/// <summary> /// Start video source. /// </summary> /// /// <remarks>Starts video source and returns execution to caller. Video camera will be started /// and will provide new video frames through the <see cref="NewFrame"/> event.</remarks> /// /// <exception cref="ArgumentException">The specified resolution is not supported for the selected /// mode of the Kinect video camera.</exception> /// <exception cref="ConnectionFailedException">Could not connect to Kinect's video camera.</exception> /// <exception cref="DeviceBusyException">Another connection to the specified video camera is already running.</exception> /// public void Start() { lock (sync) { lock (runningCameras) { if (device == null) { bool success = false; try { if (runningCameras.Contains(deviceID)) { throw new DeviceBusyException("Another connection to the specified video camera is already running."); } // get Kinect device device = Kinect.GetDevice(deviceID); KinectNative.VideoCameraFormat dataFormat = KinectNative.VideoCameraFormat.RGB; if (cameraMode == VideoCameraMode.Bayer) { dataFormat = KinectNative.VideoCameraFormat.Bayer; } else if (cameraMode == VideoCameraMode.InfraRed) { dataFormat = KinectNative.VideoCameraFormat.IR8Bit; } // find video format parameters videoModeInfo = KinectNative.freenect_find_video_mode(resolution, dataFormat); if (videoModeInfo.IsValid == 0) { throw new ArgumentException("The specified resolution is not supported for the selected mode of the Kinect video camera."); } // set video format if (KinectNative.freenect_set_video_mode(device.RawDevice, videoModeInfo) != 0) { throw new VideoException("Could not switch to the specified video format."); } // allocate video buffer and provide it freenect imageBuffer = Marshal.AllocHGlobal((int)videoModeInfo.Bytes); KinectNative.freenect_set_video_buffer(device.RawDevice, imageBuffer); // set video callback videoCallback = new KinectNative.FreenectVideoDataCallback(HandleDataReceived); KinectNative.freenect_set_video_callback(device.RawDevice, videoCallback); // start the camera if (KinectNative.freenect_start_video(device.RawDevice) != 0) { throw new ConnectionFailedException("Could not start video stream."); } success = true; runningCameras.Add(deviceID); device.AddFailureHandler(deviceID, Stop); } finally { if (!success) { if (device != null) { device.Dispose(); device = null; } if (imageBuffer != IntPtr.Zero) { Marshal.FreeHGlobal(imageBuffer); imageBuffer = IntPtr.Zero; } } } } } } }