public KinectCoreV2(ref KinectBase.MasterSettings settings, bool isGUILaunched, int kinectNumber)
{
masterSettings = settings;
dynamic temp = masterSettings.kinectOptionsList[kinectNumber];
masterKinectSettings = (KinectV2Settings)temp;
//TODO: Update this to open a specific Kinect v2, if the SDK is ever updated to support multiple on one machine
kinect = KinectSensor.GetDefault();
kinectID = kinectNumber;
uint tempC = kinect.ColorFrameSource.FrameDescription.LengthInPixels;
uint tempD = kinect.DepthFrameSource.FrameDescription.LengthInPixels;
uint tempI = kinect.InfraredFrameSource.FrameDescription.LengthInPixels;
colorImagePool = new KinectBase.ObjectPool <byte[]>(() => new byte[tempC * 4]);
depthImagePool = new KinectBase.ObjectPool <byte[]>(() => new byte[tempD * 4]);
irImagePool = new KinectBase.ObjectPool <byte[]>(() => new byte[tempI * sizeof(UInt16)]);
if (isGUILaunched)
{
isGUI = true;
LaunchKinect();
}
else
{
launchKinectDelegate kinectDelegate = LaunchKinect;
IAsyncResult result = kinectDelegate.BeginInvoke(null, null);
kinectDelegate.EndInvoke(result); //Even though this is blocking, the events should be on a different thread now.
}
}
//The parent has to be optional to allow for console operation
public KinectCore(ServerCore mainServer, MainWindow thisParent = null, int?kinectNumber = null)
{
if (kinectNumber != null)
{
server = mainServer;
if (server == null)
{
throw new Exception("Server does not exist.");
}
parent = thisParent;
if (parent != null)
{
isGUI = true;
}
if (KinectSensor.KinectSensors.Count > kinectNumber)
{
//Get the sensor index in the global list
int globalIndex = -1;
for (int i = 0; i < KinectSensor.KinectSensors.Count; i++)
{
if (KinectSensor.KinectSensors[i].DeviceConnectionId == server.serverMasterOptions.kinectOptions[(int)kinectNumber].connectionID)
{
globalIndex = i;
break;
}
}
kinect = KinectSensor.KinectSensors[globalIndex];
kinectID = (int)kinectNumber;
}
else
{
throw new System.IndexOutOfRangeException("Specified Kinect sensor does not exist");
}
if (isGUI)
{
LaunchKinect();
}
else
{
launchKinectDelegate kinectDelegate = LaunchKinect;
IAsyncResult result = kinectDelegate.BeginInvoke(null, null);
kinectDelegate.EndInvoke(result); //Even though this is blocking, the events should be on a different thread now.
}
}
else
{
throw new NullReferenceException("To create a KinectCore object, the KinectNumber must be valid.");
}
}
public KinectCoreV1(ref KinectBase.MasterSettings settings, bool isGUILaunched, int?kinectNumber = null) //Why is the kinectNumber nullable if it is requried later?
{
if (kinectNumber != null)
{
masterSettings = settings;
dynamic tempSettings = masterSettings.kinectOptionsList[(int)kinectNumber]; //We have to use dynamic because the type of the Kinect settings in the master list isn't defined until runtime
masterKinectSettings = (KinectV1Settings)tempSettings;
//Initialize the object pools
colorImagePool = new KinectBase.ObjectPool <byte[]>(() => new byte[640 * 480 * 4]);
depthImagePool = new KinectBase.ObjectPool <byte[]>(() => new byte[640 * 480 * 4]);
//Note: the kinectNumber could be greater than the number of Kinect v1s if there are other types of sensors in use
//Therefore, we have to find the correct Kinect, if it exists using this loop
int globalIndex = -1;
for (int i = 0; i < KinectSensor.KinectSensors.Count; i++)
{
if (KinectSensor.KinectSensors[i].DeviceConnectionId == masterSettings.kinectOptionsList[(int)kinectNumber].uniqueKinectID)
{
globalIndex = i;
break;
}
}
if (globalIndex >= 0)
{
kinect = KinectSensor.KinectSensors[globalIndex];
kinectID = (int)kinectNumber;
}
else
{
throw new System.IndexOutOfRangeException("Specified Kinect sensor does not exist");
}
if (isGUILaunched)
{
isGUI = true;
LaunchKinect();
}
else
{
launchKinectDelegate kinectDelegate = LaunchKinect;
IAsyncResult result = kinectDelegate.BeginInvoke(null, null);
kinectDelegate.EndInvoke(result); //Even though this is blocking, the events should be on a different thread now.
}
}
else
{
//TODO: Open the default Kinect?
throw new NullReferenceException("To create a KinectCore object, the KinectNumber must be valid.");
}
}
