public static extern k4a_transformation_t k4a_transformation_create([In] ref Calibration calibration);
public static extern k4a_result_t k4a_device_get_calibration(
k4a_device_t device_handle,
DepthMode depth_mode,
ColorResolution color_resolution,
out Calibration calibration);
public static extern k4a_result_t k4a_calibration_get_from_raw(
byte[] raw_calibration,
UIntPtr raw_calibration_size,
DepthMode depth_mode,
ColorResolution color_resolution,
out Calibration calibration);
public static extern k4a_result_t k4a_calibration_3d_to_3d(
[In] ref Calibration calibration,
ref Vector3 source_point3d,
Calibration.DeviceType source_camera,
Calibration.DeviceType target_camera,
out Vector3 target_point3d);
public MainWindow()
{
InitializeComponent();
// Open Device
device = K4A.Device.Open();
// Start Cameras
device.StartCameras(new K4A.DeviceConfiguration
{
ColorFormat = K4A.ImageFormat.ColorBGRA32,
ColorResolution = K4A.ColorResolution.R720p,
DepthMode = K4A.DepthMode.NFOV_2x2Binned,
SynchronizedImagesOnly = true
});
// Get Calibration
calibration = device.GetCalibration(K4A.DepthMode.NFOV_2x2Binned, K4A.ColorResolution.R720p);
// Create Tracker
tracker = K4ABT.Tracker.Create(
calibration,
new K4ABT.TrackerConfiguration
{
SensorOrientation = K4ABT.SensorOrientation.Default,
ProcessingMode = K4ABT.TrackerProcessingMode.Gpu
}
);
// Create Buffer
int color_width = calibration.ColorCameraCalibration.ResolutionWidth;
int color_height = calibration.ColorCameraCalibration.ResolutionHeight;
const int color_channles = 4;
color_stride = color_width * sizeof(byte) * color_channles;
color_rect = new Int32Rect(0, 0, color_width, color_height);
color_bitmap = new WriteableBitmap(color_width, color_height, 96.0, 96.0, PixelFormats.Bgra32, null);
// Generate Color LUT
colors = new Color[6];
colors[0] = new Color()
{
B = 255, G = 0, R = 0, A = 128
};
colors[1] = new Color()
{
B = 0, G = 255, R = 0, A = 128
};
colors[2] = new Color()
{
B = 0, G = 0, R = 255, A = 128
};
colors[3] = new Color()
{
B = 255, G = 255, R = 0, A = 128
};
colors[4] = new Color()
{
B = 0, G = 255, R = 255, A = 128
};
colors[5] = new Color()
{
B = 255, G = 0, R = 255, A = 128
};
// Bined Image Control
Color_Image.Source = color_bitmap;
Color_Image.Width = color_width;
Color_Image.Height = color_height;
// Set Cnvas Size
Canvas_Body.Width = color_width;
Canvas_Body.Height = color_height;
}
public static extern k4a_result_t k4abt_tracker_create([In] ref Calibration sensor_calibration, TrackerConfiguration config, out k4abt_tracker_t tracker_handle);
public static extern k4a_result_t k4a_calibration_color_2d_to_depth_2d(
[In] ref Calibration calibration,
ref Vector2 source_point2d,
k4a_image_t depth_image,
out Vector2 target_point2d,
out bool valid);