/// <summary>
/// Enumerate the devices capable of running KinectFusion.
/// This enables a specific device to be chosen when calling NuiFusionCreateReconstruction if desired.
/// </summary>
/// <param name="type">The type of processor to enumerate.</param>
/// <param name="index">
/// The zero-based index of the device for which the description is returned.
/// or -1 for the default device for the given processor type.
/// </param>
/// <param name="description">On success, the variable is assigned the description string for the device.</param>
/// <param name="instancePath">On success, the variable is assigned the instance path for the device.</param>
/// <param name="memoryKB">On success, the variable is assigned the total amount of memory on the device, in kilobytes.</param>
/// <exception cref="IndexOutOfRangeException">
/// Thrown when the <paramref name="index"/> parameter is out of range for the specified processor type.
/// </exception>
/// <exception cref="ArgumentException">
/// Thrown when the <paramref name="type"/> parameter is out of range.
/// </exception>
/// <exception cref="InvalidOperationException">
/// Thrown when the call failed for an unknown reason.
/// </exception>
public static void GetDeviceInfo(
ReconstructionProcessor type,
int index,
out string description,
out string instancePath,
out int memoryKB)
{
const int MaxBufferLength = 260;
StringBuilder descriptionBuffer = new StringBuilder(MaxBufferLength);
StringBuilder instancePathBuffer = new StringBuilder(MaxBufferLength);
uint memoryInKB = 0;
ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionGetDeviceInfo(
type,
index,
descriptionBuffer,
(uint)descriptionBuffer.Capacity,
instancePathBuffer,
(uint)instancePathBuffer.Capacity,
out memoryInKB));
// Save the results
description = descriptionBuffer.ToString();
instancePath = instancePathBuffer.ToString();
memoryKB = (int)memoryInKB;
}
/// <summary>
/// Enumerate the devices capable of running KinectFusion.
/// This enables a specific device to be chosen when calling NuiFusionCreateReconstruction if desired.
/// </summary>
/// <param name="type">The type of processor to enumerate.</param>
/// <param name="index">
/// The zero-based index of the device for which the description is returned.
/// or -1 for the default device for the given processor type.
/// </param>
/// <param name="description">On success, the variable is assigned the description string for the device.</param>
/// <param name="instancePath">On success, the variable is assigned the instance path for the device.</param>
/// <param name="memoryKB">On success, the variable is assigned the total amount of memory on the device, in kilobytes.</param>
/// <exception cref="IndexOutOfRangeException">
/// Thrown when the <paramref name="index"/> parameter is out of range for the specified processor type.
/// </exception>
/// <exception cref="ArgumentException">
/// Thrown when the <paramref name="type"/> parameter is out of range.
/// </exception>
/// <exception cref="InvalidOperationException">
/// Thrown when the call failed for an unknown reason.
/// </exception>
public static void GetDeviceInfo(
ReconstructionProcessor type,
int index,
out string description,
out string instancePath,
out int memoryKB)
{
const int MaxBufferLength = 260;
StringBuilder descriptionBuffer = new StringBuilder(MaxBufferLength);
StringBuilder instancePathBuffer = new StringBuilder(MaxBufferLength);
uint memoryInKB = 0;
ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionGetDeviceInfo(
type,
index,
descriptionBuffer,
(uint)descriptionBuffer.Capacity,
instancePathBuffer,
(uint)instancePathBuffer.Capacity,
out memoryInKB));
// Save the results
description = descriptionBuffer.ToString();
instancePath = instancePathBuffer.ToString();
memoryKB = (int)memoryInKB;
}
/// <summary>
/// Constructs and prepares the ColorReconstruction for data input
/// </summary>
private void RecreateReconstruction()
{
ReconstructionParameters volParam = new ReconstructionParameters(voxelsPerMeter, voxelsX, voxelsY, voxelsZ);
worldToCameraTransform = Matrix4.Identity;
ReconstructionProcessor ProcessorType = ReconstructionProcessor.Amp;
volume = ColorReconstruction.FusionCreateReconstruction(volParam, ProcessorType, -1, worldToCameraTransform);
defaultWorldToVolumeTransform = volume.GetCurrentWorldToVolumeTransform();
ResetReconstruction();
worldToBGRTransform = Matrix4.Identity;
worldToBGRTransform.M11 = voxelsPerMeter / voxelsX;
worldToBGRTransform.M22 = voxelsPerMeter / voxelsY;
worldToBGRTransform.M33 = voxelsPerMeter / voxelsZ;
worldToBGRTransform.M41 = 0.5f;
worldToBGRTransform.M42 = 0.5f;
worldToBGRTransform.M44 = 1.0f;
}
/// <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>
/// Initialize a Kinect Fusion 3D Reconstruction Volume.
/// Voxel volume axis sizes must be greater than 0 and a multiple of 32. A Kinect camera
/// is also required to be connected.
/// </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 FusionDepthProcessor.GetDeviceInfo, 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.
/// Thrown when 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>
/// <remarks>
/// 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.
/// Note that this function creates a default world-volume transform. To set a non-default
/// transform call ResetReconstruction with an appropriate Matrix4. This default transformation
/// is a combination of translation in X,Y to locate the world origin at the center of the front
/// face of the reconstruction volume cube, and scaling by the voxelsPerMeter reconstruction
/// parameter to convert from the world coordinate system to volume voxel indices.
/// </remarks>
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);
}
