public VideoMode[] getSupportedVideoModes()
{
WrapperArray csa = SensorInfo_getSupportedVideoModes(this.Handle);
IntPtr[] array = new IntPtr[csa.Size];
Marshal.Copy(csa.Data, array, 0, csa.Size);
VideoMode[] arrayObjects = new VideoMode[csa.Size];
for (int i = 0; i < csa.Size; i++)
arrayObjects[i] = new VideoMode(array[i], true);
SensorInfo_destroyVideoModesArray(csa);
return arrayObjects;
}
public VideoMode[] getSupportedVideoModes()
{
WrapperArray csa = SensorInfo_getSupportedVideoModes(this.Handle);
IntPtr[] array = new IntPtr[csa.Size];
Marshal.Copy(csa.Data, array, 0, csa.Size);
VideoMode[] arrayObjects = new VideoMode[csa.Size];
for (int i = 0; i < csa.Size; i++)
{
arrayObjects[i] = new VideoMode(array[i], true);
}
SensorInfo_destroyVideoModesArray(csa);
return(arrayObjects);
}
public IEnumerable <VideoMode> GetSupportedVideoModes()
{
var csa = SensorInfo_getSupportedVideoModes(Handle);
var array = new IntPtr[csa.Size];
Marshal.Copy(csa.Data, array, 0, csa.Size);
var arrayObjects = new VideoMode[csa.Size];
for (var i = 0; i < csa.Size; i++)
{
arrayObjects[i] = new VideoMode(array[i], true);
}
SensorInfo_destroyVideoModesArray(csa);
return(arrayObjects);
}
//private Bitmap DepthFix(Bitmap depthBitmap)
//{
// Bitmap x = new Bitmap(640, 480);
// Graphics g = Graphics.FromImage(x);
// g.DrawImage(depthBitmap, new Rectangle(30, 8, 600, 450));
// g.Flush();
// g.Dispose();
// return x;
//}
private void DeviceChanged()
{
this.but_anag.Enabled = false;
this.but_stereo.Enabled = false;
this.but_saveall.Enabled = false;
if (this.selectedDevice != null)
{
this.selectedDevice.Close();
}
if (this.cb_devices.Items.Count < 1)
{
this.selectedDevice = null;
return;
}
if (this.cb_devices.SelectedItem == null)
{
this.selectedDevice = null;
return;
}
if (this.cb_devices.SelectedItem is string && this.cb_devices.SelectedItem.ToString() == "None")
{
this.selectedDevice = null;
return;
}
if (!(this.cb_devices.SelectedItem is DeviceInfo))
{
this.selectedDevice = null;
MessageBox.Show(
"Selected item is not a device.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
try
{
this.selectedDevice = (this.cb_devices.SelectedItem as DeviceInfo).OpenDevice();
}
catch (Exception)
{
this.selectedDevice = null;
MessageBox.Show(
"Can not open selected device.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
if (!this.selectedDevice.hasSensor(Device.SensorType.COLOR))
{
this.selectedDevice.Close();
this.selectedDevice = null;
MessageBox.Show(
"Selected device can not offer depth stream.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
if (!this.selectedDevice.hasSensor(Device.SensorType.DEPTH))
{
this.selectedDevice.Close();
this.selectedDevice = null;
MessageBox.Show(
"Selected device can not offer depth stream.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
try
{
this.depthStream = this.selectedDevice.CreateVideoStream(Device.SensorType.DEPTH);
this.colorStream = this.selectedDevice.CreateVideoStream(Device.SensorType.COLOR);
}
catch (Exception)
{
this.selectedDevice.Close();
this.selectedDevice = null;
this.depthStream = null;
this.colorStream = null;
MessageBox.Show(
"Can not create Depth and Color streams.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
this.cb_hd.Enabled = false;
foreach (VideoMode vm in this.colorStream.SensorInfo.getSupportedVideoModes())
{
if (vm.Resolution.Equals(new Size(1280, 1024)) || vm.Resolution.Equals(new Size(1280, 960)))
{
this.cb_hd.Enabled = true;
this.isUse960asHD = vm.Resolution.Height == 960;
break;
}
}
VideoMode depthMode = new VideoMode
{
Resolution = new Size(640, 480),
FPS = 30,
DataPixelFormat = VideoMode.PixelFormat.DEPTH_1MM
};
VideoMode colorMode = new VideoMode
{
Resolution = new Size(640, 480),
FPS = 30,
DataPixelFormat = VideoMode.PixelFormat.RGB888
};
if (this.cb_hd.Enabled && this.cb_hd.Checked)
{
colorMode.Resolution = this.isUse960asHD ? new Size(1280, 960) : new Size(1280, 1024);
}
try
{
this.depthStream.VideoMode = depthMode;
this.colorStream.VideoMode = colorMode;
}
catch (Exception)
{
this.selectedDevice.Close();
this.selectedDevice = null;
this.depthStream = null;
this.colorStream = null;
MessageBox.Show(
"Can not set Depth and Color streams video mode to 640x480@30fps. This application need at least this resolution.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
try
{
this.selectedDevice.ImageRegistration = Device.ImageRegistrationMode.DEPTH_TO_COLOR;
}
catch (Exception)
{
MessageBox.Show(
"We failed to register image over depth map.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Exclamation);
}
try
{
// this.selectedDevice.DepthColorSyncEnabled = true;
}
catch (Exception)
{
}
if (!this.HandleError(this.depthStream.Start()) || !this.HandleError(this.colorStream.Start()))
{
this.selectedDevice.Close();
this.selectedDevice = null;
this.depthStream = null;
this.colorStream = null;
MessageBox.Show(
"Can not start depth and color streams.",
"Device Error",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
this.depthStream.onNewFrame += this.depthStream_onNewFrame;
this.colorStream.onNewFrame += this.colorStream_onNewFrame;
this.but_anag.Enabled = true;
this.but_stereo.Enabled = true;
this.but_saveall.Enabled = true;
}
