internal static VideoStream Private_Create(Device device, Device.SensorType sensorType)
{
IntPtr handle;
OpenNI.throwIfError(VideoStream_create(out handle, device.Handle, sensorType));
VideoStream vs = new VideoStream(handle);
vs.ParentDevice = device;
vs.handler_events = VideoStream_RegisterListener(handle, vs.internal_NewFrame);
return vs;
}
public static UserTracker Create(Device device = null)
{
IntPtr deviceHandle = IntPtr.Zero;
if (device != null && device.isValid)
deviceHandle = device.Handle;
IntPtr handle;
NiTE.throwIfError(UserTracker_create(out handle, deviceHandle));
UserTracker ut = new UserTracker(handle);
ut.handler_events = UserTracker_RegisterListener(handle, ut.internal_listener);
return ut;
}
private void cb_devices_SelectedIndexChanged(object sender, EventArgs e)
{
cb_sensor.Items.Clear();
if (cb_devices.SelectedItem != null)
{
if (currentDevice != null) currentDevice.Dispose();
currentDevice = ((DeviceInfo)cb_devices.SelectedItem).OpenDevice();
if (currentDevice.hasSensor(Device.SensorType.COLOR)) cb_sensor.Items.Add("Color");
if (currentDevice.hasSensor(Device.SensorType.DEPTH)) cb_sensor.Items.Add("Depth");
if (currentDevice.hasSensor(Device.SensorType.IR)) cb_sensor.Items.Add("IR");
}
}
public static void Main(string[] args)
{
try
{
OpenNI.Initialize();
device = Device.Open(Device.AnyDevice);
depthStream = device.CreateVideoStream(Device.SensorType.Depth);
depthStream.VideoMode = new VideoMode
{
DataPixelFormat = VideoMode.PixelFormat.Depth1Mm,
Fps = 30,
Resolution = new Size(640, 480)
};
colorStream = device.CreateVideoStream(Device.SensorType.Color);
colorStream.VideoMode = new VideoMode
{
DataPixelFormat = VideoMode.PixelFormat.Rgb888,
Fps = 30,
Resolution = new Size(640, 480)
};
device.DepthColorSyncEnabled = true;
depthStream.Start();
colorStream.Start();
device.ImageRegistration = Device.ImageRegistrationMode.DepthToColor;
Console.WriteLine("Image registration is active and working well.");
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
Console.WriteLine("Press enter to exit.");
Console.ReadLine();
if (device != null)
{
device.Close();
}
OpenNI.Shutdown();
}
public KinectOpenNi2()
{
HandleError(OpenNI.Initialize());
DeviceInfo[] devices = OpenNI.EnumerateDevices();
if (devices.Length == 0)
HandleError(OpenNI.Status.NO_DEVICE);
kinectDevice = devices[0].OpenDevice();
colorSensor = kinectDevice.CreateVideoStream(Device.SensorType.COLOR);
VideoMode[] videoModes = colorSensor.SensorInfo.getSupportedVideoModes();
colorSensor.VideoMode = videoModes[1];
colorSensor.Start();
colorSensor.onNewFrame += new VideoStream.VideoStreamNewFrame(colorSensor_onNewFrame);
depthSensor = kinectDevice.CreateVideoStream(Device.SensorType.DEPTH);
videoModes = depthSensor.SensorInfo.getSupportedVideoModes();
depthSensor.VideoMode = videoModes[0];
depthSensor.Start();
depthSensor.onNewFrame += new VideoStream.VideoStreamNewFrame(depthSensor_onNewFrame);
}
public OpenKinect()
{
HandleOpenNIError(OpenNI.Initialize());
DeviceInfo[] devices = OpenNI.EnumerateDevices();
if (devices.Length == 0)
HandleOpenNIError(OpenNI.Status.NoDevice);
kinectDevice = devices[0].OpenDevice();
colorSensor = kinectDevice.CreateVideoStream(Device.SensorType.Color);
colorSensor.VideoMode = colorSensor.SensorInfo.GetSupportedVideoModes()[1];
//Start Skeleton Sensor
HandleNiteError(NiTE.Initialize());
try
{
SkeletonSensor = UserTracker.Create();
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
}
private void CbDevicesSelectedIndexChanged(object sender, EventArgs e)
{
this.cb_sensor.Items.Clear();
if (this.cb_devices.SelectedItem != null)
{
if (this.currentDevice != null)
{
this.currentDevice.Dispose();
}
this.currentDevice = ((DeviceInfo)this.cb_devices.SelectedItem).OpenDevice();
if (this.currentDevice.HasSensor(Device.SensorType.Color))
{
this.cb_sensor.Items.Add("Color");
}
if (this.currentDevice.HasSensor(Device.SensorType.Depth))
{
this.cb_sensor.Items.Add("Depth");
}
if (this.currentDevice.HasSensor(Device.SensorType.Ir))
{
this.cb_sensor.Items.Add("IR");
}
}
}
public static HandTracker Create(Device device = null)
{
IntPtr deviceHandle = IntPtr.Zero;
if (device != null && device.IsValid)
{
deviceHandle = device.Handle;
}
IntPtr handle;
NiTE.ThrowIfError(HandTracker_create(out handle, deviceHandle));
HandTracker ut = new HandTracker(handle);
ut.handlerEvents = HandTracker_RegisterListener(handle, ut.internalListener);
return ut;
}
//private Bitmap DepthFix(Bitmap depthBitmap)
//{
// Bitmap x = new Bitmap(640, 480);
// Graphics g = Graphics.FromImage(x);
// g.DrawImage(depthBitmap, new Rectangle(30, 8, 600, 450));
// g.Flush();
// g.Dispose();
// return x;
//}
private void DeviceChanged()
{
this.but_anag.Enabled = false;
this.but_stereo.Enabled = false;
this.but_saveall.Enabled = false;
if (this.selectedDevice != null)
{
this.selectedDevice.Close();
}
if (this.cb_devices.Items.Count < 1)
{
this.selectedDevice = null;
return;
}
if (this.cb_devices.SelectedItem == null)
{
this.selectedDevice = null;
return;
}
if (this.cb_devices.SelectedItem is string && this.cb_devices.SelectedItem.ToString() == "None")
{
this.selectedDevice = null;
return;
}
if (!(this.cb_devices.SelectedItem is DeviceInfo))
{
this.selectedDevice = null;
MessageBox.Show(
"Selected item is not a device.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
try
{
this.selectedDevice = (this.cb_devices.SelectedItem as DeviceInfo).OpenDevice();
}
catch (Exception)
{
this.selectedDevice = null;
MessageBox.Show(
"Can not open selected device.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
if (!this.selectedDevice.hasSensor(Device.SensorType.COLOR))
{
this.selectedDevice.Close();
this.selectedDevice = null;
MessageBox.Show(
"Selected device can not offer depth stream.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
if (!this.selectedDevice.hasSensor(Device.SensorType.DEPTH))
{
this.selectedDevice.Close();
this.selectedDevice = null;
MessageBox.Show(
"Selected device can not offer depth stream.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
try
{
this.depthStream = this.selectedDevice.CreateVideoStream(Device.SensorType.DEPTH);
this.colorStream = this.selectedDevice.CreateVideoStream(Device.SensorType.COLOR);
}
catch (Exception)
{
this.selectedDevice.Close();
this.selectedDevice = null;
this.depthStream = null;
this.colorStream = null;
MessageBox.Show(
"Can not create Depth and Color streams.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
this.cb_hd.Enabled = false;
foreach (VideoMode vm in this.colorStream.SensorInfo.getSupportedVideoModes())
{
if (vm.Resolution.Equals(new Size(1280, 1024)) || vm.Resolution.Equals(new Size(1280, 960)))
{
this.cb_hd.Enabled = true;
this.isUse960asHD = vm.Resolution.Height == 960;
break;
}
}
VideoMode depthMode = new VideoMode
{
Resolution = new Size(640, 480),
FPS = 30,
DataPixelFormat = VideoMode.PixelFormat.DEPTH_1MM
};
VideoMode colorMode = new VideoMode
{
Resolution = new Size(640, 480),
FPS = 30,
DataPixelFormat = VideoMode.PixelFormat.RGB888
};
if (this.cb_hd.Enabled && this.cb_hd.Checked)
{
colorMode.Resolution = this.isUse960asHD ? new Size(1280, 960) : new Size(1280, 1024);
}
try
{
this.depthStream.VideoMode = depthMode;
this.colorStream.VideoMode = colorMode;
}
catch (Exception)
{
this.selectedDevice.Close();
this.selectedDevice = null;
this.depthStream = null;
this.colorStream = null;
MessageBox.Show(
"Can not set Depth and Color streams video mode to 640x480@30fps. This application need at least this resolution.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
try
{
this.selectedDevice.ImageRegistration = Device.ImageRegistrationMode.DEPTH_TO_COLOR;
}
catch (Exception)
{
MessageBox.Show(
"We failed to register image over depth map.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Exclamation);
}
try
{
// this.selectedDevice.DepthColorSyncEnabled = true;
}
catch (Exception)
{
}
if (!this.HandleError(this.depthStream.Start()) || !this.HandleError(this.colorStream.Start()))
{
this.selectedDevice.Close();
this.selectedDevice = null;
this.depthStream = null;
this.colorStream = null;
MessageBox.Show(
"Can not start depth and color streams.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
this.depthStream.onNewFrame += this.depthStream_onNewFrame;
this.colorStream.onNewFrame += this.colorStream_onNewFrame;
this.but_anag.Enabled = true;
this.but_stereo.Enabled = true;
this.but_saveall.Enabled = true;
}
public static VideoStream Create(Device device, Device.SensorType sensorType)
{
return device.CreateVideoStream(sensorType);
}
static extern OpenNI.Status VideoStream_create(out IntPtr objectHandler, IntPtr device, Device.SensorType sensorType);
void Stop(bool isApply)
{
bool isSameDevice = isApply && currentDevice != null && currentDevice.isValid && currentDevice.DeviceInfo.URI == NiUI.Properties.Settings.Default.DeviceURI;
bool isSameSensor = isApply && isSameDevice && currentSensor != null && currentSensor.isValid && currentSensor.SensorInfo.getSensorType() == (Device.SensorType)NiUI.Properties.Settings.Default.CameraType;
if (!isSameSensor)
{
if (currentSensor != null && currentSensor.isValid)
{
currentSensor.Stop();
currentSensor.onNewFrame -= currentSensor_onNewFrame;
}
currentSensor = null;
}
if (!isSameDevice)
{
//if (uTracker != null && uTracker.isValid)
// uTracker.Destroy();
//if (hTracker != null && hTracker.isValid)
// hTracker.Destroy();
if (currentDevice != null && currentDevice.isValid)
currentDevice.Close();
//hTracker = null;
//uTracker = null;
currentDevice = null;
}
isIdle = true;
btn_stopstart.Text = "Start Streaming";
if (!isApply)
{
broadcaster.ClearScreen();
pb_image.Image = null;
pb_image.Refresh();
}
if (NiUI.Properties.Settings.Default.AutoNotification)
notify.Visible = false;
}
bool Start()
{
RegisterFilter();
if (this.isIdle && broadcaster.hasServer())
{
MessageBox.Show("Only one server is allowed.", "Multi-Server", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
bool isSameDevice = currentDevice != null && currentDevice.isValid && currentDevice.DeviceInfo.URI == NiUI.Properties.Settings.Default.DeviceURI;
bool isSameSensor = isSameDevice && currentSensor != null && currentSensor.isValid && currentSensor.SensorInfo.getSensorType() == (Device.SensorType)NiUI.Properties.Settings.Default.CameraType;
if (!isSameDevice)
{
if (NiUI.Properties.Settings.Default.DeviceURI == string.Empty)
{
currentDevice = null;
MessageBox.Show("Please select a device to open and then click Apply.", "Device Open", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return false;
}
}
if (!isSameSensor)
{
if (NiUI.Properties.Settings.Default.CameraType == -1)
{
currentDevice = null;
MessageBox.Show("Please select a sensor to open and then click Apply.", "Sensor Create", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return false;
}
}
if (!isSameDevice)
{
try
{
currentDevice = Device.Open(NiUI.Properties.Settings.Default.DeviceURI);
}
catch (Exception ex)
{
currentDevice = null;
MessageBox.Show("Can not open selected Device. " + ex.Message, "Device Open", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
}
if (!isSameSensor)
{
try
{
currentSensor = currentDevice.CreateVideoStream((Device.SensorType)NiUI.Properties.Settings.Default.CameraType);
currentSensor.onNewFrame += currentSensor_onNewFrame;
}
catch (Exception ex)
{
currentSensor = null;
MessageBox.Show("Can not open selected Sensor from selected Device. " + ex.Message, "Sensor Create", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
}
else
{
currentSensor.Stop();
}
VideoMode[] vmodes = currentSensor.SensorInfo.getSupportedVideoModes();
VideoMode selectedVideoMode = null;
switch (currentSensor.SensorInfo.getSensorType())
{
case Device.SensorType.COLOR:
renderOptions = VideoFrameRef.copyBitmapOptions.Force24BitRGB;
if (NiUI.Properties.Settings.Default.Color_HD)
{
foreach (VideoMode vm in vmodes)
if (vm.Resolution.Width == 1280 && (vm.Resolution.Height == 960 || vm.Resolution.Height == 1024))
if ((selectedVideoMode == null || (selectedVideoMode.FPS < vm.FPS && vm.DataPixelFormat < selectedVideoMode.DataPixelFormat)) &&
vm.DataPixelFormat != VideoMode.PixelFormat.JPEG && vm.DataPixelFormat != VideoMode.PixelFormat.YUV422)
selectedVideoMode = vm;
isHD = selectedVideoMode != null;
if (!isHD)
MessageBox.Show("This device doesn't support ~1.3MP resolution.", "HD Resolution", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
if (selectedVideoMode == null)
foreach (VideoMode vm in vmodes)
if (vm.Resolution == new Size(640, 480))
if ((selectedVideoMode == null || (selectedVideoMode.FPS < vm.FPS && vm.DataPixelFormat < selectedVideoMode.DataPixelFormat)) &&
vm.DataPixelFormat != VideoMode.PixelFormat.JPEG && vm.DataPixelFormat != VideoMode.PixelFormat.YUV422)
selectedVideoMode = vm;
break;
case Device.SensorType.DEPTH:
renderOptions = VideoFrameRef.copyBitmapOptions.Force24BitRGB | VideoFrameRef.copyBitmapOptions.DepthFillShadow;
if (NiUI.Properties.Settings.Default.Depth_Fill)
if (cb_mirror.Enabled && cb_mirror.Checked)
renderOptions |= VideoFrameRef.copyBitmapOptions.DepthFillRigthBlack;
else
renderOptions |= VideoFrameRef.copyBitmapOptions.DepthFillLeftBlack;
if (NiUI.Properties.Settings.Default.Depth_Invert)
renderOptions |= VideoFrameRef.copyBitmapOptions.DepthInvert;
if (NiUI.Properties.Settings.Default.Depth_Histogram)
renderOptions |= VideoFrameRef.copyBitmapOptions.DepthHistogramEqualize;
foreach (VideoMode vm in vmodes)
if (vm.Resolution == new Size(640, 480))
if ((selectedVideoMode == null || selectedVideoMode.FPS < vm.FPS) &&
(vm.DataPixelFormat == VideoMode.PixelFormat.DEPTH_1MM || vm.DataPixelFormat == VideoMode.PixelFormat.DEPTH_100UM))
selectedVideoMode = vm;
break;
case Device.SensorType.IR:
renderOptions = VideoFrameRef.copyBitmapOptions.Force24BitRGB;
foreach (VideoMode vm in vmodes)
if (vm.Resolution == new Size(640, 480))
if ((selectedVideoMode == null || (selectedVideoMode.FPS < vm.FPS && vm.DataPixelFormat < selectedVideoMode.DataPixelFormat)) &&
vm.DataPixelFormat != VideoMode.PixelFormat.JPEG && vm.DataPixelFormat != VideoMode.PixelFormat.YUV422)
selectedVideoMode = vm;
break;
default:
break;
}
if (selectedVideoMode != null)
try
{
if (currentSensor.VideoMode.FPS != selectedVideoMode.FPS || currentSensor.VideoMode.DataPixelFormat != selectedVideoMode.DataPixelFormat || currentSensor.VideoMode.Resolution != selectedVideoMode.Resolution)
currentSensor.VideoMode = selectedVideoMode;
}
catch (Exception ex)
{
MessageBox.Show("Can not set active video mode to " + selectedVideoMode.ToString() + ". " + ex.Message, "Sensor Config", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
else
{
MessageBox.Show("No acceptable video mode found.", "Sensor Config", MessageBoxButtons.OK, MessageBoxIcon.Error);
return false;
}
softMirror = NiUI.Properties.Settings.Default.Mirroring;
//if (NiUI.Properties.Settings.Default.Mirroring)
//try
//{
// if (currentSensor.Mirroring != cb_mirror.Checked)
// currentSensor.Mirroring = cb_mirror.Checked;
//}
//catch (Exception ex)
//{
// MessageBox.Show("Can not enable mirroring. " + ex.Message, "Sensor Config", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
//}
if (NiUI.Properties.Settings.Default.SmartCam)
{
try
{
if (!isSameDevice || (uTracker == null || hTracker == null || !uTracker.isValid || !hTracker.isValid))
{
uTracker = NiTEWrapper.UserTracker.Create(currentDevice);
hTracker = NiTEWrapper.HandTracker.Create(currentDevice);
hTracker.StartGestureDetection(NiTEWrapper.GestureData.GestureType.HAND_RAISE);
hTracker.onNewData += new NiTEWrapper.HandTracker.HandTrackerListener(NiTE_onNewData);
}
}
catch (Exception) { }
}
if (!HandleError(currentSensor.Start()))
{
Stop(false);
return false;
}
btn_stopstart.Text = "Stop Streaming";
isIdle = false;
notify.Visible = true;
return true;
}
private void Stop(bool isApply)
{
bool isSameDevice = isApply && this.currentDevice != null && this.currentDevice.IsValid
&& this.currentDevice.DeviceInfo.Uri == Settings.Default.DeviceURI;
bool isSameSensor = isApply && isSameDevice && this.currentSensor != null && this.currentSensor.IsValid
&& this.currentSensor.SensorInfo.GetSensorType()
== (Device.SensorType)Settings.Default.CameraType;
if (!isSameSensor)
{
if (this.currentSensor != null && this.currentSensor.IsValid)
{
this.currentSensor.Stop();
this.currentSensor.OnNewFrame -= this.CurrentSensorOnNewFrame;
}
this.currentSensor = null;
}
if (!isSameDevice)
{
if (this.currentDevice != null && this.currentDevice.IsValid)
{
this.currentDevice.Close();
}
this.currentDevice = null;
}
this.isIdle = true;
this.btn_stopstart.Text = @"Start Streaming";
if (!isApply)
{
this.broadcaster.ClearScreen();
this.pb_image.Image = null;
this.pb_image.Refresh();
}
if (Settings.Default.AutoNotification)
{
this.notify.Visible = false;
}
}
private bool Start()
{
RegisterFilter();
if (this.isIdle && this.broadcaster.HasServer())
{
MessageBox.Show(
@"Only one server is allowed.",
@"Multi-Server",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return false;
}
bool isSameDevice = this.currentDevice != null && this.currentDevice.IsValid
&& this.currentDevice.DeviceInfo.Uri == Settings.Default.DeviceURI;
bool isSameSensor = isSameDevice && this.currentSensor != null && this.currentSensor.IsValid
&& this.currentSensor.SensorInfo.GetSensorType()
== (Device.SensorType)Settings.Default.CameraType;
if (!isSameDevice)
{
if (Settings.Default.DeviceURI == string.Empty)
{
this.currentDevice = null;
MessageBox.Show(
@"Please select a device to open and then click Apply.",
@"Device Open",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
return false;
}
}
if (!isSameSensor)
{
if (Settings.Default.CameraType == -1)
{
this.currentDevice = null;
MessageBox.Show(
@"Please select a sensor to open and then click Apply.",
@"Sensor Create",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
return false;
}
}
if (!isSameDevice)
{
try
{
this.currentDevice = Device.Open(Settings.Default.DeviceURI);
}
catch (Exception ex)
{
this.currentDevice = null;
MessageBox.Show(
string.Format("Can not open selected Device. {0}", ex.Message),
@"Device Open",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return false;
}
}
if (!isSameSensor)
{
try
{
this.currentSensor =
this.currentDevice.CreateVideoStream((Device.SensorType)Settings.Default.CameraType);
this.currentSensor.OnNewFrame += this.CurrentSensorOnNewFrame;
}
catch (Exception ex)
{
this.currentSensor = null;
MessageBox.Show(
string.Format("Can not open selected Sensor from selected Device. {0}", ex.Message),
@"Sensor Create",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return false;
}
}
else
{
this.currentSensor.Stop();
}
VideoMode[] vmodes = this.currentSensor.SensorInfo.GetSupportedVideoModes().ToArray();
VideoMode selectedVideoMode = null;
switch (this.currentSensor.SensorInfo.GetSensorType())
{
case Device.SensorType.Color:
this.renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb;
if (Settings.Default.Color_HD)
{
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution.Width == 1280
&& (vm.Resolution.Height == 960 || vm.Resolution.Height == 1024))
{
if ((selectedVideoMode == null
|| (selectedVideoMode.Fps < vm.Fps
&& vm.DataPixelFormat < selectedVideoMode.DataPixelFormat))
&& vm.DataPixelFormat != VideoMode.PixelFormat.Jpeg
&& vm.DataPixelFormat != VideoMode.PixelFormat.Yuv422)
{
selectedVideoMode = vm;
}
}
}
this.isHd = selectedVideoMode != null;
if (!this.isHd)
{
MessageBox.Show(
@"This device doesn't support ~1.3MP resolution.",
@"HD Resolution",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
}
}
if (selectedVideoMode == null)
{
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution == new Size(640, 480))
{
if ((selectedVideoMode == null
|| (selectedVideoMode.Fps < vm.Fps
&& vm.DataPixelFormat < selectedVideoMode.DataPixelFormat))
&& vm.DataPixelFormat != VideoMode.PixelFormat.Jpeg
&& vm.DataPixelFormat != VideoMode.PixelFormat.Yuv422)
{
selectedVideoMode = vm;
}
}
}
}
break;
case Device.SensorType.Depth:
this.renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb
| VideoFrameRef.CopyBitmapOptions.DepthFillShadow;
if (Settings.Default.Depth_Fill)
{
if (this.cb_mirror.Enabled && this.cb_mirror.Checked)
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthFillRigthBlack;
}
else
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthFillLeftBlack;
}
}
if (Settings.Default.Depth_Invert)
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthInvert;
}
if (Settings.Default.Depth_Histogram)
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthHistogramEqualize;
}
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution == new Size(640, 480))
{
if ((selectedVideoMode == null || selectedVideoMode.Fps < vm.Fps)
&& (vm.DataPixelFormat == VideoMode.PixelFormat.Depth1Mm
|| vm.DataPixelFormat == VideoMode.PixelFormat.Depth100Um))
{
selectedVideoMode = vm;
}
}
}
break;
case Device.SensorType.Ir:
this.renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb;
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution == new Size(640, 480))
{
if ((selectedVideoMode == null
|| (selectedVideoMode.Fps < vm.Fps
&& vm.DataPixelFormat < selectedVideoMode.DataPixelFormat))
&& vm.DataPixelFormat != VideoMode.PixelFormat.Jpeg
&& vm.DataPixelFormat != VideoMode.PixelFormat.Yuv422)
{
selectedVideoMode = vm;
}
}
}
break;
}
if (selectedVideoMode != null)
{
try
{
if (this.currentSensor.VideoMode.Fps != selectedVideoMode.Fps
|| this.currentSensor.VideoMode.DataPixelFormat != selectedVideoMode.DataPixelFormat
|| this.currentSensor.VideoMode.Resolution != selectedVideoMode.Resolution)
{
this.currentSensor.VideoMode = selectedVideoMode;
}
}
catch (Exception ex)
{
MessageBox.Show(
string.Format("Can not set active video mode to {0}. {1}", selectedVideoMode, ex.Message),
@"Sensor Config",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return false;
}
}
else
{
MessageBox.Show(
@"No acceptable video mode found.",
@"Sensor Config",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return false;
}
this.softMirror = Settings.Default.Mirroring;
if (Settings.Default.SmartCam)
{
try
{
if (!isSameDevice
|| (this.uTracker == null || this.hTracker == null || !this.uTracker.IsValid
|| !this.hTracker.IsValid))
{
this.uTracker = UserTracker.Create(this.currentDevice);
this.hTracker = HandTracker.Create(this.currentDevice);
this.hTracker.StartGestureDetection(GestureData.GestureType.HandRaise);
this.hTracker.OnNewData += this.NiTeOnNewData;
}
}
catch (Exception)
{
}
}
if (!HandleError(this.currentSensor.Start()))
{
this.Stop(false);
return false;
}
this.btn_stopstart.Text = @"Stop Streaming";
this.isIdle = false;
this.notify.Visible = true;
return true;
}
