kinect/codes/Azure-Kinect-Samples/body-tracking-samples/csharp_3d_viewer/Program.cs

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2024-03-06 18:05:53 +00:00
using Microsoft.Azure.Kinect.BodyTracking;
using Microsoft.Azure.Kinect.Sensor;
using System;
namespace Csharp_3d_viewer
{
class Program
{
static void Main()
{
using (var visualizerData = new VisualizerData())
{
var renderer = new Renderer(visualizerData);
renderer.StartVisualizationThread();
// Open device.
using (Device device = Device.Open())
{
device.StartCameras(new DeviceConfiguration()
{
CameraFPS = FPS.FPS30,
ColorResolution = ColorResolution.Off,
DepthMode = DepthMode.NFOV_Unbinned,
WiredSyncMode = WiredSyncMode.Standalone,
});
var deviceCalibration = device.GetCalibration();
PointCloud.ComputePointCloudCache(deviceCalibration);
using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration() { ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default }))
{
while (renderer.IsActive)
{
using (Capture sensorCapture = device.GetCapture())
{
// Queue latest frame from the sensor.
tracker.EnqueueCapture(sensorCapture);
}
// Try getting latest tracker frame.
using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
// Save this frame for visualization in Renderer.
// One can access frame data here and extract e.g. tracked bodies from it for the needed purpose.
// Instead, for simplicity, we transfer the frame object to the rendering background thread.
// This example shows that frame popped from tracker should be disposed. Since here it is used
// in a different thread, we use Reference method to prolong the lifetime of the frame object.
// For reference on how to read frame data, please take a look at Renderer.NativeWindow_Render().
visualizerData.Frame = frame.Reference();
}
}
}
}
}
}
}
}
}