static void Main(string[] args)
{
Console.WriteLine("------------------------------------------");
Console.WriteLine("MetriCam 2 Minimal Sample.");
Console.WriteLine("Get MetriCam 2 at http://www.metricam.net/");
Console.WriteLine("------------------------------------------");
// Create camera object
Camera camera;
try
{
camera = new Kinect2();
}
catch (Exception e)
{
Console.WriteLine(Environment.NewLine + "Error: Could not create a PrimeSense camera object.");
Console.WriteLine((e.InnerException == null) ? e.Message : e.InnerException.Message);
Console.WriteLine("Press any key to exit.");
Console.ReadKey();
return;
}
// Connect, get one frame, disconnect
Console.WriteLine("Connecting camera");
camera.Connect();
Console.WriteLine("Fetching one frame");
camera.Update();
try
{
Console.WriteLine("Accessing color data");
ColorCameraImage img = (ColorCameraImage)camera.CalcChannel(ChannelNames.Color);
Bitmap rgbBitmapData = img.ToBitmap();
}
catch (ArgumentException ex)
{
Console.WriteLine(String.Format("Error getting channel {0}: {1}.", ChannelNames.Color, ex.Message));
}
try
{
Console.WriteLine("Accessing distance data");
FloatCameraImage distancesData = (FloatCameraImage)camera.CalcChannel(ChannelNames.Distance);
}
catch (ArgumentException ex)
{
Console.WriteLine(String.Format("Error getting channel {0}: {1}.", ChannelNames.Distance, ex.Message));
}
Console.WriteLine("Disconnecting camera");
camera.Disconnect();
Console.WriteLine("Finished. Press any key to exit.");
Console.ReadKey();
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Kinect2 cam = new Kinect2();
try
{
cam.Connect();
}
catch (MetriCam2.Exceptions.ConnectionFailedException)
{
log.Error("Connection failed. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
return;
}
cam.ActivateChannel(ChannelNames.Color);
bool running = false;
while (running)
{
cam.Update();
}
ProjectiveTransformationZhang pt;
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
RigidBodyTransformation rbt = cam.GetExtrinsics(ChannelNames.Color, ChannelNames.ZImage);
}
catch (FileNotFoundException)
{
log.Warn("No fwd RBT found.");
}
try
{
RigidBodyTransformation rbtInverse = cam.GetExtrinsics(ChannelNames.ZImage, ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No inverse RBT found.");
}
cam.Disconnect();
log.Info("Program ended. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
}
