/// <summary>
/// Initializes a new instance of the <see cref="AzureKinectSensor"/> class.
/// </summary>
/// <param name="pipeline">Pipeline to add this component to.</param>
/// <param name="configuration">Configuration to use for the sensor.</param>
/// <param name="defaultDeliveryPolicy">An optional default delivery policy for the subpipeline (defaults is LatestMessage).</param>
/// <param name="bodyTrackerDeliveryPolicy">An optional delivery policy for sending the depth-and-IR images stream to the body tracker (default is LatestMessage).</param>
public AzureKinectSensor(
Pipeline pipeline,
AzureKinectSensorConfiguration configuration = null,
DeliveryPolicy defaultDeliveryPolicy = null,
DeliveryPolicy bodyTrackerDeliveryPolicy = null)
: base(pipeline, nameof(AzureKinectSensor), defaultDeliveryPolicy ?? DeliveryPolicy.LatestMessage)
{
if (configuration == null)
{
configuration = new AzureKinectSensorConfiguration();
}
if (configuration.BodyTrackerConfiguration != null)
{
if (!configuration.OutputCalibration)
{
throw new Exception($"The body tracker requires that the {nameof(AzureKinectSensor)} component must be configured to output calibration.");
}
if (!configuration.OutputInfrared || !configuration.OutputDepth)
{
throw new Exception($"The body tracker requires that the {nameof(AzureKinectSensor)} component must be configured to output both Depth and IR streams.");
}
}
var azureKinectCore = new AzureKinectCore(this, configuration);
// Connect the sensor streams
this.ColorImage = azureKinectCore.ColorImage.BridgeTo(pipeline, nameof(this.ColorImage)).Out;
this.Imu = azureKinectCore.Imu.BridgeTo(pipeline, nameof(this.Imu)).Out;
this.DepthImage = azureKinectCore.DepthImage.BridgeTo(pipeline, nameof(this.DepthImage)).Out;
this.InfraredImage = azureKinectCore.InfraredImage.BridgeTo(pipeline, nameof(this.InfraredImage)).Out;
this.FrameRate = azureKinectCore.FrameRate.BridgeTo(pipeline, nameof(this.FrameRate)).Out;
this.Temperature = azureKinectCore.Temperature.BridgeTo(pipeline, nameof(this.Temperature)).Out;
this.DepthDeviceCalibrationInfo = azureKinectCore.DepthDeviceCalibrationInfo.BridgeTo(pipeline, nameof(this.DepthDeviceCalibrationInfo)).Out;
this.AzureKinectSensorCalibration = azureKinectCore.AzureKinectSensorCalibration.BridgeTo(pipeline, nameof(this.AzureKinectSensorCalibration)).Out;
// Pipe captures and calibration to the body tracker
if (configuration.BodyTrackerConfiguration != null)
{
var bodyTracker = new AzureKinectBodyTracker(this, configuration.BodyTrackerConfiguration);
azureKinectCore.DepthAndIRImages.PipeTo(bodyTracker, bodyTrackerDeliveryPolicy ?? DeliveryPolicy.LatestMessage);
azureKinectCore.AzureKinectSensorCalibration.PipeTo(bodyTracker.AzureKinectSensorCalibration, DeliveryPolicy.Unlimited);
this.Bodies = bodyTracker.BridgeTo(pipeline, nameof(this.Bodies)).Out;
}
else
{
// create unused emitter to allow wiring while OutputBodies=false
this.Bodies = pipeline.CreateEmitter <List <AzureKinectBody> >(this, nameof(this.Bodies));
}
}
/// <summary>
/// Initializes a new instance of the <see cref="AzureKinectCore"/> class.
/// </summary>
/// <param name="pipeline">The pipeline to add the component to.</param>
/// <param name="config">Configuration to use for the device.</param>
/// <param name="name">An optional name for the component.</param>
public AzureKinectCore(Pipeline pipeline, AzureKinectSensorConfiguration config = null, string name = nameof(AzureKinectCore))
{
this.pipeline = pipeline;
this.name = name;
this.configuration = config ?? new AzureKinectSensorConfiguration();
if (this.configuration.OutputColor)
{
if (this.configuration.ColorResolution == ColorResolution.Off)
{
throw new ArgumentException("Invalid configuration: Cannot output color stream when color resolution is set to Off.");
}
if (this.configuration.ColorFormat != ImageFormat.ColorBGRA32)
{
throw new NotImplementedException("Invalid configuration: Psi so far only supports BGRA32 pixel format for the AzureKinect color camera");
}
}
if (this.configuration.OutputDepth)
{
if (this.configuration.DepthMode == DepthMode.Off)
{
throw new ArgumentException("Invalid configuration: Cannot output depth stream when depth mode is set to Off.");
}
if (this.configuration.DepthMode == DepthMode.PassiveIR)
{
throw new ArgumentException("Invalid configuration: Cannot output depth stream when depth mode is set to PassiveIR.");
}
}
if (this.configuration.OutputInfrared && this.configuration.DepthMode == DepthMode.Off)
{
throw new ArgumentException("Invalid configuration: Cannot output IR stream when depth mode is set to Off. Try DepthMode=PassiveIR if the intent is to capture only IR.");
}
this.DepthImage = pipeline.CreateEmitter <Shared <DepthImage> >(this, nameof(this.DepthImage));
this.InfraredImage = pipeline.CreateEmitter <Shared <Image> >(this, nameof(this.InfraredImage));
this.ColorImage = pipeline.CreateEmitter <Shared <Image> >(this, nameof(this.ColorImage));
this.Imu = pipeline.CreateEmitter <ImuSample>(this, nameof(this.Imu));
this.DepthDeviceCalibrationInfo = pipeline.CreateEmitter <IDepthDeviceCalibrationInfo>(this, nameof(this.DepthDeviceCalibrationInfo));
this.AzureKinectSensorCalibration = pipeline.CreateEmitter <Calibration>(this, nameof(this.AzureKinectSensorCalibration));
this.FrameRate = pipeline.CreateEmitter <double>(this, nameof(this.FrameRate));
this.Temperature = pipeline.CreateEmitter <float>(this, nameof(this.Temperature));
this.DepthAndIRImages = pipeline.CreateEmitter <(Shared <DepthImage>, Shared <Image>)>(this, nameof(this.DepthAndIRImages));
this.DetermineImageDimensions();
}
