public static void Main(string[] args)
{
var OpenNIPathOnWindows = "%ProgramFiles%\\OpenNI2\\Redist";
InteropHelper.RegisterLibrariesSearchPath(OpenNIPathOnWindows);
Console.WriteLine("Runnung in {0}-bit mode.", Environment.Is64BitProcess ? "64" : "32");
OpenNI.Initialize();
var version = OpenNI.GetVersion();
Console.WriteLine("OpenNI version: {0}.{1}.{2}.{3}.", version.Major, version.Minor, version.Maintenance, version.Build);
Console.WriteLine();
//OpenNI.SetLogMinSeverity(0);
//OpenNI.SetLogConsoleOutput(true);
//OpenNI.SetLogFileOutput(true);
//Console.WriteLine("Log file path: {0}", OpenNI.GetLogFileName());
var devices = OpenNI.GetDevices();
Console.WriteLine("Found {0} device(s):", devices.Length);
devices.ToList().ForEach(x => Console.WriteLine("{0} from {1} @ {2} with usb id {3}:{4}.", x.Name, x.Vendor, x.Uri, x.UsbVendorId, x.UsbProductId));
Console.WriteLine();
if (devices.Length == 0)
{
return;
}
// open default device
using (var device = Device.Open())
{
var deviceInfo = device.GetDeviceInfo();
Console.WriteLine("Device {0} @ {1} was successfully opened.", deviceInfo.Name, deviceInfo.Uri);
Console.WriteLine();
if (device.IsDriverVersionPropertySupported)
{
var driverVersion = device.DriverVersion;
Console.WriteLine("Driver version: {0}.{1}.{2}.{3}.", driverVersion.Major, driverVersion.Minor, driverVersion.Maintenance, driverVersion.Build);
Console.WriteLine("Hardware version: {0}.", device.HardwareVersion);
Console.WriteLine("Serial number: {0}.", device.SerialNumber);
Console.WriteLine();
}
var infraredSensorInfo = device.GetSensorInfo(SensorType.Infrared);
DescribeSensor(infraredSensorInfo);
Console.WriteLine();
var colorSensorInfo = device.GetSensorInfo(SensorType.Color);
DescribeSensor(colorSensorInfo);
Console.WriteLine();
var depthSensorInfo = device.GetSensorInfo(SensorType.Depth);
DescribeSensor(depthSensorInfo);
Console.WriteLine();
using (var stream = device.CreateStream(SensorType.Depth))
{
var streamSensorInfo = stream.GetSensorInfo();
DescribeVideoModes(streamSensorInfo);
Console.WriteLine();
stream.VideoMode = new VideoMode {
Fps = 30, PixelFormat = PixelFormat.Depth100UM, ResolutionX = 640, ResolutionY = 480
};
var videoMode = stream.VideoMode;
var hFov = stream.IsHorizontalFovPropertySupported ? stream.HorizontalFov : float.NaN;
var vFov = stream.IsVerticalFovPropertySupported ? stream.VerticalFov : float.NaN;
var minValue = stream.IsMinValuePropertySupported ? stream.MinValue : -1;
var maxValue = stream.IsMaxValuePropertySupported ? stream.MaxValue : -1;
Console.WriteLine("Stream properties:");
var rtdK = (float)(180.0 / Math.PI);
Console.WriteLine("Horizontal {0:0.0} (deg) and vertical {1:0.0} (deg) FOV.", hFov * rtdK, vFov * rtdK);
Console.WriteLine("Min {0} and max {1} values.", minValue, maxValue);
stream.Start();
for (int i = 0; i < 30; i++)
{
ReadFreame(stream);
}
stream.Stop();
}
}
OpenNI.Shutdown();
}