public void Close()
{
if (capture_handle != IntPtr.Zero)
{
K4A.k4a_capture_release(capture_handle);
capture_handle = IntPtr.Zero;
}
}
void Close()
{
if (image_handle != IntPtr.Zero)
{
K4A.k4a_image_release(image_handle);
image_handle = IntPtr.Zero;
}
}
/// <summary>
/// Close the Kinect Sensor
/// Kinectセンサーを閉じる
/// </summary>
public void Close()
{
if (device_handle != IntPtr.Zero)
{
K4A.k4a_device_close(device_handle);
device_handle = IntPtr.Zero;
serialNumber = string.Empty;
}
}
// Start is called before the first frame update
void Start()
{
//Debug.Log("This is C# program");
//Debug.Log(DisplayHelloFromDLL());
//Debug.Log(k4a_device_get_installed_count());
Debug.Log(K4A.k4a_device_get_installed_count() + " cameras");
StartTheCamera();
}
/// <summary>
/// カメラを起動する
/// </summary>
public void StartCamera(DeviceConfiguration config)
{
var ret = K4A.k4a_device_start_cameras(device_handle, ref config);
if (ret != k4a_result_t.K4A_RESULT_SUCCEEDED)
{
throw new AzureKinectException(ret.ToString());
}
}
/// <summary>
/// 指定されたインデックスのKinectセンサーを開く
/// </summary>
/// <param name="index"></param>
public void Open(UInt32 index)
{
Close();
var ret = K4A.k4a_device_open(index, out device_handle);
if (ret != k4a_result_t.K4A_RESULT_SUCCEEDED)
{
throw new AzureKinectException(ret);
}
}
/// <summary>
/// カメラを起動する Start the camera
/// </summary>
public void StartCamera(DeviceConfiguration config)
{
Debug.Log("device handle" + device_handle);
var ret = K4A.k4a_device_start_cameras(device_handle, ref config);
if (ret != k4a_result_t.K4A_RESULT_SUCCEEDED)
{
Debug.Log("Start camera result:" + ret.ToString());
throw new AzureKinectException(ret); // when start cameras failed, ret.toString printed 'K4A_RESULT_SUCCEEDED' instead of failed
// removing the toString prints the correct error 'K4A_RESULT_FAILED'
}
}
/// <summary>
/// Open the Kinect sensor at the specified index
/// 指定されたインデックスのKinectセンサーを開く
/// </summary>
/// <param name="index"></param>
public void Open(UInt32 index)
{
Close();
Debug.Log("device_handle:" + device_handle);
var ret = K4A.k4a_device_open(index, out device_handle);
Debug.Log("open ret:" + ret.ToString());
if (ret != k4a_result_t.K4A_RESULT_SUCCEEDED)
{
throw new AzureKinectException(ret);
}
}
static void Main(string[] args)
{
try
{
Console.WriteLine($"Device Count : {K4A.k4a_device_get_installed_count()}");
Console.WriteLine($"Device Count : {KinectSensor.SensorCount}");
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
public bool Open(KinectSensor sensor, Int32 timeout)
{
var ret = K4A.k4a_device_get_capture(sensor.device_handle, out capture_handle, timeout);
if (ret != k4a_wait_result_t.K4A_WAIT_RESULT_FAILED)
{
throw new AzureKinectException(ret.ToString());
}
else if (ret == k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
return(false);
}
return(true);
}
/// <summary>
/// シリアルナンバーを取得する
/// </summary>
/// <returns></returns>
public string GetSerialNumber()
{
// 取得済みであれば、そのまま返す
if (!string.IsNullOrEmpty(serialNumber))
{
return(serialNumber);
}
// If the second argument buffer is NULL (0), the serial number buffer size is returned
// 第二引数のバッファをNULL(0)にすると、シリアルナンバーのバッファサイズが返る
UInt64 size = 0;
var ret = K4A.k4a_device_get_serialnum(device_handle, IntPtr.Zero, ref size);
if (ret != k4a_buffer_result_t.K4A_BUFFER_RESULT_TOO_SMALL)
{
throw new AzureKinectException(ret.ToString());
}
// Actually get the serial number
// 実際にシリアルナンバーを取得する
var buffer = Marshal.AllocHGlobal((int)size);
try
{
ret = K4A.k4a_device_get_serialnum(device_handle, buffer, ref size);
if (ret != k4a_buffer_result_t.K4A_BUFFER_RESULT_SUCCEEDED)
{
throw new AzureKinectException(ret.ToString());
}
var serial = new byte[size];
Marshal.Copy(buffer, serial, 0, (int)size);
// '\0'は抜く
serialNumber = Encoding.ASCII.GetString(serial, 0, (int)size - 1);
return(serialNumber);
}
finally
{
Marshal.FreeHGlobal(buffer);
}
}
public bool Open(KinectSensor sensor, Int32 timeout)
{
var ret = K4A.k4a_device_get_capture(sensor.device_handle, out capture_handle, timeout);
Debug.Log("open ret:" + ret.ToString());
Debug.Log(
k4a_wait_result_t.K4A_WAIT_RESULT_FAILED.ToString()
.Equals(ret.ToString(), StringComparison.Ordinal));
if (ret == k4a_wait_result_t.K4A_WAIT_RESULT_TIMEOUT)
{
Debug.Log("open w/in open timeout:" + ret.ToString());
return(false);
}
else if (ret == k4a_wait_result_t.K4A_WAIT_RESULT_FAILED)
{
Debug.Log("open w/in open failed:" + ret.ToString());
throw new AzureKinectException(ret.ToString());
}
Debug.Log("open w/in open good:" + ret.ToString());
return(true);
}
public Image GetColorImage()
{
return(new Image(K4A.k4a_capture_get_color_image(capture_handle)));
}
IntPtr getBuffer()
{
return(K4A.k4a_image_get_buffer(image_handle));
}
UInt64 getSize()
{
return(K4A.k4a_image_get_size(image_handle));
}
ImageFormat getFormat()
{
return((ImageFormat)K4A.k4a_image_get_format(image_handle));
}
int getWidth()
{
return(K4A.k4a_image_get_width_pixels(image_handle));
}
int getHeight()
{
return(K4A.k4a_image_get_height_pixels(image_handle));
}
/// <summary>
/// カメラを停止する Stop the camera
/// </summary>
public void StopCamera()
{
K4A.k4a_device_stop_cameras(device_handle);
}
int getStride()
{
return(K4A.k4a_image_get_stride_bytes(image_handle));
}
UInt64 getTimestamp()
{
return(K4A.k4a_image_get_timestamp_usec(image_handle));
}
