/// <summary>
/// Check to ensure suitable DirectX11 compatible hardware exists before initializing Kinect Fusion
/// </summary>
/// <returns></returns>
private static bool IsHardwareCompatible()
{
try
{
string deviceDescription;
string deviceInstancePath;
int deviceMemoryKB;
FusionDepthProcessor.GetDeviceInfo(ReconstructionProcessor.Amp, -1, out deviceDescription, out deviceInstancePath, out deviceMemoryKB);
return(true);
}
catch (IndexOutOfRangeException ex)
{
// Thrown when index is out of range for processor type or there is no DirectX11 capable device installed.
// As we set -1 (auto-select default) for the DeviceToUse above, this indicates that there is no DirectX11
// capable device. The options for users in this case are to either install a DirectX11 capable device
// (see documentation for recommended GPUs) or to switch to non-real-time CPU based reconstruction by
// changing ProcessorType to ReconstructionProcessor.Cpu
logger.Error("No DirectX11 device detected, or invalid device index", ex);
return(false);
}
catch (DllNotFoundException ex)
{
logger.Error("A prerequisite component for Kinect Fusion is missing", ex);
return(false);
}
catch (InvalidOperationException ex)
{
logger.Error("Unknown exception", ex);
return(false);
}
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Check to ensure suitable DirectX11 compatible hardware exists before initializing Kinect Fusion
try
{
string deviceDescription = string.Empty;
string deviceInstancePath = string.Empty;
int deviceMemory = 0;
FusionDepthProcessor.GetDeviceInfo(
ProcessorType, DeviceToUse, out deviceDescription, out deviceInstancePath, out deviceMemory);
}
catch (IndexOutOfRangeException)
{
// Thrown when index is out of range for processor type or there is no DirectX11 capable device installed.
// As we set -1 (auto-select default) for the DeviceToUse above, this indicates that there is no DirectX11
// capable device. The options for users in this case are to either install a DirectX11 capable device
// (see documentation for recommended GPUs) or to switch to non-real-time CPU based reconstruction by
// changing ProcessorType to ReconstructionProcessor.Cpu
this.statusBarText.Text = Properties.Resources.NoDirectX11CompatibleDeviceOrInvalidDeviceIndex;
return;
}
catch (DllNotFoundException)
{
this.statusBarText.Text = Properties.Resources.MissingPrerequisite;
return;
}
catch (InvalidOperationException ex)
{
this.statusBarText.Text = ex.Message;
return;
}
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null == this.sensor)
{
this.statusBarText.Text = Properties.Resources.NoKinectReady;
return;
}
// Turn on the depth stream to receive depth frames
this.sensor.DepthStream.Enable(DepthImageResolution);
this.frameDataLength = this.sensor.DepthStream.FramePixelDataLength;
// Create local depth pixels buffer
this.depthImagePixels = new DepthImagePixel[this.frameDataLength];
// Allocate space to put the color pixels we'll create
this.colorPixels = new int[this.frameDataLength];
// This is the bitmap we'll display on-screen
this.colorBitmap = new WriteableBitmap(
(int)ImageSize.Width,
(int)ImageSize.Height,
96.0,
96.0,
PixelFormats.Bgr32,
null);
// Set the image we display to point to the bitmap where we'll put the image data
this.Image.Source = this.colorBitmap;
// Add an event handler to be called whenever there is new depth frame data
this.sensor.DepthFrameReady += this.SensorDepthFrameReady;
var volParam = new ReconstructionParameters(VoxelsPerMeter, VoxelResolutionX, VoxelResolutionY, VoxelResolutionZ);
// Set the world-view transform to identity, so the world origin is the initial camera location.
this.worldToCameraTransform = Matrix4.Identity;
try
{
// This creates a volume cube with the Kinect at center of near plane, and volume directly
// in front of Kinect.
this.volume = Reconstruction.FusionCreateReconstruction(volParam, ProcessorType, DeviceToUse, this.worldToCameraTransform);
this.defaultWorldToVolumeTransform = this.volume.GetCurrentWorldToVolumeTransform();
if (this.translateResetPoseByMinDepthThreshold)
{
// Reset the reconstruction if we need to add a custom world-volume transformation
this.ResetReconstruction();
}
}
catch (InvalidOperationException ex)
{
this.statusBarText.Text = ex.Message;
return;
}
catch (DllNotFoundException)
{
this.statusBarText.Text = this.statusBarText.Text = Properties.Resources.MissingPrerequisite;
return;
}
// Depth frames generated from the depth input
this.depthFloatBuffer = new FusionFloatImageFrame((int)ImageSize.Width, (int)ImageSize.Height);
// Point cloud frames generated from the depth float input
this.pointCloudBuffer = new FusionPointCloudImageFrame((int)ImageSize.Width, (int)ImageSize.Height);
// Create images to raycast the Reconstruction Volume
this.shadedSurfaceColorFrame = new FusionColorImageFrame((int)ImageSize.Width, (int)ImageSize.Height);
// Start the sensor!
try
{
this.sensor.Start();
}
catch (IOException ex)
{
// Device is in use
this.sensor = null;
this.statusBarText.Text = ex.Message;
return;
}
catch (InvalidOperationException ex)
{
// Device is not valid, not supported or hardware feature unavailable
this.sensor = null;
this.statusBarText.Text = ex.Message;
return;
}
// Set Near Mode by default
try
{
this.sensor.DepthStream.Range = DepthRange.Near;
this.checkBoxNearMode.IsChecked = true;
}
catch (InvalidOperationException)
{
// Near mode not supported on device, silently fail during initialization
this.checkBoxNearMode.IsEnabled = false;
}
// Initialize and start the FPS timer
this.fpsTimer = new DispatcherTimer();
this.fpsTimer.Tick += new EventHandler(this.FpsTimerTick);
this.fpsTimer.Interval = new TimeSpan(0, 0, FpsInterval);
this.fpsTimer.Start();
this.lastFPSTimestamp = DateTime.UtcNow;
}
