|
public static GetDevice ( int deviceID ) : |
||
| deviceID | int | ID of the Kinect device to get instance of, [0, |
| return | ||
/// <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)
{
var 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);
var 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);
Kinect.AddFailureHandler(deviceID, Stop);
}
finally
{
if (!success)
{
if (device != null)
{
device.Dispose();
device = null;
}
if (imageBuffer != IntPtr.Zero)
{
Marshal.FreeHGlobal(imageBuffer);
imageBuffer = IntPtr.Zero;
}
}
}
}
}
}
}
/// <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 depth sensor.</exception>
/// <exception cref="ConnectionFailedException">Could not connect to Kinect's depth sensor.</exception>
/// <exception cref="DeviceBusyException">Another connection to the specified depth sensor 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 depth camera is already running.");
}
device = Kinect.GetDevice(deviceID);
// find depth format parameters
depthModeInfo = KinectNative.freenect_find_depth_mode(resolution, KinectNative.DepthCameraFormat.Format11Bit);
if (depthModeInfo.IsValid == 0)
{
throw new ArgumentException("The specified resolution is not supported for the selected mode of the Kinect depth camera.");
}
// set depth format
if (KinectNative.freenect_set_depth_mode(device.RawDevice, depthModeInfo) != 0)
{
throw new VideoException("Could not switch to the specified depth format.");
}
// allocate video buffer and provide it freenect
imageBuffer = Marshal.AllocHGlobal((int)depthModeInfo.Bytes);
KinectNative.freenect_set_depth_buffer(device.RawDevice, imageBuffer);
// set video callback
videoCallback = new KinectNative.FreenectDepthDataCallback(HandleDataReceived);
KinectNative.freenect_set_depth_callback(device.RawDevice, videoCallback);
// start the camera
if (KinectNative.freenect_start_depth(device.RawDevice) != 0)
{
throw new ConnectionFailedException("Could not start depth 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;
}
}
}
}
}
}
}
