/// <summary>Creates a body tracker.</summary>
/// <param name="calibration">The sensor calibration that will be used for capture processing.</param>
/// <param name="config">The configuration we want to run the tracker in. This can be initialized with <see cref="TrackerConfiguration.Default"/>.</param>
/// <remarks><para>
/// Under the hood Body Tracking runtime will be initialized during the first call of this constructor.
/// It is rather time consuming operation: initialization of ONNX runtime, loading and parsing of neural network model, etc.
/// For this reason, it is recommended to initialize Body Tracking runtime in advance: <see cref="Sdk.TryInitializeBodyTrackingRuntime(out string)"/>.
/// </para><para>
/// Also, Body Tracking runtime must be available in one of the following locations:
/// directory with executable file,
/// directory with <c>K4AdotNet</c> assembly,
/// installation directory of Body Tracking SDK under <c>Program Files</c>.
/// </para></remarks>
/// <exception cref="ArgumentOutOfRangeException">
/// Invalid value of <paramref name="calibration"/>: <see cref="Calibration.DepthMode"/> cannot be <see cref="DepthMode.Off"/> and <see cref="DepthMode.PassiveIR"/>.
/// Because depth data is required for body tracking.
/// </exception>
/// <exception cref="NotSupportedException">
/// Only one tracker is allowed to exist at the same time in each process. If you call this constructor without destroying the
/// previous tracker you created, the constructor call will fail with this exception.
/// </exception>
/// <exception cref="BodyTrackingException">
/// Unable to find/initialize Body Tracking runtime.
/// </exception>
/// <seealso cref="Sdk.IsBodyTrackingRuntimeAvailable(out string)"/>
/// <seealso cref="Sdk.TryInitializeBodyTrackingRuntime(out string)"/>
public Tracker(ref Calibration calibration, TrackerConfiguration config = default(TrackerConfiguration))
{
if (!calibration.DepthMode.HasDepth())
{
throw new ArgumentOutOfRangeException(nameof(calibration) + "." + nameof(calibration.DepthMode));
}
DepthMode = calibration.DepthMode;
var incrementedInstanceCounter = Interlocked.Increment(ref instancesCounter);
try
{
if (incrementedInstanceCounter != 1)
{
throw new NotSupportedException("Oops! Current version of Body Tracking runtime does not support creation of multiple body trackers. Sorry!");
}
if (!Sdk.TryCreateTrackerHandle(ref calibration, config, out var handle, out var message))
{
throw new BodyTrackingException(message);
}
this.handle = handle;
this.handle.Disposed += Handle_Disposed;
}
catch
{
Interlocked.Decrement(ref instancesCounter);
throw;
}
}
/// <summary>Creates a body tracker.</summary>
/// <param name="calibration">The sensor calibration that will be used for capture processing.</param>
/// <param name="config">The configuration we want to run the tracker in. This can be initialized with <see cref="TrackerConfiguration.Default"/>.</param>
/// <remarks><para>
/// Under the hood Body Tracking runtime will be initialized during the first call of this constructor.
/// It is rather time consuming operation: initialization of ONNX runtime, loading and parsing of neural network model, etc.
/// For this reason, it is recommended to initialize Body Tracking runtime in advance: <see cref="Sdk.TryInitializeBodyTrackingRuntime(out string)"/>.
/// </para><para>
/// Also, Body Tracking runtime must be available in one of the following locations:
/// directory with executable file,
/// directory with <c>K4AdotNet</c> assembly,
/// installation directory of Body Tracking SDK under <c>Program Files</c>.
/// </para></remarks>
/// <exception cref="ArgumentOutOfRangeException">
/// Invalid value of <paramref name="calibration"/>: <see cref="Calibration.DepthMode"/> cannot be <see cref="DepthMode.Off"/> and <see cref="DepthMode.PassiveIR"/>.
/// Because depth data is required for body tracking.
/// </exception>
/// <exception cref="BodyTrackingException">
/// Unable to find/initialize Body Tracking runtime.
/// </exception>
/// <seealso cref="Sdk.IsBodyTrackingRuntimeAvailable(out string)"/>
/// <seealso cref="Sdk.TryInitializeBodyTrackingRuntime(out string)"/>
public Tracker(ref Calibration calibration, TrackerConfiguration config = default)
{
if (!calibration.DepthMode.HasDepth())
{
throw new ArgumentOutOfRangeException(nameof(calibration) + "." + nameof(calibration.DepthMode));
}
DepthMode = calibration.DepthMode;
if (!Sdk.TryCreateTrackerHandle(ref calibration, config, out var handle, out var message))
{
throw new BodyTrackingException(message);
}
this.handle = handle;
this.handle.Disposed += Handle_Disposed;
}
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 extern NativeCallResults.Result TrackerCreate(
[In] ref Sensor.Calibration sensorCalibration,
TrackerConfiguration config,
out NativeHandles.TrackerHandle?trackerHandle);
