/// <summary> /// Test input camera frames against the camera pose finder database, adding frames to the /// database if dis-similar enough to existing frames. Both input depth and color frames /// must be identical sizes, a minimum size of 80x60, with valid camera parameters, and /// captured at the same time. /// Note that once the database reaches its maximum initialized size, it will overwrite old /// pose information. Check the <pararmref name="pHistoryTrimmed"/> flag or the number of /// poses in the database to determine whether the old poses are being overwritten. /// </summary> /// <param name="depthFloatFrame">The depth float frame to be processed.</param> /// <param name="colorFrame">The color frame to be processed.</param> /// <param name="worldToCameraTransform"> The current camera pose (usually the camera pose /// result from the last AlignPointClouds or AlignDepthFloatToReconstruction).</param> /// <param name="minimumDistanceThreshold">A float distance threshold between 0 and 1.0f which /// regulates how close together poses are stored in the database. Input frames /// which have a minimum distance equal to or above this threshold when compared against the /// database will be stored, as it indicates the input has become dis-similar to the existing /// stored poses. Set to 0.0f to ignore and always add a pose when this function is called, /// however in this case, unless there is an external test of distance, there is a risk this /// can lead to many duplicated poses. /// </param> /// <param name="addedPose"> /// Set true when the input frame was added to the camera pose finder database. /// </param> /// <param name="trimmedHistory"> /// Set true if the maxPoseHistoryCount was reached when the input frame is stored, so the /// oldest pose was overwritten in the camera pose finder database to store the latest pose. /// </param> /// <exception cref="ArgumentNullException"> /// Thrown when the <paramref name="depthFloatFrame"/> or <paramref name="colorFrame"/> /// parameter is null. </exception> /// <exception cref="ArgumentException"> /// Thrown when the <paramref name="depthFloatFrame"/> and <paramref name="colorFrame"/> /// parameter is an incorrect or different image size, or their <c>CameraParameters</c> /// member is null or has incorrectly sized focal lengths, or the /// <paramref name="minimumDistanceThreshold"/> parameter is less than 0 or greater /// than 1.0f.</exception> /// <exception cref="InvalidOperationException"> /// Thrown when the Kinect Runtime could not be accessed, the device is not connected, /// or the call failed for an unknown reason. /// </exception> /// <remarks> /// The camera pose finder works by accumulating whether the values at each sample location pixel /// in a saved pose frame are less than or greater than a threshold which is randomly chosen /// between minimum and maximum boundaries (e.g. for color this is 0-255). Given enough samples /// this represents a unique key frame signature that we can match against, as different poses /// will have different values for surfaces which are closer or further away, or different /// colors. /// Note that unlike depth, the robustness of finding a valid camera pose can have issues with /// ambient illumination levels in the color image. For best matching results, both the Kinect /// camera and also the environment should have exactly the same configuration as when the /// database key frame images were captured i.e. if you had a fixed exposure and custom white /// balance, this should again be set when testing the database later, otherwise the matching /// accuracy will be reduced. /// To improve accuracy, it is possible to not just provide a red, green, blue input in the /// color image, but instead provide a different 3 channels of match data scaled 0-255. For /// example, to be more illumination independent, you could calculate hue and saturation, or /// convert RGB to to LAB and use the AB channels. Other measures such as texture response /// or corner response could additionally be computed and used in one or more of the channels. /// </remarks> public void ProcessFrame( FusionFloatImageFrame depthFloatFrame, FusionColorImageFrame colorFrame, Matrix4 worldToCameraTransform, float minimumDistanceThreshold, out bool addedPose, out bool trimmedHistory) { if (null == depthFloatFrame) { throw new ArgumentNullException("depthFloatFrame"); } if (null == colorFrame) { throw new ArgumentNullException("colorFrame"); } HRESULT hr = cameraPoseFinder.ProcessFrame( FusionImageFrame.ToHandleRef(depthFloatFrame), FusionImageFrame.ToHandleRef(colorFrame), ref worldToCameraTransform, minimumDistanceThreshold, out addedPose, out trimmedHistory); ExceptionHelper.ThrowIfFailed(hr); }
/// <summary> /// Converts Kinect depth frames in unsigned short format to depth frames in float format /// representing distance from the camera in meters (parallel to the optical center axis). /// Note: <paramref name="depthImageData"/> and <paramref name="depthFloatFrame"/> must /// be the same pixel resolution and equal to <paramref name="depthImageDataWidth"/> by /// <paramref name="depthImageDataHeight"/>. /// The min and max depth clip values enable clipping of the input data, for example, to help /// isolate particular objects or surfaces to be reconstructed. Note that the thresholds return /// different values when a depth pixel is outside the threshold - pixels inside minDepthClip will /// will be returned as 0 and ignored in processing, whereas pixels beyond maxDepthClip will be set /// to 1000 to signify a valid depth ray with depth beyond the set threshold. Setting this far- /// distance flag is important for reconstruction integration in situations where the camera is /// static or does not move significantly, as it enables any voxels closer to the camera /// along this ray to be culled instead of persisting (as would happen if the pixels were simply /// set to 0 and ignored in processing). Note that when reconstructing large real-world size volumes, /// be sure to set large maxDepthClip distances, as when the camera moves around, any voxels in view /// which go beyond this threshold distance from the camera will be removed. /// </summary> /// <param name="depthImageData"> /// An array which stores the extended-depth texture of a depth image from the Kinect camera. /// </param> /// <param name="depthImageDataWidth">Width of the depth image data.</param> /// <param name="depthImageDataHeight">Height of the depth image data.</param> /// <param name="depthFloatFrame"> /// A pre-allocated depth float type image frame, to be filled with the floating point depth values. /// </param> /// <param name="minDepthClip"> /// Minimum depth distance threshold in meters. Depth pixels below this value will be /// returned as invalid (0). Min depth must be positive or 0. /// </param> /// <param name="maxDepthClip"> /// Maximum depth distance threshold in meters. Depth pixels above this value will be /// returned as invalid (1000). Max depth must be greater than 0. /// </param> /// <param name="mirrorDepth"> /// A boolean parameter specifying whether to horizontally mirror the input depth image. /// </param> /// <exception cref="ArgumentNullException"> /// Thrown when the <paramref name="depthImageData"/> or the <paramref name="depthFloatFrame"/> /// parameter is null. /// </exception> /// <exception cref="ArgumentException"> /// Thrown when the <paramref name="depthImageDataWidth"/> parameter and depthFloatFrame's /// <c>width</c> is not equal, or the <paramref name="depthImageDataHeight"/> parameter and /// depthFloatFrame's <c>height</c> member is not equal. /// Thrown when the <paramref name="minDepthClip"/> parameter or the /// <paramref name="maxDepthClip"/> is less than zero. /// </exception> /// <exception cref="OutOfMemoryException"> /// Thrown if a CPU memory allocation failed. /// </exception> /// <exception cref="InvalidOperationException"> /// Thrown when the Kinect Runtime could not be accessed, the device is not connected, /// a GPU memory allocation failed or the call failed for an unknown reason. /// </exception> #pragma warning disable 3001 public static void DepthToDepthFloatFrame( ushort[] depthImageData, int depthImageDataWidth, int depthImageDataHeight, FusionFloatImageFrame depthFloatFrame, float minDepthClip, float maxDepthClip, bool mirrorDepth) { if (null == depthImageData) { throw new ArgumentNullException("depthImageData"); } if (null == depthFloatFrame) { throw new ArgumentNullException("depthFloatFrame"); } ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionDepthToDepthFloatFrame( depthImageData, (uint)depthImageDataWidth, (uint)depthImageDataHeight, FusionImageFrame.ToHandleRef(depthFloatFrame), minDepthClip, maxDepthClip, mirrorDepth)); }
/// <summary> /// Create a visible color shaded image of a point cloud and its normals with simple /// grayscale L.N surface shading. All image frames must have the same width and height. /// </summary> /// <param name="pointCloudFrame">The point cloud frame to be shaded.</param> /// <param name="worldToCameraTransform"> /// The world to camera transform (camera pose) where the raycast was performed from. /// Pass identity if the point cloud did not originate from a raycast and is in the /// camera local coordinate system. /// </param> /// <param name="shadedSurfaceFrame"> /// Optionally, a pre-allocated color image frame, to be filled with the grayscale L.N /// shaded surface image. Pass null to skip this image. /// </param> /// <param name="shadedSurfaceNormalsFrame"> /// Optionally, a pre-allocated color image frame, to be filled with the color shaded /// normals image with color indicating orientation. Pass null to skip this image. /// </param> /// <exception cref="ArgumentNullException"> /// Thrown when the <paramref name="pointCloudFrame"/> parameter is null. /// </exception> /// <exception cref="ArgumentException"> /// Thrown when the <paramref name="pointCloudFrame"/> or <paramref name="shadedSurfaceFrame"/> /// or <paramref name="shadedSurfaceNormalsFrame"/> parameters are different image sizes. /// Thrown when the <paramref name="pointCloudFrame"/> or <paramref name="shadedSurfaceFrame"/> /// or <paramref name="shadedSurfaceNormalsFrame"/> parameters have different camera parameters. /// </exception> /// <exception cref="OutOfMemoryException"> /// Thrown if a CPU memory allocation failed. /// </exception> /// <exception cref="InvalidOperationException"> /// Thrown when the Kinect Runtime could not be accessed, the device is not connected, /// a GPU memory allocation failed or the call failed for an unknown reason. /// </exception> public static void ShadePointCloud( FusionPointCloudImageFrame pointCloudFrame, Matrix4 worldToCameraTransform, FusionColorImageFrame shadedSurfaceFrame, FusionColorImageFrame shadedSurfaceNormalsFrame) { if (null == pointCloudFrame) { throw new ArgumentNullException("pointCloudFrame"); } ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionShadePointCloud2( FusionImageFrame.ToHandleRef(pointCloudFrame), ref worldToCameraTransform, IntPtr.Zero, FusionImageFrame.ToHandleRef(shadedSurfaceFrame), FusionImageFrame.ToHandleRef(shadedSurfaceNormalsFrame))); }
#pragma warning restore 3001 /// <summary> /// Construct an oriented point cloud in the local camera frame of reference from a depth float /// image frame. Here we calculate the 3D position of each depth float pixel with the optical /// center of the camera as the origin. We use a right-hand coordinate system, and (in common /// with bitmap images with top left origin) +X is to the right, +Y down, and +Z is now forward /// from the Kinect camera into the scene, as though looking into the scene from behind the /// Kinect camera. Both images must be the same size and have the same camera parameters. /// </summary> /// <param name="depthFloatFrame">The depth float frame to be converted.</param> /// <param name="pointCloudFrame"> /// A pre-allocated point cloud frame, to be filled with 3D points and normals. /// </param> /// <exception cref="ArgumentNullException"> /// Thrown when the <paramref name="depthFloatFrame"/> or the <paramref name="pointCloudFrame"/> /// parameter is null. /// </exception> /// <exception cref="ArgumentException"> /// Thrown when the <paramref name="depthFloatFrame"/> or <paramref name="pointCloudFrame"/> /// parameters are different image sizes. /// </exception> /// <exception cref="OutOfMemoryException"> /// Thrown if a CPU memory allocation failed. /// </exception> /// <exception cref="InvalidOperationException"> /// Thrown when the Kinect Runtime could not be accessed, the device is not connected, /// a GPU memory allocation failed or the call failed for an unknown reason. /// </exception> public static void DepthFloatFrameToPointCloud( FusionFloatImageFrame depthFloatFrame, FusionPointCloudImageFrame pointCloudFrame) { if (null == depthFloatFrame) { throw new ArgumentNullException("depthFloatFrame"); } if (null == pointCloudFrame) { throw new ArgumentNullException("pointCloudFrame"); } ExceptionHelper.ThrowIfFailed(NativeMethods.NuiFusionDepthFloatFrameToPointCloud( FusionImageFrame.ToHandleRef(depthFloatFrame), FusionImageFrame.ToHandleRef(pointCloudFrame))); }
/// <summary> /// Find the most similar camera poses to the current camera input by comparing against the /// camera pose finder database, and returning a set of similar camera poses. These poses /// and similarity measurements are ordered in terms of decreasing similarity (i.e. the most /// similar is first). Both input depth and color frames must be identical sizes, with valid /// camera parameters and captured at the same time. /// </summary> /// <param name="depthFloatFrame">The depth float frame to be processed.</param> /// <param name="colorFrame">The color frame to be processed.</param> /// <returns>Returns the matched frames object created by the camera pose finder.</returns> /// <exception cref="ArgumentNullException"> /// Thrown when the <paramref name="depthFloatFrame"/> or <paramref name="colorFrame"/> /// parameter is null. </exception> /// <exception cref="ArgumentException"> /// Thrown when the <paramref name="depthFloatFrame"/> and <paramref name="colorFrame"/> /// parameter is an incorrect or different image size, or their <c>CameraParameters</c> /// member is null or has incorrectly sized focal lengths.</exception> /// <exception cref="InvalidOperationException"> /// Thrown when the Kinect Runtime could not be accessed, /// or the call failed for an unknown reason. /// </exception> /// <returns>Returns a set of matched frames/poses.</returns> public MatchCandidates FindCameraPose( FusionFloatImageFrame depthFloatFrame, FusionColorImageFrame colorFrame) { if (null == depthFloatFrame) { throw new ArgumentNullException("depthFloatFrame"); } if (null == colorFrame) { throw new ArgumentNullException("colorFrame"); } INuiFusionMatchCandidates matchCandidates = null; ExceptionHelper.ThrowIfFailed(cameraPoseFinder.FindCameraPose( FusionImageFrame.ToHandleRef(depthFloatFrame), FusionImageFrame.ToHandleRef(colorFrame), out matchCandidates)); return(new MatchCandidates(matchCandidates)); }
/// <summary> /// The AlignPointClouds function uses an iterative algorithm to align two sets of oriented /// point clouds and calculate the camera's relative pose. This is a generic function which /// can be used independently of a Reconstruction Volume with sets of overlapping point clouds. /// All images must be the same size and have the same camera parameters. /// To find the frame-to-frame relative transformation between two sets of point clouds in /// the camera local frame of reference (created by DepthFloatFrameToPointCloud), /// set the <paramref name="observedToReferenceTransform"/> to the identity. /// To calculate the frame-to-model pose transformation between point clouds calculated from /// new depth frames with DepthFloatFrameToPointCloud and point clouds calculated from an /// existing Reconstruction volume with CalculatePointCloud (e.g. from the previous frame), /// pass the CalculatePointCloud image as the reference frame, and the current depth frame /// point cloud from DepthFloatFrameToPointCloud as the observed frame. Set the /// <paramref name="observedToReferenceTransform"/> to the previous frames calculated camera /// pose that was used in the CalculatePointCloud call. /// Note that here the current frame point cloud will be in the camera local frame of /// reference, whereas the raycast points and normals will be in the global/world coordinate /// system. By passing the <paramref name="observedToReferenceTransform"/> you make the /// algorithm aware of the transformation between the two coordinate systems. /// The <paramref name="observedToReferenceTransform"/> pose supplied can also take into /// account information you may have from other sensors or sensing mechanisms to aid the /// tracking. To do this multiply the relative frame to frame delta transformation from /// the other sensing system with the previous frame's pose before passing to this function. /// Note that any delta transform used should be in the same coordinate system as that /// returned by the DepthFloatFrameToPointCloud calculation. /// </summary> /// <param name="referencePointCloudFrame"> /// The point cloud frame of the reference camera, or the previous Kinect point cloud frame. /// </param> /// <param name="observedPointCloudFrame"> /// The point cloud frame of the observed camera, or the current Kinect frame. /// </param> /// <param name="maxAlignIterationCount"> /// The maximum number of iterations of the algorithm to run. The minimum value is 1. /// Using only a small number of iterations will have a faster runtime, however, the /// algorithm may not converge to the correct transformation. /// </param> /// <param name="deltaFromReferenceFrame"> /// Optionally, a pre-allocated color image frame, to be filled with color-coded data /// from the camera tracking. This may be used as input to additional vision algorithms such as /// object segmentation. Values vary depending on whether the pixel was a valid pixel used in /// tracking (inlier) or failed in different tests (outlier). 0xff000000 indicates an invalid /// input vertex (e.g. from 0 input depth), or one where no correspondences occur between point /// cloud images. Outlier vertices rejected due to too large a distance between vertices are /// coded as 0xff008000. Outlier vertices rejected due to to large a difference in normal angle /// between point clouds are coded as 0xff800000. Inliers are color shaded depending on the /// residual energy at that point, with more saturated colors indicating more discrepancy /// between vertices and less saturated colors (i.e. more white) representing less discrepancy, /// or less information at that pixel. Pass null if this image is not required. /// </param> /// <param name="observedToReferenceTransform"> /// A pre-allocated transformation matrix. At entry to the function this should be filled /// with the best guess for the observed to reference transform (usually the last frame's /// calculated pose). At exit this is filled with he calculated pose or identity if the /// calculation failed. /// </param> /// <returns> /// Returns true if successful; returns false if the algorithm encountered a problem aligning /// the input point clouds and could not calculate a valid transformation, and /// the <paramref name="observedToReferenceTransform"/> parameter is set to identity. /// </returns> /// <exception cref="ArgumentNullException"> /// Thrown when the <paramref name="referencePointCloudFrame"/> or the /// <paramref name="observedPointCloudFrame"/> parameter is null. /// </exception> /// <exception cref="ArgumentException"> /// Thrown when the <paramref name="referencePointCloudFrame"/> or <paramref name="observedPointCloudFrame"/> /// or <paramref name="deltaFromReferenceFrame"/> parameters are different image sizes. /// Thrown when the <paramref name="referencePointCloudFrame"/> or <paramref name="observedPointCloudFrame"/> /// or <paramref name="deltaFromReferenceFrame"/> parameters have different camera parameters. /// Thrown when the <paramref name="maxAlignIterationCount"/> parameter is less than 1. /// </exception> /// <exception cref="OutOfMemoryException"> /// Thrown if a CPU memory allocation failed. /// </exception> /// <exception cref="InvalidOperationException"> /// Thrown when the Kinect Runtime could not be accessed, the device is not connected, /// a GPU memory allocation failed or the call failed for an unknown reason. /// </exception> public static bool AlignPointClouds( FusionPointCloudImageFrame referencePointCloudFrame, FusionPointCloudImageFrame observedPointCloudFrame, int maxAlignIterationCount, FusionColorImageFrame deltaFromReferenceFrame, ref Matrix4 observedToReferenceTransform) { if (null == referencePointCloudFrame) { throw new ArgumentNullException("referencePointCloudFrame"); } if (null == observedPointCloudFrame) { throw new ArgumentNullException("observedPointCloudFrame"); } ushort maxIterations = ExceptionHelper.CastAndThrowIfOutOfUshortRange(maxAlignIterationCount); HRESULT hr = NativeMethods.NuiFusionAlignPointClouds( FusionImageFrame.ToHandleRef(referencePointCloudFrame), FusionImageFrame.ToHandleRef(observedPointCloudFrame), maxIterations, FusionImageFrame.ToHandleRef(deltaFromReferenceFrame), ref observedToReferenceTransform); if (hr == HRESULT.E_NUI_FUSION_TRACKING_ERROR) { return(false); } else { ExceptionHelper.ThrowIfFailed(hr); } return(true); }
/// <summary> /// Convert a FusionImageFrame to HandleRef structure. /// </summary> /// <param name="imageFrame">The FusionImageFrame to be converted.</param> /// <returns> /// Returns null if the input <para>imageFrame</para> is null or a HandleRef structure. /// </returns> public static HandleRef ToHandleRef(FusionImageFrame imageFrame) { return(null != imageFrame ? new HandleRef(imageFrame, NativeFrameHandle.ToIntPtr(imageFrame.Handle)) : new HandleRef()); }