static void Main(string[] args)
{
unix_base_ts = new TimeSpan(unix_base_ticks);
// Initialize the kinect sensor
//kinect IS NOT AN INSTANTIABLE OBJECT - you get a 'device' from the system driver
try
{
kinect = KinectSensor.Default;
}
catch (ArgumentOutOfRangeException)
{
Console.WriteLine("It appears that no Kinect sensor is connected to your computer!");
return;
}
//device initialization code
try
{
Console.WriteLine("Starting initialization");
kinect.Open();
color_reader = kinect.ColorFrameSource.OpenReader();
depth_reader = kinect.DepthFrameSource.OpenReader();
Console.WriteLine("Initialization successful");
}
catch (InvalidOperationException)
{
Console.WriteLine("Failed trying to set up the kinect. Is the device connected, on, and not being used by another application?");
return;
}
// Initialize the socket bridge
color_tx = new ROS_CS.SocketBridge.SocketTX <ROS_CS.sensor_msgs.Image>(9001);
depth_tx = new ROS_CS.SocketBridge.SocketTX <ROS_CS.sensor_msgs.Image>(9002);
//color_rx = new ROS_CS.SocketBridge.SocketRX<ROS_CS.sensor_msgs.Image>("127.0.0.1", 9001, ColorImageCB);
bool control = true;
long depth_timestamp = 0;
long color_timestamp = 0;
while (control)
{
//Get depth data
DepthFrame latest_depth = depth_reader.AcquireLatestFrame();
if (latest_depth != null)
{
Console.WriteLine("Current depth timestamp: {0:D}, new timestamp: {1:D}", depth_timestamp, latest_depth.RelativeTime);
if (latest_depth.RelativeTime > depth_timestamp)
{
ROS_CS.sensor_msgs.Image depth_image = GetDepthImageFromRaw(latest_depth);
if (depth_image != null)
{
Console.WriteLine("Sending depth image");
depth_tx.Send(depth_image);
}
else
{
Console.WriteLine("Null depth image");
}
depth_timestamp = latest_depth.RelativeTime;
}
}
//Get color data
ColorFrame latest_color = color_reader.AcquireLatestFrame();
if (latest_color != null)
{
Console.WriteLine("Current color timestamp: {0:D}, new timestamp: {1:D}", color_timestamp, latest_color.RelativeTime);
if (latest_color.RelativeTime > color_timestamp)
{
ROS_CS.sensor_msgs.Image color_image = GetColorImageFromRaw(latest_color);
if (color_image != null)
{
Console.WriteLine("Sending color image");
color_tx.Send(color_image);
}
else
{
Console.WriteLine("Null color image");
}
color_timestamp = latest_color.RelativeTime;
}
}
}
}
static void Main(string[] args)
{
unix_base_ts = new TimeSpan(unix_base_ticks);
// Initialize the kinect sensor
//kinect IS NOT AN INSTANTIABLE OBJECT - you get a 'device' from the system driver
try
{
kinect = KinectSensor.Default;
}
catch (ArgumentOutOfRangeException)
{
Console.WriteLine("It appears that no Kinect sensor is connected to your computer!");
return;
}
//device initialization code
try
{
Console.WriteLine("Starting initialization");
kinect.Open();
color_reader = kinect.ColorFrameSource.OpenReader();
depth_reader = kinect.DepthFrameSource.OpenReader();
Console.WriteLine("Initialization successful");
}
catch (InvalidOperationException)
{
Console.WriteLine("Failed trying to set up the kinect. Is the device connected, on, and not being used by another application?");
return;
}
// Initialize the socket bridge
color_tx = new ROS_CS.SocketBridge.SocketTX<ROS_CS.sensor_msgs.Image>(9001);
depth_tx = new ROS_CS.SocketBridge.SocketTX<ROS_CS.sensor_msgs.Image>(9002);
//color_rx = new ROS_CS.SocketBridge.SocketRX<ROS_CS.sensor_msgs.Image>("127.0.0.1", 9001, ColorImageCB);
bool control = true;
long depth_timestamp = 0;
long color_timestamp = 0;
while (control)
{
//Get depth data
DepthFrame latest_depth = depth_reader.AcquireLatestFrame();
if (latest_depth != null)
{
Console.WriteLine("Current depth timestamp: {0:D}, new timestamp: {1:D}", depth_timestamp, latest_depth.RelativeTime);
if (latest_depth.RelativeTime > depth_timestamp)
{
ROS_CS.sensor_msgs.Image depth_image = GetDepthImageFromRaw(latest_depth);
if (depth_image != null)
{
Console.WriteLine("Sending depth image");
depth_tx.Send(depth_image);
}
else
{
Console.WriteLine("Null depth image");
}
depth_timestamp = latest_depth.RelativeTime;
}
}
//Get color data
ColorFrame latest_color = color_reader.AcquireLatestFrame();
if (latest_color != null)
{
Console.WriteLine("Current color timestamp: {0:D}, new timestamp: {1:D}", color_timestamp, latest_color.RelativeTime);
if (latest_color.RelativeTime > color_timestamp)
{
ROS_CS.sensor_msgs.Image color_image = GetColorImageFromRaw(latest_color);
if (color_image != null)
{
Console.WriteLine("Sending color image");
color_tx.Send(color_image);
}
else
{
Console.WriteLine("Null color image");
}
color_timestamp = latest_color.RelativeTime;
}
}
}
}