/// <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)
{
bool deviceFailed = device.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>
/// 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)
{
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);
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>
/// 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;
}
}
}
}
}
}
}
