private string InitialiseImage()
{
string messages = "";
MapOutputMode imageMode = new MapOutputMode();
imageMode.XRes = FSize.Width;
imageMode.YRes = FSize.Height;
imageMode.FPS = 30;
if (Mode == ImageNodeMode.RGB)
{
if (FIRGenerator != null)
{
FIRGenerator.StopGenerating();
FIRGenerator.Dispose();
}
FRGBGenerator = new ImageGenerator(FState.Context);
FRGBGenerator.MapOutputMode = imageMode;
Image.Image.Initialise(FSize, TColorFormat.RGB8);
if (FState.DepthGenerator.AlternativeViewpointCapability.IsViewpointSupported(FRGBGenerator))
{
FState.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(FRGBGenerator);
}
else
{
messages += "AlternativeViewportCapability not supported\n";
}
FRGBGenerator.StartGenerating();
}
else
{
if (FRGBGenerator != null)
{
FRGBGenerator.StopGenerating();
FRGBGenerator.Dispose();
}
FIRGenerator = new IRGenerator(FState.Context);
FIRGenerator.MapOutputMode = imageMode;
FIRGenerator.StartGenerating();
Image.Image.Initialise(FSize, TColorFormat.L16);
}
return messages;
}
private void Initialise()
{
try
{
FMode = FPinInMode[0];
Size size = new Size(640, 480);
if (FMode == ImageNodeMode.RGB)
{
FImageGenerator = new ImageGenerator(FState.Context);
FImageImage.Image.Initialise(size, TColourFormat.RGB8);
FState.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(FImageGenerator);
FImageGenerator.StartGenerating();
}
else
{
FIRGenerator = new IRGenerator(FState.Context);
FImageImage.Image.Initialise(size, TColourFormat.L16);
FIRGenerator.StartGenerating();
}
FImageDepth.Image.Initialise(size, TColourFormat.L16);
FImageWorld.Image.Initialise(size, TColourFormat.RGB32F);
FPinOutImageImage[0] = FImageImage.Link;
FPinOutImageDepth[0] = FImageDepth.Link;
FPinOutImageWorld[0] = FImageWorld.Link;
for (int x = 0; x < 640; x++)
for (int y = 0; y < 480; y++)
{
FProjective[x + y * 640].X = x;
FProjective[x + y * 640].Y = y;
}
FState.Update += new EventHandler(FState_Update);
FStatus = "OK";
}
catch (StatusException e)
{
FStatus = e.Message;
}
}