderParameters.Defaults;
finder = CameraPoseFinder.FusionCreateCameraPoseFinder(cameraPoseFinderParams);
resampledColorImagePixels = new int[KinectSettings.DEPTH_PIXEL_COUNT];
}
/// <summary>
/// Initialize a Kinect Fusion cameraPoseFinder.
/// A Kinect camera is required to be connected.
/// </summary>
/// <param name="cameraPoseFinderParameters">
/// The parameters to define the number of poses and feature sample locations the camera pose finder uses.
/// </param>
/// <returns>The CameraPoseFinder instance.</returns>
/// <exception cref="ArgumentNullException">
/// Thrown when the <paramref name="cameraPoseFinderParameters"/> parameter is null.
/// </exception>
/// <exception cref="ArgumentException">
/// Thrown when the <paramref name="cameraPoseFinderParameters"/> parameter's
/// <c>featureSampleLocationsPerFrameCount</c>, <c>maxPoseHistoryCount</c> member is not a greater than 0,
/// or the <c>featureSampleLocationsPerFrameCount</c> member is greater than 1000.
/// </exception>
/// <exception cref="OutOfMemoryException">
/// Thrown when the memory required for the camera pose finder processing could not be
/// allocated.
/// </exception>
/// <exception cref="InvalidOperationException">
/// Thrown when the Kinect Runtime could not be accessed, the Kinect device is not
/// connected or the call failed for an unknown reason.
/// </exception>
public static CameraPoseFinder FusionCreateCameraPoseFinder(
CameraPoseFinderParameters cameraPoseFinderParameters)
{
if (null == cameraPoseFinderParameters)
{
throw new ArgumentNullException("cameraPoseFinderParameters");
}
INuiFusionCameraPoseFinder poseFinder = null;
ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionCreateCameraPoseFinder2(
cameraPoseFinderParameters,
IntPtr.Zero,
out poseFinder));
return new CameraPoseFinder(poseFinder);
}
/// <summary>
/// Get the parameters used in the camera pose finder.
/// </summary>
/// <returns>Returns the parameters used in the camera pose finder.</returns>
/// <exception cref="InvalidOperationException">
/// Thrown when the Kinect Runtime could not be accessed, or
/// the call failed for an unknown reason.
/// </exception>
public CameraPoseFinderParameters GetCameraPoseFinderParameters()
{
CameraPoseFinderParameters parameters = new CameraPoseFinderParameters(
CameraPoseFinderParameters.Defaults.FeatureSampleLocationsPerFrame,
CameraPoseFinderParameters.Defaults.MaxPoseHistory,
CameraPoseFinderParameters.Defaults.MaxDepthThreshold);
HRESULT hr = cameraPoseFinder.GetCameraPoseFinderParameters(parameters);
ExceptionHelper.ThrowIfFailed(hr);
return parameters;
}
/// <summary>
/// Initialize a Kinect Fusion cameraPoseFinder, with random number generator seed for feature
/// locations and feature thresholds.
/// </summary>
/// <param name="cameraPoseFinderParameters">
/// The parameters to define the number of poses and feature sample locations the camera pose finder uses.
/// </param>
/// <param name="randomFeatureLocationAndThresholdSeed">
/// A seed to initialize the random number generator for feature locations and feature thresholds.
/// </param>
/// <returns>The CameraPoseFinder instance.</returns>
/// <exception cref="ArgumentNullException">
/// Thrown when the <paramref name="cameraPoseFinderParameters"/> parameter is null.
/// </exception>
/// <exception cref="ArgumentException">
/// Thrown when the <paramref name="cameraPoseFinderParameters"/> parameter's
/// <c>featureSampleLocationsPerFrameCount</c>, <c>maxPoseHistoryCount</c> member is not a greater than 0,
/// or a maximum of 10,000,000, the <c>featureSampleLocationsPerFrameCount</c> member is greater than 1000,
/// or the <paramref name="randomFeatureLocationAndThresholdSeed"/> parameter is negative.
/// </exception>
/// <exception cref="OutOfMemoryException">
/// Thrown when the memory required for the camera pose finder processing could not be
/// allocated.
/// </exception>
/// <exception cref="InvalidOperationException">
/// Thrown when the Kinect Runtime could not be accessed, the Kinect device is not
/// connected or the call failed for an unknown reason.
/// </exception>
public static CameraPoseFinder FusionCreateCameraPoseFinder(
CameraPoseFinderParameters cameraPoseFinderParameters,
int randomFeatureLocationAndThresholdSeed)
{
if (null == cameraPoseFinderParameters)
{
throw new ArgumentNullException("cameraPoseFinderParameters");
}
uint seed = ExceptionHelper.CastAndThrowIfOutOfUintRange(randomFeatureLocationAndThresholdSeed);
INuiFusionCameraPoseFinder poseFinder = null;
ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionCreateCameraPoseFinder(
cameraPoseFinderParameters,
ref seed,
out poseFinder));
return new CameraPoseFinder(poseFinder);
}
