/// <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) { var deviceFailed = Kinect.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; } } }
/// <summary> /// Stop video source. /// </summary> /// /// <remarks><para>The method stop 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_depth( 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; } } }
/// <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 depth sensor.</exception> /// <exception cref="ConnectionFailedException">Could not connect to Kinect's depth sensor.</exception> /// <exception cref="DeviceBusyException">Another connection to the specified depth sensor 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 depth camera is already running." ); } device = Kinect.GetDevice( deviceID ); // find depth format parameters depthModeInfo = KinectNative.freenect_find_depth_mode( resolution, KinectNative.DepthCameraFormat.Format11Bit ); if ( depthModeInfo.IsValid == 0 ) { throw new ArgumentException( "The specified resolution is not supported for the selected mode of the Kinect depth camera." ); } // set depth format if ( KinectNative.freenect_set_depth_mode( device.RawDevice, depthModeInfo ) != 0 ) { throw new VideoException( "Could not switch to the specified depth format." ); } // allocate video buffer and provide it freenect imageBuffer = Marshal.AllocHGlobal( (int) depthModeInfo.Bytes ); KinectNative.freenect_set_depth_buffer( device.RawDevice, imageBuffer ); // set video callback videoCallback = new KinectNative.FreenectDepthDataCallback( HandleDataReceived ); KinectNative.freenect_set_depth_callback( device.RawDevice, videoCallback ); // start the camera if ( KinectNative.freenect_start_depth( device.RawDevice ) != 0 ) { throw new ConnectionFailedException( "Could not start depth 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; } } } } } } }
/// <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 ); } finally { if ( !success ) { if ( device != null ) { device.Dispose( ); device = null; } if ( imageBuffer != IntPtr.Zero ) { Marshal.FreeHGlobal( imageBuffer ); imageBuffer = IntPtr.Zero; } } } } } } }
/// <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> /// 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) { var 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); var 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); Kinect.AddFailureHandler(deviceID, Stop); } finally { if (!success) { if (device != null) { device.Dispose(); device = null; } if (imageBuffer != IntPtr.Zero) { Marshal.FreeHGlobal(imageBuffer); imageBuffer = IntPtr.Zero; } } } } } } }
/// <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 depth sensor.</exception> /// <exception cref="ConnectionFailedException">Could not connect to Kinect's depth sensor.</exception> /// <exception cref="DeviceBusyException">Another connection to the specified depth sensor 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 depth camera is already running."); } device = Kinect.GetDevice(deviceID); // find depth format parameters depthModeInfo = KinectNative.freenect_find_depth_mode(resolution, KinectNative.DepthCameraFormat.Format11Bit); if (depthModeInfo.IsValid == 0) { throw new ArgumentException("The specified resolution is not supported for the selected mode of the Kinect depth camera."); } // set depth format if (KinectNative.freenect_set_depth_mode(device.RawDevice, depthModeInfo) != 0) { throw new VideoException("Could not switch to the specified depth format."); } // allocate video buffer and provide it freenect imageBuffer = Marshal.AllocHGlobal((int)depthModeInfo.Bytes); KinectNative.freenect_set_depth_buffer(device.RawDevice, imageBuffer); // set video callback videoCallback = new KinectNative.FreenectDepthDataCallback(HandleDataReceived); KinectNative.freenect_set_depth_callback(device.RawDevice, videoCallback); // start the camera if (KinectNative.freenect_start_depth(device.RawDevice) != 0) { throw new ConnectionFailedException("Could not start depth 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; } } } } } } }
// Connect to Kinect cameras private bool Connect() { bool ret = false; Cursor = Cursors.WaitCursor; if (Kinect.DeviceCount != 0) { int deviceID = devicesCombo.SelectedIndex; try { kinectDevice = Kinect.GetDevice(deviceID); if (videoCamera == null) { videoCamera = kinectDevice.GetVideoCamera(); videoCamera.CameraMode = (videoModeCombo.SelectedIndex == 0) ? VideoCameraMode.Color : ((videoModeCombo.SelectedIndex == 1) ? VideoCameraMode.Bayer : VideoCameraMode.InfraRed); videoCameraPlayer.VideoSource = videoCamera; videoCameraPlayer.Start(); } if (depthCamera == null) { depthCamera = kinectDevice.GetDepthCamera(); depthCameraPlayer.VideoSource = depthCamera; depthCameraPlayer.Start(); } ledColorCombo.SelectedIndex = 0; if (tiltUpDown.Value != 0) { tiltUpDown.Value = 0; } else { kinectDevice.SetMotorTilt((int)tiltUpDown.Value); } timer.Start(); ret = true; } catch (Exception ex) { MessageBox.Show("Failed connecting to Kinect device.\n" + ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error); Disconnect(); } } Cursor = Cursors.Default; return ret; }
// Disconnect from Kinect cameras private void Disconnect() { timer.Stop(); if (videoCamera != null) { videoCameraPlayer.VideoSource = null; videoCamera.Stop(); videoCamera = null; } if (depthCamera != null) { depthCameraPlayer.VideoSource = null; depthCamera.Stop(); depthCamera = null; } if (kinectDevice != null) { kinectDevice.Dispose(); kinectDevice = null; } }
private void btnSelectCamera_Click(object sender, EventArgs e) { VideoCaptureDeviceForm form = new VideoCaptureDeviceForm(); if (form.ShowDialog() == DialogResult.OK) { int deviceId = form.DeviceId; kinectDevice = Kinect.GetDevice(deviceId); if (videoCamera == null) { videoCamera = kinectDevice.GetVideoCamera(); videoCamera.CameraMode = VideoCameraMode.Color; videoCamera.NewFrame += new AForge.Video.NewFrameEventHandler(videoCamera_NewFrame); videoCamera.Start(); } if (depthCamera == null) { depthCamera = new KinectDepthCamera(deviceId, CameraResolution.Medium, provideOriginalDepthImage: true); videoSourcePlayer1.VideoSource = depthCamera; videoSourcePlayer1.Start(); } toolStripStatusLabel1.Text = "Initializing..."; } }