private static void Main()
{
Console.WriteLine(OpenNI.Version.ToString());
OpenNI.Status status = OpenNI.Initialize();
if (!HandleError(status))
{
Environment.Exit(0);
}
OpenNI.OnDeviceConnected += OpenNiOnDeviceConnected;
OpenNI.OnDeviceDisconnected += OpenNiOnDeviceDisconnected;
DeviceInfo[] devices = OpenNI.EnumerateDevices();
if (devices.Length == 0)
{
return;
}
Device device;
// lean init and no reset flags
using (device = Device.Open(null, "lr"))
{
if (device.HasSensor(Device.SensorType.Depth) && device.HasSensor(Device.SensorType.Color))
{
VideoStream depthStream = device.CreateVideoStream(Device.SensorType.Depth);
VideoStream colorStream = device.CreateVideoStream(Device.SensorType.Color);
if (depthStream.IsValid && colorStream.IsValid)
{
if (!HandleError(depthStream.Start()))
{
OpenNI.Shutdown();
return;
}
if (!HandleError(colorStream.Start()))
{
OpenNI.Shutdown();
return;
}
new Thread(DisplayInfo).Start();
depthStream.OnNewFrame += DepthStreamOnNewFrame;
colorStream.OnNewFrame += ColorStreamOnNewFrame;
VideoStream[] array = { depthStream, colorStream };
while (!Console.KeyAvailable)
{
VideoStream aS;
if (OpenNI.WaitForAnyStream(array, out aS) == OpenNI.Status.Ok)
{
if (aS.Equals(colorStream))
{
inlineColor++;
}
else
{
inlineDepth++;
}
aS.ReadFrame().Release();
}
}
}
}
Console.ReadLine();
}
OpenNI.Shutdown();
Environment.Exit(0);
}