int main()
{
XnStatus nRetVal = XN_STATUS_OK;
XnContext* pContext;
XnEnumerationErrors* pErrors;
XnNodeHandle hDepth;
XnDepthMetaData* pDepthMD;
const XnDepthPixel* pDepthMap;
XnDepthPixel middlePoint;
nRetVal = xnEnumerationErrorsAllocate(&pErrors);
CHECK_RC(nRetVal, "Allocate errors object");
nRetVal = xnInitFromXmlFile(SAMPLE_XML_PATH, &pContext, pErrors);
CHECK_RC(nRetVal, "Init context");
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
xnEnumerationErrorsToString(pErrors, strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = xnFindExistingNodeByType(pContext, XN_NODE_TYPE_DEPTH, &hDepth);
CHECK_RC(nRetVal, "Find depth generator");
pDepthMD = xnAllocateDepthMetaData();
while (!xnOSWasKeyboardHit())
{
nRetVal = xnWaitOneUpdateAll(pContext, hDepth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnGetDepthMetaData(hDepth, pDepthMD);
pDepthMap = pDepthMD->pData;
middlePoint = pDepthMap[pDepthMD->pMap->Res.X * pDepthMD->pMap->Res.Y/2 + pDepthMD->pMap->Res.X/2];
printf("Frame %d Middle point is: %u\n", pDepthMD->pMap->pOutput->nFrameID, middlePoint);
}
xnShutdown(pContext);
return 0;
}
// メインループ
void run()
{
int nAudioNextBuffer = 0;
printf ("Press any key to exit...\n");
// 今のデータを捨てる
audio.WaitAndUpdateData();
while (!xnOSWasKeyboardHit()) {
// データの更新
XnStatus nRetVal = context.WaitAndUpdateAll();
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// バッファの取得
WAVEHDR* pHeader = &AudioBuffers[nAudioNextBuffer];
if ((pHeader->dwFlags & WHDR_DONE) == 0) {
printf("No audio buffer is available!. Audio buffer will be lost!\n");
continue;
}
// WAVEヘッダのクリーンアップ
MMRESULT mmRes = waveOutUnprepareHeader(hWaveOut, pHeader, sizeof(WAVEHDR));
if ( mmRes != MMSYSERR_NOERROR ) {
OutputErrorText( mmRes );
}
// WAVEデータの取得
pHeader->dwBufferLength = audio.GetDataSize();
pHeader->dwFlags = 0;
xnOSMemCopy(pHeader->lpData, audio.GetAudioBuffer(), pHeader->dwBufferLength);
// WAVEヘッダの初期化
mmRes = waveOutPrepareHeader(hWaveOut, pHeader, sizeof(WAVEHDR));
if ( mmRes != MMSYSERR_NOERROR ) {
OutputErrorText( mmRes );
continue;
}
// WAVEデータを出力キューに入れる
mmRes = waveOutWrite(hWaveOut, pHeader, sizeof(WAVEHDR));
if ( mmRes != MMSYSERR_NOERROR ) {
OutputErrorText( mmRes );
continue;
}
// 次のバッファインデックス
nAudioNextBuffer = (nAudioNextBuffer + 1) % NUMBER_OF_AUDIO_BUFFERS;
}
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
TotalFrames = 0;
static struct rusage ru;
long double t;
double w;
struct timeval timStart;
struct timeval timEnd;
struct timeval Wall;
bool Sample = true;
XnFPSData xnFPS;
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
if (argc > 1)
{
//parse the cmd line
if (strcasecmp(argv[1],"--help") == 0)
{
PrintHelpHeader(argv[0]);
return 1;
}
numOfUser = atoi(argv[1]);
if(numOfUser == 0)
{
PrintHelpHeader(argv[0]);
return 1;
}
else if(numOfUser > 2)
{
printf("Maximal Users allowed is 2\n");
return 1;
}
}
else
{
numOfUser = 4;
}
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
#if (XN_PLATFORM != XN_PLATFORM_MACOSX)
//we want out benchmark application will be running only on one CPU core
cpu_set_t mask;
CPU_ZERO(&mask);
CPU_SET(1,&mask);
sched_setaffinity(0,sizeof(mask),&mask);
#endif
//initialize the FPS calculator
nRetVal = xnFPSInit(&xnFPS, 90);
CHECK_RC(nRetVal, "FPS Init");
//ensure the User generator exists
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
//register to generators callbacks
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
//ensure calibration
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
//set skeleton profile (all joints)
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//start to generate
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
printf("%c[%d;%d;%dmPrimeSense Skeleton Benchmark Application\n ", 0x1B, BRIGHT,BLUE,BG_BLACK);
printf("%c[%d;%d;%dmSet Maximal users to %d ", 0x1B, BRIGHT,BLUE,BG_BLACK,numOfUser);
printf("%c[%dm\n", 0x1B, 0);
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
//each 30 frames (1 second) we start the CPU resources usages
while (!xnOSWasKeyboardHit())
{
if (Sample)
{ //get the beginning sample of CPU resources
getrusage(RUSAGE_SELF, &ru);
timStart=ru.ru_utime;
t=(double)timStart.tv_sec * 1000000.0 + (double)timStart.tv_usec \
+ (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec;
//get the wall clock time
gettimeofday(&Wall,NULL);
w=(double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec;
Sample = false;
}
g_Context.WaitOneUpdateAll(g_UserGenerator);
xnFPSMarkFrame(&xnFPS);
// print the torso information for the first user already tracking every 1 second to prevent CPU of printf
if(TotalFrames % 30 == 0)
{
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("User %d Located At distance of %6.2f mm from the sensor\n",aUsers[i],torsoJoint.position.position.Z);
}
//get the finish sample of the CPU resources
getrusage(RUSAGE_SELF, &ru);
timEnd=ru.ru_utime;
t = (double)timEnd.tv_sec * 1000000.0 + (double)timEnd.tv_usec \
+ (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec - t;
//get the wall clock
gettimeofday(&Wall,NULL);
w = (double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec - w;
XnDouble fps=xnFPSCalc(&xnFPS);
//print stuff.
printf("%c[%d;%d;%dmCPU Utilization=%3.2f%%\t", 0x1B, BRIGHT,RED,BG_BLACK,(double)100*t/w);
printf("%c[%d;%d;%dmFPS=%3.2f ", 0x1B, BRIGHT,RED,BG_BLACK,(double)fps);
printf("%c[%dm\n", 0x1B, 0);
Sample= true;
}
TotalFrames++;
}
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
}
}
g_scriptNode.Release();
g_UserGenerator.Release();
g_Context.Release();
}
// this sample can run either as a regular sample, or as a client for multi-process (remote mode)
int main(int argc, char** argv)
{
//ros::Subscriber subcommand = rosnode.subscribe("/camera/rgb/image_color", 10, cameracallback);
/*ros::Subscriber subcommand = rosnode.subscribe("/camera/depth_registered/image_raw", 10, cameracallback);
printf("subscribe get\n");
*/
xn::Context context;
xn::ScriptNode scriptNode;
XnVSessionGenerator* pSessionGenerator;
XnBool bRemoting = FALSE;
ros::init(argc, argv, "detect_people", ros::init_options::NoSigintHandler);
ros::NodeHandle rosnode = ros::NodeHandle();
if (argc > 1)
{
// remote mode
context.Init();
printf("Running in 'Remoting' mode (Section name: %s)\n", argv[1]);
bRemoting = TRUE;
// Create multi-process client
pSessionGenerator = new XnVMultiProcessFlowClient(argv[1]);
XnStatus rc = ((XnVMultiProcessFlowClient*)pSessionGenerator)->Initialize();
if (rc != XN_STATUS_OK)
{
printf("Initialize failed: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
return 1;
}
}
else
{
// Local mode
// Create context
const char *fn = NULL;
if (fileExists(SAMPLE_XML_FILE)) fn = SAMPLE_XML_FILE;
else if (fileExists(SAMPLE_XML_FILE_LOCAL)) fn = SAMPLE_XML_FILE_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_FILE, SAMPLE_XML_FILE_LOCAL);
return XN_STATUS_ERROR;
}
XnStatus rc = context.InitFromXmlFile(fn, scriptNode);
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize: %s\n", xnGetStatusString(rc));
return 1;
}
// Create the Session Manager
pSessionGenerator = new XnVSessionManager();
rc = ((XnVSessionManager*)pSessionGenerator)->Initialize(&context, "Click", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Session Manager couldn't initialize: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
return 1;
}
// Initialization done. Start generating
context.StartGeneratingAll();
}
// Register session callbacks
pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
// init & register wave control
XnVWaveDetector wc;
wc.RegisterWave(NULL, OnWaveCB);
wc.RegisterPointUpdate(NULL, OnPointUpdate);
pSessionGenerator->AddListener(&wc);
printf("Please perform focus gesture to start session\n");
printf("Hit any key to exit\n");
// Main loop
while (!xnOSWasKeyboardHit())
{
if (bRemoting)
{
((XnVMultiProcessFlowClient*)pSessionGenerator)->ReadState();
}
else
{
context.WaitAnyUpdateAll();
((XnVSessionManager*)pSessionGenerator)->Update(&context);
}
}
delete pSessionGenerator;
return 0;
}
// The recorder
int main(int argc, char** argv)
{
// OpenNi objects
xn::Context context;
xn::DepthGenerator depthGenerator;
xn::ImageGenerator imageGenerator;
// To count missed frames
XnUInt64 nLastDepthTime = 0;
XnUInt64 nLastImageTime = 0;
XnUInt32 nMissedDepthFrames = 0;
XnUInt32 nMissedImageFrames = 0;
XnUInt32 nDepthFrames = 0;
XnUInt32 nImageFrames = 0;
RecConfiguration config;
XnStatus nRetVal = XN_STATUS_OK;
// Parse the command line arguments
if (!ParseArgs(argc, argv, config))
{
printf("Parse error\n");
return 1;
}
if (config.bVerbose)
{
// Turn on log
xnLogInitSystem();
xnLogSetConsoleOutput(TRUE);
xnLogSetMaskMinSeverity(XN_LOG_MASK_ALL, XN_LOG_VERBOSE);
}
// Initialize OpenNI
nRetVal = context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = ConfigureGenerators(config, context, depthGenerator, imageGenerator);
CHECK_RC(nRetVal, "Config generators");
nRetVal = context.StartGeneratingAll();
CHECK_RC(nRetVal, "Generate all");
// Create and initialize the cyclic buffer
CyclicBuffer cyclicBuffer(context, depthGenerator, imageGenerator, config);
cyclicBuffer.Initialize(config.strDirName, config.nDumpTime);
// Mainloop
for (;;)
{
if (xnOSWasKeyboardHit())
{
char c = xnOSReadCharFromInput();
XnBool bStop = FALSE;
switch (c)
{
case 27:
bStop = TRUE;
break;
case 'd':
cyclicBuffer.Dump();
break;
}
if (bStop)
{
break;
}
}
// Get next data
context.WaitAndUpdateAll();
// Save data
cyclicBuffer.Update(depthGenerator, imageGenerator);
// Check for missed frames
if (config.bRecordDepth)
{
++nDepthFrames;
XnUInt64 nTimestamp = depthGenerator.GetTimestamp();
if (nLastDepthTime != 0 && nTimestamp - nLastDepthTime > 35000)
{
int missed = (int)(nTimestamp-nLastDepthTime)/32000 - 1;
printf("Missed depth: %llu -> %llu = %d > 35000 - %d frames\n",
nLastDepthTime, nTimestamp, XnUInt32(nTimestamp-nLastDepthTime), missed);
nMissedDepthFrames += missed;
}
nLastDepthTime = nTimestamp;
}
if (config.bRecordImage)
{
++nImageFrames;
XnUInt64 nTimestamp = imageGenerator.GetTimestamp();
if (nLastImageTime != 0 && nTimestamp - nLastImageTime > 35000)
{
int missed = (int)(nTimestamp-nLastImageTime)/32000 - 1;
printf("Missed image: %llu -> %llu = %d > 35000 - %d frames\n",
nLastImageTime, nTimestamp, XnUInt32(nTimestamp-nLastImageTime), missed);
nMissedImageFrames += missed;
}
nLastImageTime = nTimestamp;
}
}
if (config.bRecordDepth)
{
printf("Missed %d of %d depth frames (%5.2f%%)\n", nMissedDepthFrames, (nMissedDepthFrames+nDepthFrames), (nMissedDepthFrames*100.0)/(nMissedDepthFrames+nDepthFrames));
}
if (config.bRecordImage)
{
printf("Missed %d of %d image frames (%5.2f%%)\n", nMissedImageFrames, (nMissedImageFrames+nImageFrames), (nMissedImageFrames*100.0)/(nMissedImageFrames+nImageFrames));
}
imageGenerator.Release();
depthGenerator.Release();
context.Release();
return 0;
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
XnContext* pContext;
XnNodeHandle hScriptNode;
XnEnumerationErrors* pErrors;
XnNodeHandle hDepth;
XnDepthMetaData* pDepthMD;
const XnDepthPixel* pDepthMap;
XnDepthPixel middlePoint;
const char *fn = NULL;
nRetVal = xnEnumerationErrorsAllocate(&pErrors);
CHECK_RC(nRetVal, "Allocate errors object");
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = xnInitFromXmlFileEx(fn, &pContext, pErrors, &hScriptNode);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
xnEnumerationErrorsToString(pErrors, strError, 1024);
printf("%s\n", strError);
xnEnumerationErrorsFree(pErrors);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
xnEnumerationErrorsFree(pErrors);
return (nRetVal);
}
xnEnumerationErrorsFree(pErrors);
nRetVal = xnFindExistingRefNodeByType(pContext, XN_NODE_TYPE_DEPTH, &hDepth);
CHECK_RC(nRetVal, "Find depth generator");
pDepthMD = xnAllocateDepthMetaData();
while (!xnOSWasKeyboardHit())
{
nRetVal = xnWaitOneUpdateAll(pContext, hDepth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnGetDepthMetaData(hDepth, pDepthMD);
pDepthMap = pDepthMD->pData;
middlePoint = pDepthMap[pDepthMD->pMap->Res.X * pDepthMD->pMap->Res.Y/2 + pDepthMD->pMap->Res.X/2];
printf("Frame %d Middle point is: %u\n", pDepthMD->pMap->pOutput->nFrameID, middlePoint);
}
xnFreeDepthMetaData(pDepthMD);
xnProductionNodeRelease(hDepth);
xnProductionNodeRelease(hScriptNode);
xnContextRelease(pContext);
return 0;
}
