//Starts up necessary files to take data
//Must run before TakeData()
Kinect()
{
//Sets locations of XML File
string SAMPLE_XML_FILE = @"..\\..\\..\\SamplesConfig.xml";
//Declares object of ScriptNode and defines context
ScriptNode scriptNode;
context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
//Declares the depth generator
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
//If the depth generator does not exist returns error messag
if (depth == null)
{
Console.WriteLine("Sample must have a depth generator!");
Console.ReadLine();
return;
}
//Declares necessary variables and classes to take depth
//DepthGenerator depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
mapMode = depth.MapOutputMode;
depthMD = new DepthMetaData();
}
public KinectManager(InputProvider inputProvider)
{
this.inputProvider = inputProvider;
//get configuration
String OpenNiconfigPath = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location) + "\\" + CONFIG_XML_FILE;
this.context = Context.CreateFromXmlFile(OpenNiconfigPath, out scriptNode);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.maxDepth = this.depth.DeviceMaxDepth;
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.Upper);
this.users = new Dictionary<int, User>();
this.userGenerator.StartGenerating();
this.mapMode = this.depth.MapOutputMode;
//load settings
updateSettings();
//start threads
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
this.settingsUpdateThread = new Thread(runUpdateSettings);
this.settingsUpdateThread.Start();
Console.WriteLine("Device initialized");
}
private string InitialiseImage()
{
string messages = "";
MapOutputMode imageMode = new MapOutputMode();
imageMode.XRes = FSize.Width;
imageMode.YRes = FSize.Height;
imageMode.FPS = 30;
if (Mode == ImageNodeMode.RGB)
{
if (FIRGenerator != null)
{
FIRGenerator.StopGenerating();
FIRGenerator.Dispose();
}
FRGBGenerator = new ImageGenerator(FState.Context);
FRGBGenerator.MapOutputMode = imageMode;
Image.Image.Initialise(FSize, TColorFormat.RGB8);
if (FState.DepthGenerator.AlternativeViewpointCapability.IsViewpointSupported(FRGBGenerator))
{
FState.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(FRGBGenerator);
}
else
{
messages += "AlternativeViewportCapability not supported\n";
}
FRGBGenerator.StartGenerating();
}
else
{
if (FRGBGenerator != null)
{
FRGBGenerator.StopGenerating();
FRGBGenerator.Dispose();
}
FIRGenerator = new IRGenerator(FState.Context);
FIRGenerator.MapOutputMode = imageMode;
FIRGenerator.StartGenerating();
Image.Image.Initialise(FSize, TColorFormat.L16);
}
return messages;
}
void Open(int i)
{
try
{
Close(i);
OpenNIState state = FState[i];
var context = new Context();
FState[i].Context = context;
context.AddLicense(FLicense);
context.GlobalMirror = false;
NodeInfoList list = context.EnumerateProductionTrees(global::OpenNI.NodeType.Device, null);
NodeInfo node = null;
if (FPinInNodes[i] != "")
{
foreach (NodeInfo nodeitem in list)
{
if (nodeitem.CreationInfo == FPinInNodes[i])
{
node = nodeitem;
break;
}
}
if (node == null)
throw (new Exception("This device is unavailable. Check upstream ListDevices node"));
context.CreateProductionTree(node);
}
state.DepthGenerator = new DepthGenerator(context);
MapOutputMode depthMode = new MapOutputMode();
depthMode.FPS = 30;
depthMode.XRes = 640;
depthMode.YRes = 480;
state.DepthGenerator.MapOutputMode = depthMode;
state.DepthGenerator.StartGenerating();
state.Start();
FPinOutContext[i] = state;
FPinOutStatus[i] = "OK";
}
catch (Exception e)
{
Close(i);
FPinOutStatus[i] = e.Message;
}
}
public void AddSupportedMapOutputMode(MapOutputMode mode)
{
int status = SafeNativeMethods.xnNodeQueryAddSupportedMapOutputMode(this.InternalObject, ref mode);
WrapperUtils.ThrowOnError(status);
}
public static extern XnStatus xnSetMapOutputMode(XnNodeHandle hInstance, ref MapOutputMode pOutputMode);
public static extern XnStatus xnNodeQueryAddSupportedMapOutputMode(XnNodeQuery pQuery, ref MapOutputMode pMapOutputMode);