private void TestConvert2DTo2D(DepthMode depthMode, ColorResolution colorResolution)
{
Calibration.CreateDummy(depthMode, colorResolution, out var calibration);
var point2d = calibration.Convert2DTo2D(new Float2(100f, 10f), 2000f, CalibrationGeometry.Depth, CalibrationGeometry.Depth);
Assert.IsNotNull(point2d);
Assert.AreEqual(100f, point2d.Value.X);
Assert.AreEqual(10f, point2d.Value.Y);
point2d = calibration.Convert2DTo2D(new Float2(10f, 100f), 3000f, CalibrationGeometry.Color, CalibrationGeometry.Color);
Assert.IsNotNull(point2d);
Assert.AreEqual(10f, point2d.Value.X);
Assert.AreEqual(100f, point2d.Value.Y);
var depthCenter = new Float2(calibration.DepthCameraCalibration.Intrinsics.Parameters.Cx, calibration.DepthCameraCalibration.Intrinsics.Parameters.Cy);
var colorCenter = new Float2(calibration.ColorCameraCalibration.Intrinsics.Parameters.Cx, calibration.ColorCameraCalibration.Intrinsics.Parameters.Cy);
point2d = calibration.Convert2DTo2D(depthCenter, 1000f, CalibrationGeometry.Depth, CalibrationGeometry.Color);
Assert.IsNotNull(point2d);
Assert.AreEqual(colorCenter, point2d);
point2d = calibration.Convert2DTo2D(colorCenter, 2000f, CalibrationGeometry.Color, CalibrationGeometry.Depth);
Assert.IsNotNull(point2d);
Assert.AreEqual(depthCenter, point2d);
point2d = calibration.Convert2DTo2D(depthCenter, 0f, CalibrationGeometry.Depth, CalibrationGeometry.Color);
Assert.IsNull(point2d);
point2d = calibration.Convert2DTo2D(colorCenter, -10f, CalibrationGeometry.Color, CalibrationGeometry.Depth);
Assert.IsNull(point2d);
}
private void TestDummyCalibration(DepthMode depthMode, ColorResolution colorResolution)
{
Calibration.CreateDummy(depthMode, colorResolution, out var calibration);
Assert.IsTrue(calibration.IsValid);
Assert.AreEqual(depthMode, calibration.DepthMode);
Assert.AreEqual(colorResolution, calibration.ColorResolution);
}
private void TestConvert3DTo3D(DepthMode depthMode, ColorResolution colorResolution)
{
Calibration.CreateDummy(depthMode, colorResolution, out var calibration);
var testPoint = new Float3(10f, 10f, 1000f);
var point3d = calibration.Convert3DTo3D(testPoint, CalibrationGeometry.Gyro, CalibrationGeometry.Accel);
Assert.AreEqual(testPoint, point3d);
}
/// <summary>Call this method to initialization of Body Tracking runtime.</summary>
/// <param name="message">
/// If Body Tracking runtime was initialized successfully, this parameter is <see langword="null"/>,
/// otherwise it contains user-friendly description of failure reason.
/// </param>
/// <returns>
/// <see langword="true"/> - if Body Tracking runtime was initialized successfully (in this case <paramref name="message"/> is <see langword="null"/>),
/// <see langword="false"/> - otherwise and in this case <paramref name="message"/> contains user-friendly description of failure.
/// </returns>
/// <remarks><para>
/// 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 and show some progress window for user.
/// But this initialization is optional. If it wasn't called explicitly, it will be called implicitly during first construction of
/// <see cref="BodyTracking.Tracker"/> object.
/// </para><para>
/// This method tries to find Body Tracking runtime 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>
/// <seealso cref="IsBodyTrackingRuntimeAvailable(out string)"/>
/// <seealso cref="BodyTracking.Tracker.Tracker(ref Calibration)"/>
public static bool TryInitializeBodyTrackingRuntime(out string message)
{
Calibration.CreateDummy(DepthMode.NarrowView2x2Binned, ColorResolution.Off, out var calibration);
if (!TryCreateTrackerHandle(ref calibration, out var trackerHandle, out message))
{
return(false);
}
trackerHandle.Dispose();
message = null;
return(true);
}
private void TestConvertColor2DToDepth2D(DepthMode depthMode, ColorResolution colorResolution)
{
Calibration.CreateDummy(depthMode, colorResolution, 30, out var calibration);
var depth2d = new Float2(calibration.DepthCameraCalibration.Intrinsics.Parameters.Cx, calibration.DepthCameraCalibration.Intrinsics.Parameters.Cy);
var depthMm = (short)1800;
var color2d = calibration.Convert2DTo2D(depth2d, depthMm, CalibrationGeometry.Depth, CalibrationGeometry.Color).Value;
var depthImageBuffer = new short[depthMode.WidthPixels() * depthMode.HeightPixels()];
for (var i = 0; i < depthImageBuffer.Length; i++)
{
depthImageBuffer[i] = depthMm;
}
var depthImage = Image.CreateFromArray(depthImageBuffer, ImageFormat.Depth16, depthMode.WidthPixels(), depthMode.HeightPixels());
var point2d = calibration.ConvertColor2DToDepth2D(color2d, depthImage);
Assert.IsNotNull(point2d);
Assert.IsTrue(Math.Abs(depth2d.X - point2d.Value.X) < 1f);
Assert.IsTrue(Math.Abs(depth2d.Y - point2d.Value.Y) < 1f);
depthImage.Dispose();
}
