/**
* @brief Gets a new data sample from the smoothing algorithm
* @param[in] timestamp
* @return smoothed value in PXCPointF32 format
*/
public PXCMPointF32 GetSample(Int64 timestamp)
{
PXCMPointF32 point = new PXCMPointF32();
PXCMDataSmoothing_Smoother2D_GetSample(instance, timestamp, out point);
return(point);
}
/**
* @brief Return the 2D center of mass of the hand in image space (in pixels).
*/
public PXCMPointF32 QueryMassCenterImage()
{
PXCMPointF32 point = new PXCMPointF32();
PXCMHandData_IHand_QueryMassCenterImage(instance, ref point);
return(point);
}
public PXCMCapture.DeviceModel model; /* Defines the distortion model of the device - different device models may use different distortion models */
public StreamCalibration () {
focalLength = new PXCMPointF32();
principalPoint = new PXCMPointF32();
radialDistortion = new Single[3];
tangentialDistortion = new Single[2];
model = PXCMCapture.DeviceModel.DEVICE_MODEL_GENERIC;
}
public PXCMCapture.DeviceModel model; /* Defines the distortion model of the device - different device models may use different distortion models */
public StreamCalibration()
{
focalLength = new PXCMPointF32();
principalPoint = new PXCMPointF32();
radialDistortion = new Single[3];
tangentialDistortion = new Single[2];
model = PXCMCapture.DeviceModel.DEVICE_MODEL_GENERIC;
}
/**
@brief Add a new data sample to the smoothing algorithm
@param[in] value the latest data sample
@return smoothed value in PXCMPointF32 format
*/
public PXCMPointF32 SmoothValue(PXCMPointF32 value)
{
return PXCMSmoother_Smoother2D_SmoothValue(instance, value);
}
/**
* @brief Add a new data sample to the smoothing algorithm
* @param[in] newSample the latest data sample
* @param[in] timestamp
* @return PXCM_STATUS_NO_ERROR
*/
public pxcmStatus AddSample(PXCMPointF32 newSample, Int64 timestamp)
{
return(PXCMDataSmoothing_Smoother2D_AddSample(instance, newSample, timestamp));
}
/**
@brief Return the 2D center of mass of the hand in image space (in pixels).
*/
public PXCMPointF32 QueryMassCenterImage()
{
PXCMPointF32 point = new PXCMPointF32();
PXCMHandData_IHand_QueryMassCenterImage(instance, ref point);
return point;
}
/**
* @brief Add a new data sample to the smoothing algorithm
* @param[in] newSample the latest data sample
* @param[in] timestamp
* @return PXCM_STATUS_NO_ERROR
*/
public pxcmStatus AddSample(PXCMPointF32 newSample)
{
return(AddSample(newSample, 0));
}
/* Member Functions */
/**
@brief Map depth coordinates to color coordinates for a few pixels.
@param[in] pos_uvz The array of depth coordinates + depth value in the PXCMPoint3DF32 structure.
@param[out] pos_ij The array of color coordinates, to be returned.
@return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus MapDepthToColor(PXCMPoint3DF32[] pos_uvz, PXCMPointF32[] pos_ij)
{
return PXCMProjection_MapDepthToColor(instance, pos_uvz.Length, pos_uvz, pos_ij);
}
/**
@brief Map camera coordinates to depth coordinates for a few pixels.
@param[in] pos3d The array of world coordinates, in mm.
@param[out] pos_uv The array of depth coordinates, to be returned.
@return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus ProjectCameraToDepth(PXCMPoint3DF32[] pos3d, PXCMPointF32[] pos_uv)
{
return PXCMProjection_ProjectCameraToDepth(instance, pos3d.Length, pos3d, pos_uv);
}
/**
@brief Get the depth stream field of view.
@return The depth-sensor horizontal and vertical field of view parameters, in degrees.
*/
public PXCMPointF32 QueryDepthFieldOfView()
{
PXCMPointF32 value = new PXCMPointF32();
QueryProperty(Property.PROPERTY_DEPTH_FIELD_OF_VIEW, out value.x);
QueryProperty((Property)(Property.PROPERTY_DEPTH_FIELD_OF_VIEW + 1), out value.y);
return value;
}
internal extern static pxcmStatus PXCMDataSmoothing_Smoother2D_AddSample(IntPtr instance, PXCMPointF32 newSample, Int64 timestamp);
internal extern static void PXCMDataSmoothing_Smoother2D_GetSample(IntPtr instance, Int64 timestamp, out PXCMPointF32 sample);
/**
@brief Add a new data sample to the smoothing algorithm
@param[in] newSample the latest data sample
@param[in] timestamp
@return PXCM_STATUS_NO_ERROR
*/
public pxcmStatus AddSample(PXCMPointF32 newSample)
{
return AddSample(newSample, 0);
}
internal extern static pxcmStatus PXCMDataSmoothing_Smoother2D_AddSample(IntPtr instance, PXCMPointF32 newSample, Int64 timestamp);
/**
* @brief Add a new data sample to the smoothing algorithm
* @param[in] value the latest data sample
* @return smoothed value in PXCMPointF32 format
*/
public PXCMPointF32 SmoothValue(PXCMPointF32 value)
{
return(PXCMSmoother_Smoother2D_SmoothValue(instance, value));
}
internal extern static void PXCMDataSmoothing_Smoother2D_GetSample(IntPtr instance, Int64 timestamp, out PXCMPointF32 sample);
/**
@brief Gets a new data sample from the smoothing algorithm
@param[in] timestamp
@return smoothed value in PXCPointF32 format
*/
public PXCMPointF32 GetSample(Int64 timestamp)
{
PXCMPointF32 point = new PXCMPointF32();
PXCMDataSmoothing_Smoother2D_GetSample(instance, timestamp, out point);
return point;
}
/**
@brief Get the depth stream principal point.
@return The depth-sensor principal point in pixels. The parameters vary with the resolution setting.
*/
public PXCMPointF32 QueryDepthPrincipalPoint()
{
PXCMPointF32 value = new PXCMPointF32();
QueryProperty(Property.PROPERTY_DEPTH_PRINCIPAL_POINT, out value.x);
QueryProperty((Property)(Property.PROPERTY_DEPTH_PRINCIPAL_POINT + 1), out value.y);
return value;
}
/**
@brief Add a new data sample to the smoothing algorithm
@param[in] newSample the latest data sample
@param[in] timestamp
@return PXCM_STATUS_NO_ERROR
*/
public pxcmStatus AddSample(PXCMPointF32 newSample, Int64 timestamp)
{
return PXCMDataSmoothing_Smoother2D_AddSample(instance, newSample, timestamp);
}
internal extern static pxcmStatus PXCMPointConverter_Set2DPoint(IntPtr instance, PXCMPointF32 point2D);
internal extern static PXCMPointF32 PXCMSmoother_Smoother2D_SmoothValue(IntPtr instance, PXCMPointF32 value);
internal extern static pxcmStatus PXCMPointConverter_Set2DPoint(IntPtr instance, PXCMPointF32 point2D);
/**
@brief Get the depth stream focal length.
@return The depth-sensor focal length in pixels. The parameters vary with the resolution setting.
*/
public PXCMPointF32 QueryDepthFocalLength()
{
PXCMPointF32 value = new PXCMPointF32();
QueryProperty(Property.PROPERTY_DEPTH_FOCAL_LENGTH, out value.x);
QueryProperty((Property)(Property.PROPERTY_DEPTH_FOCAL_LENGTH + 1), out value.y);
return value;
}
/**
* @brief Get converted 2D point from source to target
* @param[out] PXCMPointF32 converted 2D point
* @note Call handData.Update() before calling this function in order to get converted point based on updated frame data.
* @return Converted 2D Point
*/
public pxcmStatus Set2DPoint(PXCMPointF32 point2D)
{
return(PXCMPointConverter_Set2DPoint(instance, point2D));
}
/**
@brief Retrieve the inverse UV map for the specific depth image. The inverse UV map maps color coordinates
back to the depth coordinates. The inverse UVMap is a PXCMPointF32 array of color size width*height.
@param[in] depth The depth image instance.
@param[out] inv_uvmap The inverse UV map, to be returned.
@return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus QueryInvUVMap(PXCMImage depth, PXCMPointF32[] inv_uvmap)
{
return PXCMProjection_QueryInvUVMap(instance, depth.instance, inv_uvmap);
}
internal static extern void PXCMHandData_IHand_QueryMassCenterImage(IntPtr instance, ref PXCMPointF32 point);
/**
@brief Map color coordinates to depth coordiantes for a few pixels.
@param[in] depth The depthmap image.
@param[in] pos_ij The array of color coordinates.
@param[out] pos_uv The array of depth coordinates, to be returned.
@return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus MapColorToDepth(PXCMImage depth, PXCMPointF32[] pos_ij, PXCMPointF32[] pos_uv)
{
return PXCMProjection_MapColorToDepth(instance, depth.instance, pos_ij.Length, pos_ij, pos_uv);
}
internal static extern pxcmStatus PXCMProjection_MapColorToDepth(IntPtr p, IntPtr depth, Int32 npoints, PXCMPointF32[] pos_ij, [Out] PXCMPointF32[] pos_uv);
/**
@brief Map camera coordinates to color coordinates for a few pixels.
@param[in] pos3d The array of world coordinates, in mm.
@param[out] pos_ij The array of color coordinates, to be returned.
@return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus ProjectCameraToColor(PXCMPoint3DF32[] pos3d, PXCMPointF32[] pos_ij)
{
return PXCMProjection_ProjectCameraToColor(instance, pos3d.Length, pos3d, pos_ij);
}
internal extern static PXCMPointF32 PXCMSmoother_Smoother2D_SmoothValue(IntPtr instance, PXCMPointF32 value);
internal static extern void PXCMHandData_IHand_QueryMassCenterImage(IntPtr instance, ref PXCMPointF32 point);
/**
@brief Get converted 2D point from source to target
@param[out] PXCMPointF32 converted 2D point
@note Call handData.Update() before calling this function in order to get converted point based on updated frame data.
@return Converted 2D Point
*/
public pxcmStatus Set2DPoint(PXCMPointF32 point2D)
{
return PXCMPointConverter_Set2DPoint(instance, point2D);
}
