public TrackerModel(IApp app, BackgroundReadingLoop readingLoop,
TrackerProcessingMode processingMode, DnnModel dnnModel, SensorOrientation sensorOrientation, float smoothingFactor)
: base(app)
{
// try to create tracking loop first
readingLoop.GetCalibration(out calibration);
trackingLoop = new BackgroundTrackingLoop(in calibration, processingMode, dnnModel, sensorOrientation, smoothingFactor);
trackingLoop.BodyFrameReady += TrackingLoop_BodyFrameReady;
trackingLoop.Failed += BackgroundLoop_Failed;
this.readingLoop = readingLoop;
readingLoop.CaptureReady += ReadingLoop_CaptureReady;
readingLoop.Failed += BackgroundLoop_Failed;
Title = readingLoop.ToString();
// Image and skeleton visualizers for depth
var depthMode = readingLoop.DepthMode;
depthImageVisualizer = ImageVisualizer.CreateForDepth(dispatcher, depthMode.WidthPixels(), depthMode.HeightPixels());
depthSkeletonVisualizer = new SkeletonVisualizer(dispatcher, depthMode.WidthPixels(), depthMode.HeightPixels(), ProjectJointToDepthMap);
// Image and skeleton visualizers for color
var colorRes = readingLoop.ColorResolution;
if (colorRes != ColorResolution.Off)
{
colorImageVisualizer = ImageVisualizer.CreateForColorBgra(dispatcher, colorRes.WidthPixels(), colorRes.HeightPixels());
colorSkeletonVisualizer = new SkeletonVisualizer(dispatcher, colorRes.WidthPixels(), colorRes.HeightPixels(), ProjectJointToColorImage);
bodyIndexMapTransformation = new BodyIndexMapTransformation(in calibration);
}
// Proportions between columns
if (colorRes != ColorResolution.Off)
{
DepthColumnWidth = new GridLength(depthImageVisualizer.WidthPixels, GridUnitType.Star);
ColorColumnWidth = new GridLength(
depthImageVisualizer.HeightPixels * colorImageVisualizer.WidthPixels / colorImageVisualizer.HeightPixels,
GridUnitType.Star);
}
else
{
DepthColumnWidth = new GridLength(1, GridUnitType.Star);
ColorColumnWidth = new GridLength(0, GridUnitType.Pixel);
}
}
void Start()
{
if (useAppConfig)
{
AppConfig conf = AppManager.AppConfig;
colorResolution = conf.ColorResolution;
imageFormat = conf.ImageFormat;
fps = conf.Fps;
depthMode = conf.DepthMode;
processingMode = conf.ProcessingMode;
}
colourKernelId = computeShader.FindKernel("ColourTex");
irKernelId = computeShader.FindKernel("IRTex");
depthKernelId = computeShader.FindKernel("DepthTex");
switch (colorResolution)
{
case ColorResolution.R720p:
{
colourWidth = 1280;
colourHeight = 720;
break;
}
case ColorResolution.R1080p:
{
colourWidth = 1920;
colourHeight = 1080;
break;
}
default:
{
colorResolution = ColorResolution.R1080p;
colourWidth = 1920;
colourHeight = 1080;
break;
}
}
if (uiEnabled)
{
colourTex = new RenderTexture(colourWidth, colourHeight, 24)
{
enableRandomWrite = true
};
colourTex.Create();
colourImage.texture = colourTex;
irTex = new RenderTexture(irWidth, irHeight, 24)
{
enableRandomWrite = true
};
irTex.Create();
irImage.texture = irTex;
depthTex = new RenderTexture(colourWidth, colourHeight, 24)
{
enableRandomWrite = true
};
depthTex.Create();
depthImage.texture = depthTex;
}
Init();
}
