internal static bool TryCreateTrackerHandle(ref Sensor.Calibration calibration, BodyTracking.TrackerConfiguration config,
out NativeHandles.TrackerHandle trackerHandle, out string message)
{
string runtimePath;
lock (bodyTrackingRuntimeInitializationSync)
{
if (string.IsNullOrEmpty(bodyTrackingRuntimePath))
{
bodyTrackingRuntimePath = GetBodyTrackingRuntimePath(out message);
if (string.IsNullOrEmpty(bodyTrackingRuntimePath))
{
trackerHandle = null;
return(false);
}
}
runtimePath = bodyTrackingRuntimePath;
}
if (!CheckBodyTrackingRuntimeVersion(bodyTrackingRuntimePath, out message))
{
trackerHandle = null;
return(false);
}
// Force loading of k4a.dll,
// because k4abt.dll depends on it
var tmp = new Sensor.Capture();
tmp.Dispose();
// We have to change current directory,
// because Body Tracking runtime will try to load ONNX file from current directory
// (Adding to Path environment variable doesn't work.)
using (new CurrentDirectoryOverrider(runtimePath))
{
if (BodyTracking.NativeApi.TrackerCreate(ref calibration, config, out trackerHandle) != NativeCallResults.Result.Succeeded ||
trackerHandle == null || trackerHandle.IsInvalid)
{
if (IsBodyTrackingRuntimeAvailable(out message))
{
message = "Cannot initialize body tracking runtime. See logs for details.";
}
return(false);
}
}
message = null;
return(true);
}
public static void CreateDummy(DepthMode depthMode, ColorResolution colorResolution, out Calibration calibration)
{
calibration = default(Calibration);
// depth camera
calibration.DepthMode = depthMode;
depthMode.GetNominalFov(out var hFovDegrees, out var vFovDegrees);
InitDummyCameraCalibration(ref calibration.DepthCameraCalibration,
depthMode.WidthPixels(), depthMode.HeightPixels(),
hFovDegrees, vFovDegrees);
// color camera
calibration.ColorResolution = colorResolution;
colorResolution.GetNominalFov(out hFovDegrees, out vFovDegrees);
InitDummyCameraCalibration(ref calibration.ColorCameraCalibration,
colorResolution.WidthPixels(), colorResolution.HeightPixels(),
hFovDegrees, vFovDegrees);
// extrinsics
calibration.Extrinsics = new CalibrationExtrinsics[(int)CalibrationGeometry.Count * (int)CalibrationGeometry.Count];
for (var i = 0; i < calibration.Extrinsics.Length; i++)
{
InitDummyExtrinsics(ref calibration.Extrinsics[i]);
}
}
public static void CreateFromRaw(byte[] rawCalibration, DepthMode depthMode, ColorResolution colorResolution, out Calibration calibration)
{
if (rawCalibration == null)
{
throw new ArgumentNullException(nameof(rawCalibration));
}
var res = NativeApi.CalibrationGetFromRaw(rawCalibration, Helpers.Int32ToUIntPtr(rawCalibration.Length), depthMode, colorResolution, out calibration);
if (res == NativeCallResults.Result.Failed)
{
throw new InvalidOperationException("Cannot create calibration from parameters specified.");
}
}
/// <summary>
/// Creates dummy (no distortions, ideal pin-hole geometry, all sensors are aligned) but valid calibration data.
/// This can be useful for testing and subbing needs.
/// </summary>
/// <param name="depthMode">Depth mode for which dummy calibration should be created. Can be <see cref="DepthMode.Off"/>.</param>
/// <param name="colorResolution">Color resolution for which dummy calibration should be created. Can be <see cref="ColorResolution.Off"/>.</param>
/// <param name="calibration">Result: created dummy calibration data for <paramref name="depthMode"/> and <paramref name="colorResolution"/> specified.</param>
/// <exception cref="ArgumentOutOfRangeException"><paramref name="depthMode"/> and <paramref name="colorResolution"/> cannot be equal to <c>Off</c> simultaneously.</exception>
public static void CreateDummy(DepthMode depthMode, ColorResolution colorResolution, out Calibration calibration)
{
if (depthMode == DepthMode.Off && colorResolution == ColorResolution.Off)
{
throw new ArgumentOutOfRangeException(nameof(depthMode) + " and " + nameof(colorResolution), $"{nameof(depthMode)} and {nameof(colorResolution)} cannot be equal to Off simultaneously.");
}
calibration = default;
// depth camera
calibration.DepthMode = depthMode;
depthMode.GetNominalFov(out var hFovDegrees, out var vFovDegrees);
InitDummyCameraCalibration(ref calibration.DepthCameraCalibration,
depthMode.WidthPixels(), depthMode.HeightPixels(),
hFovDegrees, vFovDegrees);
// color camera
calibration.ColorResolution = colorResolution;
colorResolution.GetNominalFov(out hFovDegrees, out vFovDegrees);
InitDummyCameraCalibration(ref calibration.ColorCameraCalibration,
colorResolution.WidthPixels(), colorResolution.HeightPixels(),
hFovDegrees, vFovDegrees);
// extrinsics
calibration.Extrinsics = new CalibrationExtrinsics[(int)CalibrationGeometry.Count * (int)CalibrationGeometry.Count];
for (var i = 0; i < calibration.Extrinsics.Length; i++)
{
InitDummyExtrinsics(ref calibration.Extrinsics[i]);
}
}
/// <summary>Gets the camera calibration for a device from a raw calibration blob.</summary>
/// <param name="rawCalibration">Raw calibration blob obtained from a device or recording. The raw calibration must be <c>0</c>-terminated. Cannot be <see langword="null"/>.</param>
/// <param name="depthMode">Mode in which depth camera is operated.</param>
/// <param name="colorResolution">Resolution in which color camera is operated.</param>
/// <param name="calibration">Result: calibration data.</param>
/// <exception cref="ArgumentNullException"><paramref name="rawCalibration"/> cannot be <see langword="null"/>.</exception>
/// <exception cref="ArgumentException"><paramref name="rawCalibration"/> must be 0-terminated.</exception>
/// <exception cref="ArgumentOutOfRangeException"><paramref name="depthMode"/> and <paramref name="colorResolution"/> cannot be equal to <c>Off</c> simultaneously.</exception>
public static void CreateFromRaw(byte[] rawCalibration, DepthMode depthMode, ColorResolution colorResolution, out Calibration calibration)
{
if (rawCalibration == null)
{
throw new ArgumentNullException(nameof(rawCalibration));
}
if (rawCalibration.IndexOf(0) < 0)
{
throw new ArgumentException($"{nameof(rawCalibration)} must be 0-terminated.", nameof(rawCalibration));
}
if (depthMode == DepthMode.Off && colorResolution == ColorResolution.Off)
{
throw new ArgumentOutOfRangeException(nameof(depthMode) + " and " + nameof(colorResolution), $"{nameof(depthMode)} and {nameof(colorResolution)} cannot be equal to Off simultaneously.");
}
var res = NativeApi.CalibrationGetFromRaw(rawCalibration, Helpers.Int32ToUIntPtr(rawCalibration.Length), depthMode, colorResolution, out calibration);
if (res == NativeCallResults.Result.Failed)
{
throw new InvalidOperationException("Cannot create calibration from parameters specified.");
}
}
/// <summary>Gets the camera calibration for the entire Azure Kinect device.</summary>
/// <param name="depthMode">Mode in which depth camera is operated.</param>
/// <param name="colorResolution">Resolution in which color camera is operated.</param>
/// <param name="calibration">Output: calibration data.</param>
/// <remarks><para>
/// The <paramref name="calibration"/> represents the data needed to transform between the camera views and may be
/// different for each operating <paramref name="depthMode"/> and <paramref name="colorResolution"/> the device is configured to operate in.
/// </para><para>
/// The <paramref name="calibration"/> output is used as input to all calibration and transformation functions.
/// </para></remarks>
/// <exception cref="ArgumentOutOfRangeException"><paramref name="depthMode"/> and <paramref name="colorResolution"/> cannot be equal to <c>Off</c> simultaneously.</exception>
/// <exception cref="ObjectDisposedException">This method cannot be called for disposed object.</exception>
/// <exception cref="DeviceConnectionLostException">Connection with Azure Kinect device has been lost.</exception>
/// <exception cref="InvalidOperationException">Cannot read calibration data for some unexpected reason. See logs for details.</exception>
/// <seealso cref="GetCalibration(DepthMode, ColorResolution, out Calibration)"/>
public void GetCalibration(DepthMode depthMode, ColorResolution colorResolution, out Calibration calibration)
{
if (depthMode == DepthMode.Off && colorResolution == ColorResolution.Off)
{
throw new ArgumentOutOfRangeException(nameof(depthMode) + " and " + nameof(colorResolution), $"{nameof(depthMode)} and {nameof(colorResolution)} cannot be equal to Off simultaneously.");
}
CheckResult(NativeApi.DeviceGetCalibration(handle.ValueNotDisposed, depthMode, colorResolution, out calibration));
}
