//Open equipment
mCamera?.open()
// Set IR value
mCamera?.irCurrentValue = IR_DEFAULT_VALUE
backgroundHandler?.post {
if (mCamera == null) return@post
// Color image previews related objects
mColorSurface = Surface(colorTextureView.surfaceTexture)
// Depth image previews related objects
mDepthSurface = Surface(depthTextureView.surfaceTexture)
mCamera?.setPreviewDisplay(mDepthSurface, MYNTCamera.Frame.DEPTH)
mCamera?.setPreviewDisplay(mColorSurface, MYNTCamera.Frame.COLOR)
// Set preview size (480 / 720)
mCamera?.setPreviewSize(previewSize.height)
// Set depth type( 8bit / 11bit)
mCamera?.setDepthType(depthType)
// Set the image callback
mCamera?.setFrameCallback { data ->
if (data.flag == FrameData.DEPTH) {
// Depth map
}
if (data.flag == FrameData.COLOR) {
// Color map
}
}
// To preview
mCamera?.start(MYNTCamera.Source.ALL, MYNTCamera.Frame.ALL)
}