public static extern k4a_result_t k4a_transformation_depth_image_to_color_camera_custom(
k4a_transformation_t transformation_handle,
k4a_image_t depth_image,
k4a_image_t custom_image,
k4a_image_t transformed_depth_image,
k4a_image_t transformed_custom_image,
TransformationInterpolationType interpolation_type,
uint invalid_custom_value);
/// <summary>
/// Transforms a depth Image and a custom Image from the depth camera perspective to the color camera perspective.
/// </summary>
/// <param name="depth">Depth image to transform.</param>
/// <param name="custom">Custom image to transform.</param>
/// <param name="transformedDepth">An transformed depth image to hold the output.</param>
/// <param name="transformedCustom">An transformed custom image to hold the output.</param>
/// <param name="interpolationType">Parameter that controls how pixels in custom image should be interpolated when transformed to color camera space.</param>
/// <param name="invalidCustomValue">Defines the custom image pixel value that should be written to transformedCustom in case the corresponding depth pixel can not be transformed into the color camera space.</param>
/// <remarks>
/// The <paramref name="transformedDepth"/> Image must be of the resolution of the color camera, and
/// of the pixel format of the depth image.
/// The <paramref name="transformedCustom"/> Image must be of the resolution of the color camera, and
/// of the pixel format of the custom image.
/// </remarks>
public void DepthImageToColorCameraCustom(Image depth, Image custom, Image transformedDepth, Image transformedCustom, TransformationInterpolationType interpolationType, uint invalidCustomValue)
{
if (depth == null)
{
throw new ArgumentNullException(nameof(depth));
}
if (custom == null)
{
throw new ArgumentNullException(nameof(custom));
}
if (transformedDepth == null)
{
throw new ArgumentNullException(nameof(transformedDepth));
}
if (transformedCustom == null)
{
throw new ArgumentNullException(nameof(transformedCustom));
}
if (custom.Format != ImageFormat.Custom8 && custom.Format != ImageFormat.Custom16)
{
throw new NotSupportedException("Failed to support this format of custom image!");
}
if (transformedCustom.Format != ImageFormat.Custom8 && transformedCustom.Format != ImageFormat.Custom16)
{
throw new NotSupportedException("Failed to support this format of transformed custom image!");
}
if (custom.Format != transformedCustom.Format)
{
throw new NotSupportedException("Failed to support this different format of custom image and transformed custom image!!");
}
lock (this)
{
// Create a new reference to the Image objects so that they cannot be disposed while
// we are performing the transformation
using (Image depthReference = depth.Reference())
using (Image customReference = custom.Reference())
using (Image transformedDepthReference = transformedDepth.Reference())
using (Image transformedCustomReference = transformedCustom.Reference())
{
// Ensure changes made to the managed memory are visible to the native layer
depthReference.FlushMemory();
customReference.FlushMemory();
AzureKinectException.ThrowIfNotSuccess(() => NativeMethods.k4a_transformation_depth_image_to_color_camera_custom(
this.handle,
depthReference.DangerousGetHandle(),
customReference.DangerousGetHandle(),
transformedDepthReference.DangerousGetHandle(),
transformedCustom.DangerousGetHandle(),
interpolationType,
invalidCustomValue));
// Copy the native memory back to managed memory if required
transformedDepthReference.InvalidateMemory();
transformedCustom.InvalidateMemory();
}
}
}
/// <summary>
/// Transforms a depth Image and a custom Image from the depth camera perspective to the color camera perspective.
/// </summary>
/// <param name="depth">Depth image to transform.</param>
/// <param name="custom">Custom image to transform.</param>
/// <param name="interpolationType">Parameter that controls how pixels in custom image should be interpolated when transformed to color camera space.</param>
/// <param name="invalidCustomValue">Defines the custom image pixel value that should be written to transformedCustom in case the corresponding depth pixel can not be transformed into the color camera space.</param>
/// <returns>A depth image transformed in to the color camera perspective.</returns>
/// <returns>A custom image transformed in to the color camera perspective.</returns>
public (Image transformedDepth, Image transformedCustom) DepthImageToColorCameraCustom(Image depth, Image custom, TransformationInterpolationType interpolationType, uint invalidCustomValue)
{
if (depth == null)
{
throw new ArgumentNullException(nameof(depth));
}
if (custom == null)
{
throw new ArgumentNullException(nameof(custom));
}
Image transformedDepth = new Image(
ImageFormat.Depth16,
this.calibration.ColorCameraCalibration.ResolutionWidth,
this.calibration.ColorCameraCalibration.ResolutionHeight,
this.calibration.ColorCameraCalibration.ResolutionWidth * sizeof(short))
{
DeviceTimestamp = depth.DeviceTimestamp,
};
int bytesPerPixel;
switch (custom.Format)
{
case ImageFormat.Custom8:
bytesPerPixel = sizeof(byte);
break;
case ImageFormat.Custom16:
bytesPerPixel = sizeof(short);
break;
default:
throw new NotSupportedException("Failed to support this format of custom image!");
}
Image transformedCustom = new Image(
custom.Format,
this.calibration.ColorCameraCalibration.ResolutionWidth,
this.calibration.ColorCameraCalibration.ResolutionHeight,
this.calibration.ColorCameraCalibration.ResolutionWidth * bytesPerPixel)
{
DeviceTimestamp = custom.DeviceTimestamp,
};
this.DepthImageToColorCameraCustom(depth, custom, transformedDepth, transformedCustom, interpolationType, invalidCustomValue);
return(transformedDepth, transformedCustom);
}
