private void Dispose(bool disposing)
{
bool needToStopStatusThread = false;
lock ( openDevices )
{
// decrease reference counter and check if we need to close the device
if (--openDevices[deviceID].ReferenceCounter == 0)
{
if (!openDevices[deviceID].DeviceFailed)
{
KinectNative.freenect_close_device(rawDevice);
}
openDevices.Remove(deviceID);
}
needToStopStatusThread = (openDevices.Count == 0);
}
rawDevice = IntPtr.Zero;
if (needToStopStatusThread)
{
StopStatusThread( );
}
}
// Initializes the freenect context
private static void InitializeContext( )
{
int result = freenect_init(ref KinectNative.freenectContext, IntPtr.Zero);
if (result != 0)
{
throw new ApplicationException("Could not initialize freenect context. Error Code:" + result);
}
// set callback for logging
KinectNative.freenect_set_log_level(freenectContext, LogLevelOptions.Error);
KinectNative.freenect_set_log_callback(freenectContext, logCallback);
}
/// <summary>
/// Set color of Kinect's LED.
/// </summary>
///
/// <param name="ledColor">LED color to set.</param>
///
/// <exception cref="DeviceErrorException">Some error occurred with the device. Check error message.</exception>
///
public void SetLedColor(LedColorOption ledColor)
{
lock ( sync )
{
CheckDevice( );
int result = KinectNative.freenect_set_led(rawDevice, ledColor);
if (result != 0)
{
throw new DeviceErrorException("Failed setting LED color to " + ledColor + ". Error code: " + result);
}
}
}
// Shuts down the context and closes any open devices
public static void ShutdownContext( )
{
if (freenectContext != IntPtr.Zero)
{
// shutdown context
int result = KinectNative.freenect_shutdown(freenectContext);
if (result != 0)
{
throw new ApplicationException("Could not shutdown freenect context. Error Code:" + result);
}
// Dispose pointer
KinectNative.freenectContext = IntPtr.Zero;
}
}
/// <summary>
/// Set motor's tilt value.
/// </summary>
///
/// <param name="angle">Tilt value to set, [-31, 30] degrees.</param>
///
/// <exception cref="ArgumentOutOfRangeException">Motor tilt has to be in the [-31, 31] range.</exception>
/// <exception cref="DeviceErrorException">Some error occurred with the device. Check error message.</exception>
///
public void SetMotorTilt(int angle)
{
lock ( sync )
{
CheckDevice( );
// check if value is in valid range
if ((angle < -31) || (angle > 31))
{
throw new ArgumentOutOfRangeException("angle", "Motor tilt has to be in the [-31, 31] range.");
}
int result = KinectNative.freenect_set_tilt_degs(rawDevice, angle);
if (result != 0)
{
throw new DeviceErrorException("Failed setting motor tilt. Error code: " + result);
}
}
}
/// <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;
}
}
}
// Kinect's status thread to process freenect's events
private static void KinectStatusThread( )
{
while (!stopEvent.WaitOne(100, false))
{
lock ( openDevices )
{
if (openDevices.Count != 0)
{
// update the status for each open device
foreach (DeviceContext deviceContext in openDevices.Values)
{
if (deviceContext.DeviceFailed)
{
continue;
}
if (KinectNative.freenect_update_tilt_state(deviceContext.Device) < 0)
{
deviceContext.DeviceFailed = true;
deviceContext.FireFailureHandlers( );
}
else
{
// get updated device status
IntPtr ptr = KinectNative.freenect_get_tilt_state(deviceContext.Device);
deviceContext.TiltState = (KinectNative.TiltState)
System.Runtime.InteropServices.Marshal.PtrToStructure(ptr, typeof(KinectNative.TiltState));
}
}
}
}
// let the kinect library handle any pending stuff on the usb stream
KinectNative.freenect_process_events_timeout0(KinectNative.Context);
}
}
/// <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;
}
}
}
}
}
}
}
