/// <summary>
/// Frees all memory associated with the FusionImageFrame.
/// </summary>
/// <param name="disposing">Whether the function was called from Dispose.</param>
protected virtual void Dispose(bool disposing)
{
if (this.disposed)
{
return;
}
this.disposed = true;
KinectSensorChooser.Stop();
StopKinect();
if (_kinectWorkQueue != null)
{
_kinectWorkQueue.Dispose();
_kinectWorkQueue = null;
}
if (FusionManager != null)
{
FusionManager.Dispose();
FusionManager = null;
}
}
private void StartKinect(KinectSensor newSensor)
{
try
{
newSensor.ColorStream.Enable(DefaultColorImageFormat);
newSensor.DepthStream.Enable(DefaultDepthImageFormat);
try
{
// This will throw on non Kinect For Windows devices.
newSensor.DepthStream.Range = DepthRange.Near;
newSensor.SkeletonStream.EnableTrackingInNearRange = true;
}
catch (InvalidOperationException)
{
newSensor.DepthStream.Range = DepthRange.Default;
newSensor.SkeletonStream.EnableTrackingInNearRange = false;
}
newSensor.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
var smoothParams = new TransformSmoothParameters()
{
Smoothing = 0.8f,
Correction = 0.2f,
Prediction = 0.5f,
JitterRadius = 0.10f,
MaxDeviationRadius = 0.04f
};
newSensor.SkeletonStream.Enable(smoothParams);
newSensor.AllFramesReady += KinectSensorOnAllFramesReady;
_elevationAngle = newSensor.ElevationAngle;
RaisePropertyChanged(ElevationAnglePropertyName);
this.KinectSensor = newSensor;
this.rawFrameCount = 0;
//TODO cleanup old voice command
_voiceCommand = new VoiceCommand(newSensor);
_voiceCommand.IsListeningChanged += (s, e) =>
{
this.IsListening = _voiceCommand.IsListening;
if (this.IsListening)
{
VoiceHeard = "Listening...";
}
};
_voiceCommand.FusionPause += (s, e) =>
{
if (FusionManager.IsIntegrationPaused)
{
FusionManager.IsIntegrationPaused = false;
FusionManager.RotationRateInDegrees = 0;
FusionManager.CurrentRotationDegrees = 0;
}
else
{
FusionManager.IsIntegrationPaused = true;
FusionManager.RotationRateInDegrees = 3;
}
VoiceHeard = "Heard: Fusion Pause";
};
_voiceCommand.FusionReset += (s, e) =>
{
ResetCommand.Execute(null);
if (FusionManager != null)
{
FusionManager.IsIntegrationPaused = false;
FusionManager.RotationRateInDegrees = 0;
FusionManager.CurrentRotationDegrees = 0;
}
VoiceHeard = "Heard: Fusion Reset";
};
_voiceCommand.FusionStart += (s, e) =>
{
ResetCommand.Execute(null);
if (FusionManager != null)
{
FusionManager.IsIntegrationPaused = false;
FusionManager.RotationRateInDegrees = 0;
FusionManager.CurrentRotationDegrees = 0;
}
VoiceHeard = "Heard: Fusion Start";
};
if (FusionManager != null)
{
FusionManager.Dispose();
FusionManager = null;
}
FusionManager = new FusionManager(KinectSensor);
}
catch (InvalidOperationException)
{
// This exception can be thrown when we are trying to
// enable streams on a device that has gone away. This
// can occur, say, in app shutdown scenarios when the sensor
// goes away between the time it changed status and the
// time we get the sensor changed notification.
//
// Behavior here is to just eat the exception and assume
// another notification will come along if a sensor
// comes back.
}
}