/// <summary>
/// Deactivate this sensor and free up the memory.
/// </summary>
public void Stop()
{
// Acquire the control mutex.
mControlMutex.WaitOne();
// If we are already not active, bail.
if (!bActive)
{
mControlMutex.ReleaseMutex();
return;
}
// If we have a processing thread, shut it down.
if (pProcessingThread != null)
{
if (!pProcessingThread.Join(10000))
{
mControlMutex.ReleaseMutex();
Log.Write("Could not stop processing thread within 1 second. Aborting. You may need to restart the application.", "Application", Log.Type.AppError);
pProcessingThread.Abort();
mControlMutex.WaitOne();
}
pProcessingThread = null;
}
#region Sensor shutdown and buffer removal
// Unhook the events.
this.pSensor.AllFramesReady -= Handle_AllFramesReady;
this.pSensor.Stop();
// Remove the buffers.
pInterfacePixels = null;
pPointCloud = null;
tDepthPixels = null;
tDepthToColourIB = null;
tDepthToSkeleton = null;
tColourPixels = null;
// Remove the reference to the sensor.
this.pSensor = null;
#endregion
// Set our flag to be not active.
bActive = false;
// Release the mutex.
mControlMutex.ReleaseMutex();
}
/// <summary>
/// Deactivate this sensor and free up the memory.
/// </summary>
public void Stop()
{
// Acquire the control mutex.
mControlMutex.WaitOne();
// If we are already not active, bail.
if (!bActive)
{
mControlMutex.ReleaseMutex();
return;
}
// If we have a processing thread, shut it down.
if (pProcessingThread != null)
{
if (!pProcessingThread.Join(10000))
{
mControlMutex.ReleaseMutex();
Log.Write("Could not stop processing thread within 1 second. Aborting. You may need to restart the application.", "Application", Log.Type.AppError);
pProcessingThread.Abort();
mControlMutex.WaitOne();
}
pProcessingThread = null;
}
#region Sensor shutdown and buffer removal
// Unhook the events.
this.pSensor.AllFramesReady -= Handle_AllFramesReady;
this.pSensor.Stop();
// Remove the buffers.
pInterfacePixels = null;
pPointCloud = null;
tDepthPixels = null;
tDepthToColourIB = null;
tDepthToSkeleton = null;
tColourPixels = null;
// Remove the reference to the sensor.
this.pSensor = null;
#endregion
// Set our flag to be not active.
bActive = false;
// Release the mutex.
mControlMutex.ReleaseMutex();
}
/// <summary>
/// Activate this sensor.
/// </summary>
/// <param name="pSensor">The sensor which we want to invoke processing on.</param>
public void Start(KinectSensor pSensor, bool bUseThread = false)
{
// Acquire the control mutex.
mControlMutex.WaitOne();
// If we are already active, bail.
if (bActive)
{
mControlMutex.ReleaseMutex();
throw new ArgumentException("Cannot start processing on Kinect sensor when another one is already active.");
}
// Reset the streaming flag.
bStreamedFirstFrame = false;
// If we are using threading.
if (bUseThread)
{
// Release the mutex (so we can re-enter).
mControlMutex.ReleaseMutex();
// Check for problems.
if (pProcessingThread != null)
{
throw new Exception("Cannot start Kinect. Thread is already active.");
}
// Create a thread which will start the sensor.
pProcessingThread = new Thread(() =>
{
this.Start(pSensor, false);
Console.WriteLine("Kinect Thread = " + pProcessingThread.Name);
});
//pProcessingThread.Name = "Processing Thread";
pProcessingThread.Start();
return;
}
#region Sensor Setup and Buffer Creation
// Set the reference on the sensor.
this.pSensor = pSensor;
this.pSensor.AllFramesReady += Handle_AllFramesReady;
// Enable the streams we are interested in.
pSensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
pSensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
// Work out the maximum amount of pixels we will need to process.
var iMaxDepthPixelCount = pSensor.DepthStream.FrameWidth * pSensor.DepthStream.FrameHeight;
// Create double buffers for the interface pixels and point cloud.
pInterfacePixels = new Utilities.DoubleBuffer <byte[]>(new byte[iMaxDepthPixelCount * 4], new byte[iMaxDepthPixelCount * 4]);
pPointCloud = new Utilities.DoubleBuffer <Utilities.Triple <int, SlimMath.Vector3[], int[]> >(
new Utilities.Triple <int, SlimMath.Vector3[], int[]>(0, new SlimMath.Vector3[iMaxDepthPixelCount], new int[iMaxDepthPixelCount]),
new Utilities.Triple <int, SlimMath.Vector3[], int[]>(0, new SlimMath.Vector3[iMaxDepthPixelCount], new int[iMaxDepthPixelCount])
);
// Create buffers (each is the size of the depth stream * 4bpp where necessary).
tDepthPixels = new DepthImagePixel[iMaxDepthPixelCount];
tDepthToColourIB = new ColorImagePoint[iMaxDepthPixelCount];
tDepthToSkeleton = new SkeletonPoint[iMaxDepthPixelCount];
// Create a buffer for the colour video feed (the size of the colour stream * 4bpp).
tColourPixels = new byte[pSensor.ColorStream.FramePixelDataLength];
// Setup stream properties.
this.iDepthWidth = pSensor.DepthStream.FrameWidth;
this.iDepthHeight = pSensor.DepthStream.FrameHeight;
this.iColourWidth = pSensor.ColorStream.FrameWidth;
this.iColourHeight = pSensor.ColorStream.FrameHeight;
this.iColourToDepthDivisor = this.iColourWidth / this.iDepthWidth;
// If we have not got an enabled pixel array, make one.
if (this._EnabledPixels == null)
{
this._EnabledPixels = new System.Collections.BitArray(iMaxDepthPixelCount, true);
}
#endregion
// Reset the FPS counter.
_FPSCounter.Reset();
// Start the sensor.
this.pSensor.Start();
// Set our flag to be active.
bActive = true;
// Release the mutex.
mControlMutex.ReleaseMutex();
}
/// <summary>
/// Activate this sensor.
/// </summary>
/// <param name="pSensor">The sensor which we want to invoke processing on.</param>
public void Start(KinectSensor pSensor, bool bUseThread = false)
{
// Acquire the control mutex.
mControlMutex.WaitOne();
// If we are already active, bail.
if (bActive)
{
mControlMutex.ReleaseMutex();
throw new ArgumentException("Cannot start processing on Kinect sensor when another one is already active.");
}
// Reset the streaming flag.
bStreamedFirstFrame = false;
// If we are using threading.
if (bUseThread)
{
// Release the mutex (so we can re-enter).
mControlMutex.ReleaseMutex();
// Check for problems.
if (pProcessingThread != null)
throw new Exception("Cannot start Kinect. Thread is already active.");
// Create a thread which will start the sensor.
pProcessingThread = new Thread(() =>
{
this.Start(pSensor, false);
Console.WriteLine("Kinect Thread = " + pProcessingThread.Name);
});
//pProcessingThread.Name = "Processing Thread";
pProcessingThread.Start();
return;
}
#region Sensor Setup and Buffer Creation
// Set the reference on the sensor.
this.pSensor = pSensor;
this.pSensor.AllFramesReady += Handle_AllFramesReady;
// Enable the streams we are interested in.
pSensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
pSensor.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
// Work out the maximum amount of pixels we will need to process.
var iMaxDepthPixelCount = pSensor.DepthStream.FrameWidth * pSensor.DepthStream.FrameHeight;
// Create double buffers for the interface pixels and point cloud.
pInterfacePixels = new Utilities.DoubleBuffer<byte[]>(new byte[iMaxDepthPixelCount * 4], new byte[iMaxDepthPixelCount * 4]);
pPointCloud = new Utilities.DoubleBuffer<Utilities.Triple<int, SlimMath.Vector3[], int[]>>(
new Utilities.Triple<int, SlimMath.Vector3[], int[]>(0, new SlimMath.Vector3[iMaxDepthPixelCount], new int[iMaxDepthPixelCount]),
new Utilities.Triple<int, SlimMath.Vector3[], int[]>(0, new SlimMath.Vector3[iMaxDepthPixelCount], new int[iMaxDepthPixelCount])
);
// Create buffers (each is the size of the depth stream * 4bpp where necessary).
tDepthPixels = new DepthImagePixel[iMaxDepthPixelCount];
tDepthToColourIB = new ColorImagePoint[iMaxDepthPixelCount];
tDepthToSkeleton = new SkeletonPoint[iMaxDepthPixelCount];
// Create a buffer for the colour video feed (the size of the colour stream * 4bpp).
tColourPixels = new byte[pSensor.ColorStream.FramePixelDataLength];
// Setup stream properties.
this.iDepthWidth = pSensor.DepthStream.FrameWidth;
this.iDepthHeight = pSensor.DepthStream.FrameHeight;
this.iColourWidth = pSensor.ColorStream.FrameWidth;
this.iColourHeight = pSensor.ColorStream.FrameHeight;
this.iColourToDepthDivisor = this.iColourWidth / this.iDepthWidth;
// If we have not got an enabled pixel array, make one.
if (this._EnabledPixels == null)
this._EnabledPixels = new System.Collections.BitArray(iMaxDepthPixelCount, true);
#endregion
// Reset the FPS counter.
_FPSCounter.Reset();
// Start the sensor.
this.pSensor.Start();
// Set our flag to be active.
bActive = true;
// Release the mutex.
mControlMutex.ReleaseMutex();
}
