/// <summary> /// Get initialized instance of the Kinect device. /// </summary> /// /// <param name="deviceID">ID of the Kinect device to get instance of, [0, <see cref="DeviceCount"/>),</param> /// /// <returns>Returns initialized Kinect device. Use <see cref="Dispose()"/> method /// when the device is no longer required.</returns> /// /// <exception cref="ArgumentException">There is no Kinect device with specified ID connected to the system.</exception> /// <exception cref="ConnectionFailedException">Failed connecting to the Kinect device specified ID.</exception> /// public static Kinect GetDevice(int deviceID) { if ((deviceID < 0) || (deviceID >= DeviceCount)) { throw new ArgumentException("There is no Kinect device with specified ID connected to the system."); } bool needToStartStatusThread = false; Kinect kinect = null; lock (openDevices) { needToStartStatusThread = (openDevices.Count == 0); // check if the device is open already if (!openDevices.ContainsKey(deviceID)) { IntPtr devicePointer = IntPtr.Zero; // connect to Kinect device witht the specified ID if (KinectNative.freenect_open_device(KinectNative.Context, ref devicePointer, deviceID) != 0) { throw new ConnectionFailedException("Failed connecting to the Kinect device with ID: " + deviceID); } openDevices.Add(deviceID, new DeviceContext(devicePointer)); } openDevices[deviceID].ReferenceCounter++; kinect = new Kinect(openDevices[deviceID].Device, deviceID); } if (needToStartStatusThread) { StartStatusThread(); } return(kinect); }
/// <summary> /// Stop video source. /// </summary> /// /// <remarks><para>The method stops the video source, so it no longer provides new video frames /// and does not consume any resources.</para> /// </remarks> /// public void Stop() { lock (sync) { lock (runningCameras) { if (device != null) { bool deviceFailed = device.IsDeviceFailed(deviceID); if (!deviceFailed) { KinectNative.freenect_stop_video(device.RawDevice); } device.Dispose(); device = null; runningCameras.Remove(deviceID); if (PlayingFinished != null) { PlayingFinished(this, (!deviceFailed) ? ReasonToFinishPlaying.StoppedByUser : ReasonToFinishPlaying.DeviceLost); } } if (imageBuffer != IntPtr.Zero) { Marshal.FreeHGlobal(imageBuffer); imageBuffer = IntPtr.Zero; } videoCallback = null; } } }
/// <summary> /// Start video source. /// </summary> /// /// <remarks>Starts video source and returns execution to caller. Video camera will be started /// and will provide new video frames through the <see cref="NewFrame"/> event.</remarks> /// /// <exception cref="ArgumentException">The specified resolution is not supported for the selected /// mode of the Kinect video camera.</exception> /// <exception cref="ConnectionFailedException">Could not connect to Kinect's video camera.</exception> /// <exception cref="DeviceBusyException">Another connection to the specified video camera is already running.</exception> /// public void Start() { lock (sync) { lock (runningCameras) { if (device == null) { bool success = false; try { if (runningCameras.Contains(deviceID)) { throw new DeviceBusyException("Another connection to the specified video camera is already running."); } // get Kinect device device = Kinect.GetDevice(deviceID); KinectNative.VideoCameraFormat dataFormat = KinectNative.VideoCameraFormat.RGB; if (cameraMode == VideoCameraMode.Bayer) { dataFormat = KinectNative.VideoCameraFormat.Bayer; } else if (cameraMode == VideoCameraMode.InfraRed) { dataFormat = KinectNative.VideoCameraFormat.IR8Bit; } // find video format parameters videoModeInfo = KinectNative.freenect_find_video_mode(resolution, dataFormat); if (videoModeInfo.IsValid == 0) { throw new ArgumentException("The specified resolution is not supported for the selected mode of the Kinect video camera."); } // set video format if (KinectNative.freenect_set_video_mode(device.RawDevice, videoModeInfo) != 0) { throw new VideoException("Could not switch to the specified video format."); } // allocate video buffer and provide it freenect imageBuffer = Marshal.AllocHGlobal((int)videoModeInfo.Bytes); KinectNative.freenect_set_video_buffer(device.RawDevice, imageBuffer); // set video callback videoCallback = new KinectNative.FreenectVideoDataCallback(HandleDataReceived); KinectNative.freenect_set_video_callback(device.RawDevice, videoCallback); // start the camera if (KinectNative.freenect_start_video(device.RawDevice) != 0) { throw new ConnectionFailedException("Could not start video stream."); } success = true; runningCameras.Add(deviceID); device.AddFailureHandler(deviceID, Stop); } finally { if (!success) { if (device != null) { device.Dispose(); device = null; } if (imageBuffer != IntPtr.Zero) { Marshal.FreeHGlobal(imageBuffer); imageBuffer = IntPtr.Zero; } } } } } } }
/// <summary> /// Stop video source. /// </summary> /// /// <remarks><para>The method stops the video source, so it no longer provides new video frames /// and does not consume any resources.</para> /// </remarks> /// public void Stop() { lock (sync) { lock (runningCameras) { if (device != null) { bool deviceFailed = device.IsDeviceFailed(deviceID); if (!deviceFailed) { KinectNative.freenect_stop_video(device.RawDevice); } device.Dispose(); device = null; runningCameras.Remove(deviceID); if (PlayingFinished != null) { PlayingFinished(this, (!deviceFailed) ? ReasonToFinishPlaying.StoppedByUser : ReasonToFinishPlaying.DeviceLost); } } if (imageBuffer != IntPtr.Zero) { Marshal.FreeHGlobal(imageBuffer); imageBuffer = IntPtr.Zero; } videoCallback = null; } } }
/// <summary> /// Start video source. /// </summary> /// /// <remarks>Starts video source and returns execution to caller. Video camera will be started /// and will provide new video frames through the <see cref="NewFrame"/> event.</remarks> /// /// <exception cref="ArgumentException">The specified resolution is not supported for the selected /// mode of the Kinect video camera.</exception> /// <exception cref="ConnectionFailedException">Could not connect to Kinect's video camera.</exception> /// <exception cref="DeviceBusyException">Another connection to the specified video camera is already running.</exception> /// public void Start() { lock (sync) { lock (runningCameras) { if (device == null) { bool success = false; try { if (runningCameras.Contains(deviceID)) { throw new DeviceBusyException("Another connection to the specified video camera is already running."); } // get Kinect device device = Kinect.GetDevice(deviceID); KinectNative.VideoCameraFormat dataFormat = KinectNative.VideoCameraFormat.RGB; if (cameraMode == VideoCameraMode.Bayer) { dataFormat = KinectNative.VideoCameraFormat.Bayer; } else if (cameraMode == VideoCameraMode.InfraRed) { dataFormat = KinectNative.VideoCameraFormat.IR8Bit; } // find video format parameters videoModeInfo = KinectNative.freenect_find_video_mode(resolution, dataFormat); if (videoModeInfo.IsValid == 0) { throw new ArgumentException("The specified resolution is not supported for the selected mode of the Kinect video camera."); } // set video format if (KinectNative.freenect_set_video_mode(device.RawDevice, videoModeInfo) != 0) { throw new VideoException("Could not switch to the specified video format."); } // allocate video buffer and provide it freenect imageBuffer = Marshal.AllocHGlobal((int)videoModeInfo.Bytes); KinectNative.freenect_set_video_buffer(device.RawDevice, imageBuffer); // set video callback videoCallback = new KinectNative.FreenectVideoDataCallback(HandleDataReceived); KinectNative.freenect_set_video_callback(device.RawDevice, videoCallback); // start the camera if (KinectNative.freenect_start_video(device.RawDevice) != 0) { throw new ConnectionFailedException("Could not start video stream."); } success = true; runningCameras.Add(deviceID); device.AddFailureHandler(deviceID, Stop); } finally { if (!success) { if (device != null) { device.Dispose(); device = null; } if (imageBuffer != IntPtr.Zero) { Marshal.FreeHGlobal(imageBuffer); imageBuffer = IntPtr.Zero; } } } } } } }
/// <summary> /// Get initialized instance of the Kinect device. /// </summary> /// /// <param name="deviceID">ID of the Kinect device to get instance of, [0, <see cref="DeviceCount"/>),</param> /// /// <returns>Returns initialized Kinect device. Use <see cref="Dispose()"/> method /// when the device is no longer required.</returns> /// /// <exception cref="ArgumentException">There is no Kinect device with specified ID connected to the system.</exception> /// <exception cref="ConnectionFailedException">Failed connecting to the Kinect device specified ID.</exception> /// public static Kinect GetDevice(int deviceID) { if ((deviceID < 0) || (deviceID >= DeviceCount)) { throw new ArgumentException("There is no Kinect device with specified ID connected to the system."); } bool needToStartStatusThread = false; Kinect kinect = null; lock (openDevices) { needToStartStatusThread = (openDevices.Count == 0); // check if the device is open already if (!openDevices.ContainsKey(deviceID)) { IntPtr devicePointer = IntPtr.Zero; // connect to Kinect device witht the specified ID if (KinectNative.freenect_open_device(KinectNative.Context, ref devicePointer, deviceID) != 0) { throw new ConnectionFailedException("Failed connecting to the Kinect device with ID: " + deviceID); } openDevices.Add(deviceID, new DeviceContext(devicePointer)); } openDevices[deviceID].ReferenceCounter++; kinect = new Kinect(openDevices[deviceID].Device, deviceID); } if (needToStartStatusThread) { StartStatusThread(); } return kinect; }
private void btnSelectCamera_Click(object sender, EventArgs e) { VideoCaptureDeviceForm form = new VideoCaptureDeviceForm(); if (form.ShowDialog() == DialogResult.OK) { int deviceId = form.DeviceId; kinectDevice = Kinect.GetDevice(deviceId); if (videoCamera == null) { videoCamera = kinectDevice.GetVideoCamera(); videoCamera.CameraMode = VideoCameraMode.Color; controller.Device = videoCamera; controller.Start(); controller.NewFrame += new NewFrameEventHandler(controller_NewFrame); } if (depthCamera == null) { //depthCamera = kinectDevice.GetDepthCamera(); depthCamera = new KinectDepthCamera(deviceId, CameraResolution.Medium, true); videoSourcePlayer1.VideoSource = depthCamera; videoSourcePlayer1.Start(); } toolStripStatusLabel1.Text = "Initializing..."; } }