AForge.Video.Kinect.KinectNative.freenect_set_depth_mode C# (CSharp) Метод

        public static extern int freenect_set_depth_mode( IntPtr device, BitmapInfoHeader infoHeader );

        /// <summary>
        /// Start video source.
        /// </summary>
        ///
        /// <remarks>Starts video source and returns execution to caller. Video camera will be started
        /// and will provide new video frames through the <see cref="NewFrame"/> event.</remarks>
        ///
        /// <exception cref="ArgumentException">The specified resolution is not supported for the selected
        /// mode of the Kinect depth sensor.</exception>
        /// <exception cref="ConnectionFailedException">Could not connect to Kinect's depth sensor.</exception>
        /// <exception cref="DeviceBusyException">Another connection to the specified depth sensor is already running.</exception>
        ///
        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;
                                }
                            }
                        }
                    }
                }
            }
        }