private void UninitializeStreams()
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
Debug.Log("AstraController: Uninitializing streams");
if (_readerDepth != null)
{
_readerDepth.Dispose();
_readerColor.Dispose();
_readerBody.Dispose();
_readerMaskedColor.Dispose();
_readerColorizedBody.Dispose();
_readerPoint.Dispose();
_readerDepth = null;
_readerColor = null;
_readerBody = null;
_readerMaskedColor = null;
_readerColorizedBody = null;
_readerPoint = null;
}
if (_streamSet != null)
{
_streamSet.Dispose();
_streamSet = null;
}
}
private void UninitializeStreams()
{
Debug.Log("AstraController: Uninitializing streams");
if (_reader1 != null)
{
_reader1.FrameReady -= FrameReady;
_reader2.FrameReady -= FrameReady;
_reader3.FrameReady -= FrameReady;
_reader4.FrameReady -= FrameReady;
_reader5.FrameReady -= FrameReady;
_reader1.Dispose();
_reader2.Dispose();
_reader3.Dispose();
_reader4.Dispose();
_reader5.Dispose();
_reader1 = null;
_reader2 = null;
_reader3 = null;
_reader4 = null;
_reader5 = null;
}
if (_streamSet != null)
{
_streamSet.Dispose();
_streamSet = null;
}
}
public void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerNV21Color = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
int targetDepthWidth, targetDepthHeight, targetDepthFps;
#if ASTRA_UNITY_ANDROID_NATIVE
//Deeyea and Dabai doesn't support qqvga and qvga resolution.
//use 640*400.
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x60e ||
_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x617)
{
targetDepthWidth = 640;
targetDepthHeight = 400;
targetDepthFps = 30;
}
else
{
targetDepthWidth = 160;
targetDepthHeight = 120;
targetDepthFps = 30;
}
#else
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x60e ||
_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x617)
{
targetDepthWidth = 640;
targetDepthHeight = 400;
targetDepthFps = 30;
}
else
{
targetDepthWidth = 320;
targetDepthHeight = 240;
targetDepthFps = 30;
}
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x617)
{
//for deeyea, set mirror to false to match depth.
_colorStream.IsMirroring = false;
}
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth, targetColorHeight, targetColorFps;
if (_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x60f ||
_depthStream.usbInfo.Pid == 0x617)
{
targetColorWidth = 640;
targetColorHeight = 480;
targetColorFps = 30;
}
else
{
targetColorWidth = 320;
targetColorHeight = 240;
targetColorFps = 30;
}
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
#if ASTRA_UNITY_ANDROID_NATIVE
_nv21ColorStream = _readerNV21Color.GetStream <ColorStream>(Astra.Core.StreamSubType.COLOR_NV21_SUBTYPE);
if (_nv21ColorStream.IsAvailable)
{
//COLOR_NV21_SUBTYPE is only available when using astra pro and astra pro plus.
colorModes = _nv21ColorStream.AvailableModes;
selectedColorMode = colorModes[0];
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_nv21ColorStream.SetMode(selectedColorMode);
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x617)
{
//for deeyea, set mirror to false to match depth.
_nv21ColorStream.IsMirroring = false;
}
}
else
{
_readerNV21Color.Dispose();
_readerNV21Color = null;
_nv21ColorStream = null;
}
#endif
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}