/// <summary>
/// Handle a completed frame from the Kinect Fusion processor.
/// </summary>
/// <returns>S_OK on success, otherwise failure code</returns>
void CKinectFusionExplorer::HandleCompletedFrame()
{
KinectFusionProcessorFrame const* pFrame = nullptr;
// Flush any extra WM_FRAMEREADY messages from the queue
MSG msg;
while (PeekMessage(&msg, m_hWnd, WM_FRAMEREADY, WM_FRAMEREADY, PM_REMOVE)) {}
m_processor.LockFrame(&pFrame);
if (!m_bSavingMesh) // don't render while a mesh is being saved
{
if (m_processor.IsVolumeInitialized())
{
m_pDrawDepth->Draw(pFrame->m_pDepthRGBX, pFrame->m_cbImageSize);
m_pDrawReconstruction->Draw(pFrame->m_pReconstructionRGBX, pFrame->m_cbImageSize);
m_pDrawTrackingDataAssociation->Draw(pFrame->m_pTrackingDataRGBX, pFrame->m_cbImageSize);
}
SetStatusMessage(pFrame->m_statusMessage);
SetFramesPerSecond(pFrame->m_fFramesPerSecond);
}
if (pFrame->m_bIntegrationResumed)
{
m_params.m_bPauseIntegration = false;
CheckDlgButton(m_hWnd, IDC_CHECK_PAUSE_INTEGRATION, BST_UNCHECKED);
m_processor.SetParams(m_params);
}
m_processor.UnlockFrame();
}
/// <summary>
/// Handle a completed frame from the Kinect Fusion processor.
/// </summary>
/// <returns>S_OK on success, otherwise failure code</returns>
void CKinectFusionExplorer::HandleCompletedFrame()
{
KinectFusionProcessorFrame const* pFrame = nullptr;
// Flush any extra WM_FRAMEREADY messages from the queue
MSG msg;
while (PeekMessage(&msg, m_hWnd, WM_FRAMEREADY, WM_FRAMEREADY, PM_REMOVE)) {}
m_processor.LockFrame(&pFrame);
if (!m_bSavingMesh) // don't render while a mesh is being saved
{
if (m_processor.IsVolumeInitialized())
{
m_pDrawDepth->Draw(pFrame->m_pDepthRGBX, pFrame->m_cbImageSize);
m_pDrawReconstruction->Draw(pFrame->m_pReconstructionRGBX, pFrame->m_cbImageSize);
m_pDrawTrackingResiduals->Draw(pFrame->m_pTrackingDataRGBX, pFrame->m_cbImageSize);
}
SetStatusMessage(pFrame->m_statusMessage);
SetFramesPerSecond(pFrame->m_fFramesPerSecond);
}
if (pFrame->m_bIntegrationResumed)
{
m_params.m_bPauseIntegration = false;
CheckDlgButton(m_hWnd, IDC_CHECK_PAUSE_INTEGRATION, BST_UNCHECKED);
m_processor.SetParams(m_params);
}
else if (m_processor.IsCameraPoseFinderAvailable() && !m_params.m_bPauseIntegration)
{
m_params.m_bPauseIntegration = true;
CheckDlgButton(m_hWnd, IDC_CHECK_PAUSE_INTEGRATION, BST_CHECKED);
m_processor.SetParams(m_params);
}
if (!m_bUIUpdated && m_processor.IsVolumeInitialized())
{
const int Mebi = 1024 * 1024;
// We now create both a color and depth volume, doubling the required memory, so we restrict
// which resolution settings the user can choose when the graphics card is limited in memory.
if (pFrame->m_deviceMemory <= 1 * Mebi) // 1GB
{
// Disable 640 voxel resolution in all axes - cards with only 1GB cannot handle this
HWND hButton = GetDlgItem(m_hWnd, IDC_VOXELS_X_640);
EnableWindow(hButton, FALSE);
hButton = GetDlgItem(m_hWnd, IDC_VOXELS_Y_640);
EnableWindow(hButton, FALSE);
hButton = GetDlgItem(m_hWnd, IDC_VOXELS_Z_640);
EnableWindow(hButton, FALSE);
if (Is64BitApp() == FALSE)
{
// Also disable 512 voxel resolution in one arbitrary axis on 32bit machines
hButton = GetDlgItem(m_hWnd, IDC_VOXELS_Y_512);
EnableWindow(hButton, FALSE);
}
}
else if (pFrame->m_deviceMemory <= 2 * Mebi) // 2GB
{
if (Is64BitApp() == FALSE)
{
// Disable 640 voxel resolution in one arbitrary axis on 32bit machines
HWND hButton = GetDlgItem(m_hWnd, IDC_VOXELS_Y_640);
EnableWindow(hButton, FALSE);
}
// True 64 bit apps seem to be more able to cope with large volume sizes.
}
m_bUIUpdated = true;
}
m_bColorCaptured = pFrame->m_bColorCaptured;
m_processor.UnlockFrame();
}
