/// <summary>
/// Checks if the depth sensor is working.
/// </summary>
/// <returns></returns>
private bool DepthSensorWorking()
{
bool depthSensorConnected;
bool depthSensorInitialized;
MetaSensors.GetSensorConnectionInfo(SensorType.IMU, 0, out depthSensorConnected, out depthSensorInitialized);
return(depthSensorConnected && depthSensorInitialized);
}
///<summary>
///Worker function for fetching the RGB in a separate thread.
///</summary>
private void FetchRgb()
{
while (_fetchFlag)
{
// Get the RGB data every second frame.
_waitHandle.WaitOne();
if (_fetchFlag) // Don't do it if we are shutting down
{
MetaSensors.GetRGB(_rgbBuffer);
_fetched = true;
}
}
}
/// <summary>
/// Check if the important sensors have been initialized
/// </summary>
/// <returns></returns>
private bool SensorsInitialized()
{
bool rightImuInitialized = false;
bool leftMonoInitialized = false;
bool rightMonoInitialized = false;
bool unused = false;
MetaSensors.GetSensorConnectionInfo(SensorType.IMU, 0, out unused, out rightImuInitialized);
MetaSensors.GetSensorConnectionInfo(SensorType.Monochrome, 0, out unused, out rightMonoInitialized);
MetaSensors.GetSensorConnectionInfo(SensorType.Monochrome, 1, out unused, out leftMonoInitialized);
return(rightImuInitialized && leftMonoInitialized && rightMonoInitialized);
}
private void ConstructSensors(MetaFactoryPackage package)
{
var deviceInfo = new DeviceInfo();
deviceInfo.imuModel = IMUModel.MPU9150Serial;
deviceInfo.cameraModel = CameraModel.DS325;
deviceInfo.depthFps = 60;
deviceInfo.depthHeight = 240;
deviceInfo.depthWidth = 320;
deviceInfo.colorFps = 30;
deviceInfo.colorHeight = 720;
deviceInfo.colorWidth = 1280;
var metaSensors = new MetaSensors(deviceInfo, _dataAcquisitionSystem, _sensorPlaybackPath);
package.EventReceivers.Add(metaSensors);
//Sensor Messages
MetaSensorFailureMessages messages = new MetaSensorFailureMessages();
package.EventReceivers.Add(messages);
package.MetaContext.Add(messages);
}