/// <summary>
/// Gets a nice C# library version of the Frame Mode class
/// </summary>
/// <param name="mode">
/// A <see cref="FreenectFrameMode"/>
/// </param>
/// <returns>
/// A <see cref="FrameMode"/>
/// </returns>
internal static FrameMode FromInterop(FreenectFrameMode nativeMode, FrameModeType type)
{
FrameMode mode = null;
// Make sure mode is valid
if (nativeMode.IsValid == 0)
{
return(null);
}
// Figure out what type of mode it is
if (type == FrameMode.FrameModeType.VideoFormat)
{
mode = new VideoFrameMode();
}
else if (type == FrameMode.FrameModeType.DepthFormat)
{
mode = new DepthFrameMode();
}
// Copy over rest of data
mode.nativeMode = nativeMode;
mode.Size = nativeMode.Bytes;
mode.Width = nativeMode.Width;
mode.Height = nativeMode.Height;
mode.Resolution = nativeMode.Resolution;
mode.DataBitsPerPixel = nativeMode.DataBitsPerPixel;
mode.PaddingBitsPerPixel = nativeMode.PaddingBitsPerPixel;
mode.FrameRate = nativeMode.Framerate;
mode.videoFormat = nativeMode.VideoFormat;
mode.depthFormat = nativeMode.DepthFormat;
return(mode);
}
/// <summary>
/// Sets the current depth camera mode
/// </summary>
/// <param name="mode">
/// Depth camera mode to switch to.
/// </param>
protected void SetDepthMode(DepthFrameMode mode)
{
// Is this a different mode?
if (this.Mode == mode)
{
return;
}
// Stop camera first if running
bool running = this.IsRunning;
if (running)
{
this.Stop();
}
// Check to make sure mode is valid by finding it again
DepthFrameMode foundMode = DepthFrameMode.Find(mode.Format, mode.Resolution);
if (foundMode == null)
{
throw new Exception("Invalid Depth Camera Mode: [" + mode.Format + ", " + mode.Resolution + "]");
}
// Save mode
this.captureMode = mode;
// All good, switch to new mode
int result = KinectNative.freenect_set_depth_mode(this.parentDevice.devicePointer, foundMode.nativeMode);
if (result != 0)
{
throw new Exception("Mode switch failed. Error Code: " + result);
}
// Update depth map
this.UpdateNextFrameDepthMap();
// If we were running before, start up again
if (running)
{
this.Start();
}
}
/// <summary>
/// Updates list of depth modes that this camera has.
/// </summary>
private void UpdateDepthModes()
{
List <DepthFrameMode> modes = new List <DepthFrameMode>();
// Get number of modes
int numModes = KinectNative.freenect_get_depth_mode_count(this.parentDevice.devicePointer);
// Go through modes
for (int i = 0; i < numModes; i++)
{
DepthFrameMode mode = (DepthFrameMode)FrameMode.FromInterop(KinectNative.freenect_get_depth_mode(i), FrameMode.FrameModeType.DepthFormat);
if (mode != null)
{
modes.Add(mode);
}
}
// All done
this.Modes = modes.ToArray();
}
/// <summary>
/// Gets a nice C# library version of the Frame Mode class
/// </summary>
/// <param name="mode">
/// A <see cref="FreenectFrameMode"/>
/// </param>
/// <returns>
/// A <see cref="FrameMode"/>
/// </returns>
internal static FrameMode FromInterop(FreenectFrameMode nativeMode, FrameModeType type)
{
FrameMode mode = null;
// Make sure mode is valid
if(nativeMode.IsValid == 0)
{
return null;
}
// Figure out what type of mode it is
if(type == FrameMode.FrameModeType.VideoFormat)
{
mode = new VideoFrameMode();
}
else if(type == FrameMode.FrameModeType.DepthFormat)
{
mode = new DepthFrameMode();
}
// Copy over rest of data
mode.nativeMode = nativeMode;
mode.Size = nativeMode.Bytes;
mode.Width = nativeMode.Width;
mode.Height = nativeMode.Height;
mode.Resolution = nativeMode.Resolution;
mode.DataBitsPerPixel = nativeMode.DataBitsPerPixel;
mode.PaddingBitsPerPixel = nativeMode.PaddingBitsPerPixel;
mode.FrameRate = nativeMode.Framerate;
mode.videoFormat = nativeMode.VideoFormat;
mode.depthFormat = nativeMode.DepthFormat;
return mode;
}
/// <summary>
/// Sets the current depth camera mode
/// </summary>
/// <param name="mode">
/// Depth camera mode to switch to.
/// </param>
protected void SetDepthMode(DepthFrameMode mode)
{
// Is this a different mode?
if(this.Mode == mode)
{
return;
}
// Stop camera first if running
bool running = this.IsRunning;
if(running)
{
this.Stop();
}
// Check to make sure mode is valid by finding it again
DepthFrameMode foundMode = DepthFrameMode.Find(mode.Format, mode.Resolution);
if(foundMode == null)
{
throw new Exception("Invalid Depth Camera Mode: [" + mode.Format + ", " + mode.Resolution + "]");
}
// Save mode
this.captureMode = mode;
// All good, switch to new mode
int result = KinectNative.freenect_set_depth_mode(this.parentDevice.devicePointer, foundMode.nativeMode);
if(result != 0)
{
throw new Exception("Mode switch failed. Error Code: " + result);
}
// Update depth map
this.UpdateNextFrameDepthMap();
// If we were running before, start up again
if(running)
{
this.Start();
}
}
