/// <summary>Adds a Azure Kinect sensor capture to the tracker input queue to generate its body tracking result asynchronously.</summary>
/// <param name="capture">It should contain the depth data compatible with <see cref="DepthMode"/> for this function to work. Not <see langword="null"/>.</param>
/// <param name="timeout">
/// Specifies the time the function should block waiting to add the sensor capture to the tracker process queue.
/// Default value is <see cref="Timeout.NoWait"/>, which means checking of the status without blocking.
/// Passing <see cref="Timeout.Infinite"/> will block indefinitely until the capture is added to the process queue.
/// </param>
/// <returns>
/// <see langword="true"/> - if a sensor capture is successfully added to the processing queue.
/// <see langword="false"/> - if the queue is still full (see <see cref="IsQueueFull"/> property) before the <paramref name="timeout"/> elapses.
/// </returns>
/// <exception cref="ArgumentNullException"><paramref name="capture"/> cannot be <see langword="null"/>.</exception>
/// <exception cref="ArgumentException"><paramref name="capture"/> doesn't contain depth data compatible with <see cref="DepthMode"/>.</exception>
/// <exception cref="ObjectDisposedException">Object was disposed before this call or has been disposed during this call.</exception>
/// <exception cref="BodyTrackingException">Cannot add capture to the tracker for some unknown reason. See logs for details.</exception>
public bool TryEnqueueCapture(Capture capture, Timeout timeout = default(Timeout))
{
if (capture == null)
{
throw new ArgumentNullException(nameof(capture));
}
var res = NativeApi.TrackerEnqueueCapture(handle.ValueNotDisposed, Capture.ToHandle(capture), timeout);
if (res == NativeCallResults.WaitResult.Timeout)
{
return(false);
}
if (res == NativeCallResults.WaitResult.Failed)
{
handle.CheckNotDisposed(); // to throw ObjectDisposedException() if failure is a result of disposing
using (var depthImage = capture.DepthImage)
{
if (depthImage == null)
{
throw new ArgumentException(
"Capture should contain the depth data.",
nameof(capture));
}
if (depthImage.Format != ImageFormat.Depth16)
{
throw new ArgumentException(
$"Invalid format of depth data in capture: expected {ImageFormat.Depth16} but was {depthImage.Format}.",
nameof(capture));
}
if (depthImage.WidthPixels != DepthMode.WidthPixels() || depthImage.HeightPixels != DepthMode.HeightPixels())
{
throw new ArgumentException(
$"Invalid resolution of depth data in capture: expected {DepthMode.WidthPixels()}x{DepthMode.HeightPixels()} pixels but was {depthImage.WidthPixels}x{depthImage.HeightPixels} pixels.",
nameof(capture));
}
}
throw new BodyTrackingException("Cannot add new capture to body tracking pipeline. See logs for details.");
}
Interlocked.Increment(ref queueSize);
QueueSizeIncreased?.Invoke(this, EventArgs.Empty);
return(true);
}
public bool TryEnqueueCapture(Sensor.Capture capture, Timeout timeout = default(Timeout))
{
if (capture == null)
throw new ArgumentNullException(nameof(capture));
var res = NativeApi.TrackerEnqueueCapture(handle.ValueNotDisposed, Sensor.Capture.ToHandle(capture), timeout);
if (res == NativeCallResults.WaitResult.Timeout)
return false;
if (res == NativeCallResults.WaitResult.Failed)
{
handle.CheckNotDisposed(); // to throw ObjectDisposedException() if failure is a result of disposing
throw new BodyTrackingException("Cannot add new capture to body tracking pipeline");
}
Interlocked.Increment(ref queueSize);
QueueSizeIncreased?.Invoke(this, EventArgs.Empty);
return true;
}