/// <summary>
/// Initialize a Kinect Fusion 3D Reconstruction Volume.
/// Voxel volume axis sizes must be greater than 0 and a multiple of 32.
/// Users can select which device the processing is performed on with
/// the <paramref name="reconstructionProcessorType"/> parameter. For those with multiple GPUs
/// the <paramref name="deviceIndex"/> parameter also enables users to explicitly configure
/// on which device the reconstruction volume is created.
/// </summary>
/// <param name="reconstructionParameters">
/// The Reconstruction parameters to define the size and shape of the reconstruction volume.
/// </param>
/// <param name="reconstructionProcessorType">
/// the processor type to be used for all calls to the reconstruction volume object returned
/// from this function.
/// </param>
/// <param name="deviceIndex">Set this variable to an explicit zero-based device index to use
/// a specific GPU as enumerated by NuiFusionGetDeviceInfo, or set to -1 to automatically
/// select the default device for a given processor type.
/// </param>
/// <param name="initialWorldToCameraTransform">
/// The initial camera pose of the reconstruction volume with respect to the world origin.
/// Pass identity as the default camera pose.
/// </param>
/// <returns>The Reconstruction instance.</returns>
/// <exception cref="ArgumentNullException">
/// Thrown when the <paramref name="reconstructionParameters"/> parameter is null.
/// </exception>
/// <exception cref="ArgumentException">
/// Thrown when the <paramref name="reconstructionParameters"/> parameter's <c>VoxelX</c>,
/// <c>VoxelY</c>, or <c>VoxelZ</c> member is not a greater than 0 and multiple of 32 or the
/// <paramref name="deviceIndex"/> parameter is less than -1 or greater than the number of
/// available devices for the respective processor type.
/// </exception>
/// <exception cref="OutOfMemoryException">
/// Thrown when the memory required for the Reconstruction volume processing could not be
/// allocated.
/// </exception>
/// <exception cref="InvalidOperationException">
/// Thrown when the Kinect Runtime could not be accessed, the Kinect device is not
/// connected or the Reconstruction volume is too big so a GPU memory
/// allocation failed, or the call failed for an unknown reason.
/// </exception>
public static Reconstruction FusionCreateReconstruction(
ReconstructionParameters reconstructionParameters,
ReconstructionProcessor reconstructionProcessorType,
int deviceIndex,
Matrix4 initialWorldToCameraTransform)
{
if (null == reconstructionParameters)
{
throw new ArgumentNullException("reconstructionParameters");
}
INuiFusionReconstruction reconstruction = null;
ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionCreateReconstruction(
reconstructionParameters,
reconstructionProcessorType,
deviceIndex,
ref initialWorldToCameraTransform,
out reconstruction));
return(new Reconstruction(reconstruction));
}
/// <summary>
/// Initializes a new instance of the Reconstruction class.
/// Default constructor used to initialize with the native Reconstruction volume object.
/// </summary>
/// <param name="volume">
/// The native Reconstruction volume object to be encapsulated.
/// </param>
internal Reconstruction(INuiFusionReconstruction volume)
{
this.volume = volume;
defaultWorldToVolumeTransform = this.GetCurrentWorldToVolumeTransform();
}
/// <summary>
/// Initializes a new instance of the Reconstruction class.
/// Default constructor used to initialize with the native Reconstruction volume object.
/// </summary>
/// <param name="volume">
/// The native Reconstruction volume object to be encapsulated.
/// </param>
internal Reconstruction(INuiFusionReconstruction volume)
{
this.volume = volume;
defaultWorldToVolumeTransform = this.GetCurrentWorldToVolumeTransform();
}
