public static BodyTracker Create(Calibration sensorCalibration)
{
AzureKinectException.ThrowIfNotSuccess(
BodyTrackingNativeMethods.k4abt_tracker_create(sensorCalibration, out BodyTrackingNativeMethods.k4abt_tracker_t handle));
return(new BodyTracker(handle));
}
public k4abt_frame_t DuplicateReference()
{
k4abt_frame_t duplicate = new k4abt_frame_t();
BodyTrackingNativeMethods.k4abt_frame_reference(handle);
duplicate.handle = this.handle;
return(duplicate);
}
public UInt32 GetBodyId(UInt32 index)
{
lock (this)
{
if (disposedValue)
{
throw new ObjectDisposedException(nameof(BodyFrame));
}
return(BodyTrackingNativeMethods.k4abt_frame_get_body_id(handle, index));
}
}
public static BodyTracker Create(Calibration sensorCalibration)
{
AzureKinectException.ThrowIfNotSuccess(
BodyTrackingNativeMethods.k4abt_tracker_create(sensorCalibration, new TrackerCalibration
{
sensor_orientation = SensorOrientation.K4ABT_SENSOR_ORIENTATION_DEFAULT,
cpu_only_mode = 0
}, out BodyTrackingNativeMethods.k4abt_tracker_t handle));
return(new BodyTracker(handle));
}
public Skeleton GetSkeleton(UInt32 index)
{
lock (this)
{
if (disposedValue)
{
throw new ObjectDisposedException(nameof(BodyFrame));
}
BodyTrackingNativeMethods.k4abt_frame_get_body_skeleton(handle, index, out Skeleton 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));
}
}
protected override bool ReleaseHandle()
{
BodyTrackingNativeMethods.k4abt_frame_release(handle);
return(true);
}
protected override bool ReleaseHandle()
{
BodyTrackingNativeMethods.k4abt_tracker_destroy(handle);
return(true);
}
