/// <summary>
/// Throws an <see cref="AzureKinectException"/> if the result is not <see cref="NativeMethods.k4a_result_t.K4A_RESULT_SUCCEEDED"/>.
/// </summary>
/// <param name="result">The result to check.</param>
internal static void ThrowIfNotSuccess(NativeMethods.k4a_result_t result)
{
if (result != NativeMethods.k4a_result_t.K4A_RESULT_SUCCEEDED)
{
throw new AzureKinectException($"result = {result}");
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Tracker"/> class.
/// </summary>
/// <param name="calibration"></param>
/// <param name="configuration"></param>
public Tracker(Calibration calibration, TrackerConfiguration configuration)
{
NativeMethods.k4a_result_t result = NativeMethods.k4abt_tracker_create(ref calibration, configuration, out this.handle);
if (result == NativeMethods.k4a_result_t.K4A_RESULT_FAILED)
{
throw new AzureKinectException("Couldn't create tracker");
}
}
private static void CurrentDomain_Exit(object sender, EventArgs e)
{
NativeMethods.k4a_result_t result = NativeMethods.k4a_set_debug_message_handler(null, IntPtr.Zero, LogLevel.Off);
if (result != NativeMethods.k4a_result_t.K4A_RESULT_SUCCEEDED)
{
Trace.WriteLine("Failed to close the debug message handler");
}
}
/// <summary>
/// Initializes the <see cref="Logger"/> class to begin receiving messages from the Azure Kinect Sensor SDK.
/// </summary>
public static void Initialize()
{
lock (SyncRoot)
{
if (Logger.isInitialized)
{
return;
}
AppDomain.CurrentDomain.ProcessExit += CurrentDomain_Exit;
AppDomain.CurrentDomain.DomainUnload += CurrentDomain_Exit;
NativeMethods.k4a_result_t result = NativeMethods.k4a_set_debug_message_handler(DebugMessageHandler, IntPtr.Zero, LogLevel.Trace);
if (result != NativeMethods.k4a_result_t.K4A_RESULT_SUCCEEDED)
{
throw new AzureKinectException("Failed to set the Debug Message Handler");
}
Logger.isInitialized = true;
}
}
/// <summary>
/// Get the joint information for a particular person index from the frame
/// </summary>
/// <param name="index">The index of the body of which the joint information is queried.</param>
/// <returns>If successful this contains the body skeleton information.</returns>
public Skeleton GetBodySkeleton(uint index)
{
NativeMethods.k4a_result_t result = NativeMethods.k4abt_frame_get_body_skeleton(this.handle, (UIntPtr)index, out Skeleton skeleton);
return(result == NativeMethods.k4a_result_t.K4A_RESULT_SUCCEEDED ? skeleton : (default));
/// <summary>
/// Determines if the <see cref="NativeMethods.k4a_result_t"/> is a success.
/// </summary>
/// <param name="result">The result to check if it is a success.</param>
/// <returns><c>True</c> if the result is a success;otherwise <c>false</c>.</returns>
internal static bool IsSuccess(NativeMethods.k4a_result_t result)
{
return(result == NativeMethods.k4a_result_t.K4A_RESULT_SUCCEEDED);
}
