protected virtual void OnAccelerationChanged(KinectBase.AccelerationEventArgs e)
{
if (AccelerationChanged != null)
{
AccelerationChanged(this, e);
}
}
void kinectCore_AccelerationChanged(object sender, KinectBase.AccelerationEventArgs e)
{
//Don't bother calling the disptacher (which is kind of expensive) if the control is hidden
if (IsInitialized && Visibility == System.Windows.Visibility.Visible)
{
this.Dispatcher.BeginInvoke((Action)(() =>
{
if (e.acceleration.HasValue)
{
AccelXTextBlock.Text = e.acceleration.Value.X.ToString("F2");
AccelYTextBlock.Text = e.acceleration.Value.Y.ToString("F2");
AccelZTextBlock.Text = e.acceleration.Value.Z.ToString("F2");
}
else
{
AccelXTextBlock.Text = "N/A";
AccelYTextBlock.Text = "N/A";
AccelZTextBlock.Text = "N/A";
}
if (e.elevationAngle.HasValue)
{
AngleTextBlock.Text = e.elevationAngle.Value.ToString();
}
else
{
AngleTextBlock.Text = "N/A";
}
}), null);
}
}
//Updates the acceleration on the GUI and the server, 30 FPS may be a little fast for the GUI, but for VRPN, it probably needs to be at least that fast
private void updateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
//Update the acceleration data
bool dataValid = false;
Vector4?acceleration = null;
int? elevationAngle = null;
lock (kinect)
{
if (kinect != null && kinect.IsRunning)
{
//I wish these try/catch statements weren't necessary, but these two calls seemed to fail often
dataValid = true;
try
{
acceleration = kinect.AccelerometerGetCurrentReading();
}
catch
{
acceleration = null;
dataValid = false;
}
if (dataValid) //We can't even try to calculate the elevation angle if the accelerometer doesn't read right
{
try
{
elevationAngle = kinect.ElevationAngle;
}
catch
{
elevationAngle = null;
dataValid = false;
}
}
}
}
//Update the GUI
if (dataValid)
{
//Update the filtered acceleration
EigenWrapper.Matrix accelMat = new EigenWrapper.Matrix(3, 1);
accelMat[0, 0] = acceleration.Value.X;
accelMat[1, 0] = acceleration.Value.Y;
accelMat[2, 0] = acceleration.Value.Z;
accelerationFilter.IntegrateMeasurement(accelMat, DateTime.UtcNow, 0.01);
accelFilterStarted = true;
//lastAcceleration = acceleration.Value;
//Transmits the acceleration data using an event
KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
accelE.kinectID = this.kinectID;
accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
accelE.elevationAngle = elevationAngle.Value;
OnAccelerationChanged(accelE);
}
else
{
KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
accelE.kinectID = this.kinectID;
//Send the acceleration, if it is valid
if (acceleration.HasValue)
{
//Update the filtered acceleration
EigenWrapper.Matrix accelMat = new EigenWrapper.Matrix(3, 1);
accelMat[0, 0] = acceleration.Value.X;
accelMat[1, 0] = acceleration.Value.Y;
accelMat[2, 0] = acceleration.Value.Z;
accelerationFilter.IntegrateMeasurement(accelMat, DateTime.UtcNow, 0.01);
accelFilterStarted = true;
//lastAcceleration = acceleration.Value;
accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
}
else
{
accelE.acceleration = null;
}
//Send the Kinect angle if it is valid
if (elevationAngle.HasValue)
{
accelE.elevationAngle = elevationAngle.Value;
}
else
{
accelE.elevationAngle = null;
}
OnAccelerationChanged(accelE);
}
}
//Updates the acceleration on the GUI and the server, 30 FPS may be a little fast for the GUI, but for VRPN, it probably needs to be at least that fast
private void updateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
//Update the acceleration data
bool dataValid = false;
Vector4? acceleration = null;
int? elevationAngle = null;
lock (kinect)
{
if (kinect.IsRunning)
{
//I wish these try/catch statements weren't necessary, but these two calls seemed to failed often
dataValid = true;
try
{
acceleration = kinect.AccelerometerGetCurrentReading();
}
catch
{
acceleration = null;
dataValid = false;
}
if (dataValid) //We can't even try to calculate the elevation angle if the accelerometer doesn't read right
{
try
{
elevationAngle = kinect.ElevationAngle;
}
catch
{
elevationAngle = null;
dataValid = false;
}
}
}
}
//Update the GUI
if (dataValid)
{
//Transmits the acceleration data using an event
lastAcceleration = acceleration.Value;
KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
accelE.kinectID = this.kinectID;
accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
accelE.elevationAngle = elevationAngle.Value;
OnAccelerationChanged(accelE);
}
else
{
KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
accelE.kinectID = this.kinectID;
//Send the acceleration, if it is valid
if (acceleration.HasValue)
{
lastAcceleration = acceleration.Value;
accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
}
else
{
accelE.acceleration = null;
}
//Send the Kinect angle if it is valid
if (elevationAngle.HasValue)
{
accelE.elevationAngle = elevationAngle.Value;
}
else
{
accelE.elevationAngle = null;
}
OnAccelerationChanged(accelE);
}
}
