AForge.Video.Kinect.KinectDepthCamera.Start C# (CSharp) Метод

        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 depth camera is already running." );
                            }

                            device = Kinect.GetDevice( deviceID );

                            // find depth format parameters
                            depthModeInfo = KinectNative.freenect_find_depth_mode( resolution, KinectNative.DepthCameraFormat.Format11Bit );

                            if ( depthModeInfo.IsValid == 0 )
                            {
                                throw new ArgumentException( "The specified resolution is not supported for the selected mode of the Kinect depth camera." );
                            }

                            // set depth format
                            if ( KinectNative.freenect_set_depth_mode( device.RawDevice, depthModeInfo ) != 0 )
                            {
                                throw new VideoException( "Could not switch to the specified depth format." );
                            }

                            // allocate video buffer and provide it freenect
                            imageBuffer = Marshal.AllocHGlobal( (int) depthModeInfo.Bytes );
                            KinectNative.freenect_set_depth_buffer( device.RawDevice, imageBuffer );

                            // set video callback
                            videoCallback = new KinectNative.FreenectDepthDataCallback( HandleDataReceived );
                            KinectNative.freenect_set_depth_callback( device.RawDevice, videoCallback );

                            // start the camera
                            if ( KinectNative.freenect_start_depth( device.RawDevice ) != 0 )
                            {
                                throw new ConnectionFailedException( "Could not start depth 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;
                                }
                            }
                        }
                    }
                }
            }
        }