public int ProcessFrame(Mat buffer, out st_pointf_t[][] keypoints, out float[][] keypoint_scores)
{
keypoints = null;
keypoint_scores = null;
// 初始化指针
p_bodies = IntPtr.Zero;
bodies_count = 0;
// body track
ret = Motion_Track.st_motion_body_track(body_handle,
buffer.DataPointer,
//frame,
st_pixel_format.ST_PIX_FMT_BGR888,
buffer.Width, buffer.Height,
st_motion_orientation.ST_MOTION_UP,
ref p_bodies,
ref bodies_count);
if (ret != ST_OK)
{
return(ret);
}
Motion_Track.Recon_Body_T(p_bodies, out st_motion_body_t[] p_bodies_m, bodies_count);
keypoints = new st_pointf_t[bodies_count][];
keypoint_scores = new float[bodies_count][];
for (int i = 0; i < bodies_count; i++)
{
Motion_Track.Recon_keypoints(p_bodies_m[i], out keypoints[i], out keypoint_scores[i]);
}
// release memory
Motion_Track.st_motion_body_release_track_result(p_bodies, bodies_count);
return(0);
}
// cast intptr to managed datatype
public static void Recon_keypoints(st_motion_body_t input, out st_pointf_t[] keypoints, out float[] keypoint_scores)
{
//st_motion_body_t input = (st_motion_body_t)Marshal.PtrToStructure(inputptr, typeof(st_pointf_t));
var sizeInBytes = Marshal.SizeOf(typeof(st_pointf_t));
keypoints = new st_pointf_t[input.keypoints_count];
keypoint_scores = new float[input.keypoints_count];
for (int i = 0; i < input.keypoints_count; i++)
{
IntPtr p = new IntPtr((input.keypoints.ToInt64() + i * sizeInBytes));
keypoints[i] = (st_pointf_t)Marshal.PtrToStructure(p, typeof(st_pointf_t));
}
Marshal.Copy(input.keypoint_scores, keypoint_scores, 0, input.keypoints_count);
}