private void sliderTILT_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
int val = (int)sliderTILT.Value;
CLNUIDevice.SetMotorPosition(motor, (short)val);
textBoxTILT.Text = val.ToString();
}
void MainWindow_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
if (errquit == false)
{
if (campaused == true)
{
captureThread.Resume();
}
if (accpaused == false)
{
accelerometerTimer.Stop();
}
CLNUIDevice.SetMotorLED(motor, 0);
if (motor != IntPtr.Zero)
{
CLNUIDevice.DestroyMotor(motor);
}
running = false;
captureThread.Join();
if (camera != IntPtr.Zero)
{
CLNUIDevice.StopCamera(camera);
CLNUIDevice.DestroyCamera(camera);
}
}
}
void comboBox1_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (running == true)
{
running = false;
captureThread.Join();
if (camera != IntPtr.Zero)
{
CLNUIDevice.StopCamera(camera);
CLNUIDevice.DestroyCamera(camera);
}
camera = CLNUIDevice.CreateCamera(devSerial);
}
if (comboFEED.SelectedIndex == 0)
{
colorImage = new NUIImage(640, 480);
feed.Source = colorImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
CLNUIDevice.StartCamera(camera);
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 500);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
else
{
colorImage = new NUIImage(640, 480);
feed.Source = colorImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
CLNUIDevice.StartCamera(camera);
while (running)
{
CLNUIDevice.GetCameraDepthFrameRGB32(camera, colorImage.ImageData, 500);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
}
void OnClosing(object sender, System.ComponentModel.CancelEventArgs e)
{
accelerometerTimer.Stop();
CLNUIDevice.SetMotorLED(motor, 0);
if (motor != IntPtr.Zero)
{
CLNUIDevice.DestroyMotor(motor);
}
if (captureThread != null)
{
running = false;
captureThread.Join(100);
}
if (camera != IntPtr.Zero)
{
CLNUIDevice.DestroyCamera(camera);
}
}
public MainWindow()
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(OnClosing);
if (CLNUIDevice.GetDeviceCount() < 1)
{
MessageBox.Show("Is the Kinect plugged in?");
Environment.Exit(0);
}
string serialString = CLNUIDevice.GetDeviceSerial(0);
camera = CLNUIDevice.CreateCamera(serialString);
colorImage = new NUIImage(640, 480);
depthImage = new NUIImage(640, 480);
rawImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depth.Source = depthImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
if (CLNUIDevice.StartCamera(camera))
{
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 0);
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0);
CLNUIDevice.GetCameraDepthFrameRAW(camera, rawImage.ImageData, 0);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
depthImage.Invalidate();
});
}
}
});
captureThread.IsBackground = true;
captureThread.Start();
}
public MainWindow()
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
try
{
_devCount = CLNUIDevice.GetDeviceCount();
if (_devCount == 0)
{
Environment.Exit(0);
}
for (int i = 0; i < _devCount; i++)
{
string devSerial = CLNUIDevice.GetDeviceSerial(i);
cameras.Items.Add(string.Format("Kinect Serial: {0}", devSerial));
cameraWindows[i] = new CameraWindow(devSerial);
cameraWindows[i].Show();
}
}
catch { }
}
public CameraWindow(string devSerial)
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(OnClosing);
xp.Minimum = -981;
xp.Maximum = 981;
yp.Minimum = -981;
yp.Maximum = 981;
zp.Minimum = -981;
zp.Maximum = 981;
try
{
motor = CLNUIDevice.CreateMotor(devSerial);
camera = CLNUIDevice.CreateCamera(devSerial);
}
catch (System.Exception ex)
{
MessageBox.Show(ex.Message);
Environment.Exit(0);
}
CLNUIDevice.SetMotorPosition(motor, 0);
serial.Content = string.Format("Serial Number: {0}", devSerial);
accelerometerTimer = new DispatcherTimer(TimeSpan.FromMilliseconds(100), DispatcherPriority.Normal, (EventHandler) delegate(object sender, EventArgs e)
{
short _x = 0, _y = 0, _z = 0;
CLNUIDevice.GetMotorAccelerometer(motor, ref _x, ref _y, ref _z);
x.Content = _x.ToString();
xp.Value = _x;
y.Content = _y.ToString();
yp.Value = _y;
z.Content = _z.ToString();
zp.Value = _z;
}, Dispatcher);
accelerometerTimer.Start();
led.SelectionChanged += new SelectionChangedEventHandler(led_SelectionChanged);
led.SelectedIndex = 0;
colorImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depthImage = new NUIImage(640, 480);
depth.Source = depthImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
// Trace.WriteLine(string.Format("Camera {0:X}", camera.ToInt32()));
if (CLNUIDevice.StartCamera(camera))
{
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 500);
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
depthImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
}
});
captureThread.IsBackground = true;
captureThread.Start();
}
private void down_Click(object sender, RoutedEventArgs e)
{
CLNUIDevice.SetMotorPosition(motor, -8000);
}
void led_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
CLNUIDevice.SetMotorLED(motor, (byte)led.SelectedIndex);
}
private void comboLED_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
CLNUIDevice.SetMotorLED(motor, (byte)comboLED.SelectedIndex);
}
public CameraWindow(string devSerial)
{
this.devSerial = devSerial;
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
try
{
motor = CLNUIDevice.CreateMotor(devSerial);
camera = CLNUIDevice.CreateCamera(devSerial);
labelSERIAL.Content = string.Format("Serial Number: {0}", devSerial);
}
catch
{
MessageBox.Show("Is your device connected! Drivers installed?", "Kinect Not Found!");
errquit = true;
this.Close();
}
DataContext = this;
TheCharacter = "█";
FromLeft = 526;
FromTop = 136;
TheFontSize = 5;
accelerometerTimer = new DispatcherTimer(TimeSpan.FromMilliseconds(100), DispatcherPriority.Normal, (EventHandler) delegate(object sender, EventArgs e)
{
short _x = 0, _y = 0, _z = 0;
CLNUIDevice.GetMotorAccelerometer(motor, ref _x, ref _y, ref _z);
double gx = 0;
double gy = 0;
_x = (short)(_x - _xCal);
_y = (short)(_y - _yCal);
_z = (short)(_z - _zCal);
if (comboXAXIS.SelectedIndex == 0)
{
gx = _x + 1000;
}
else if (comboXAXIS.SelectedIndex == 1)
{
gx = _y + 1000;
}
else if (comboXAXIS.SelectedIndex == 2)
{
gx = _z + 1000;
}
if (comboYAXIS.SelectedIndex == 0)
{
gy = _x + 1000;
}
else if (comboYAXIS.SelectedIndex == 1)
{
gy = _y + 1000;
}
else if (comboYAXIS.SelectedIndex == 2)
{
gy = _z + 1000;
}
FromLeft = 389 + (int)(gx / 9.661835748792271);
FromTop = 34 + (int)(gy / 9.661835748792271);
labelX.Content = "X: " + (_x).ToString();
progressX.Value = _x;
labelY.Content = "Y: " + (_y).ToString();
progressY.Value = _y;
labelZ.Content = "Z: " + (_z).ToString();
progressZ.Value = _z;
}, Dispatcher);
accelerometerTimer.Start();
comboLED.SelectionChanged += new SelectionChangedEventHandler(comboLED_SelectionChanged);
comboLED.SelectedIndex = 0;
comboFEED.SelectionChanged += new SelectionChangedEventHandler(comboBox1_SelectionChanged);
comboFEED.SelectedIndex = 0;
comboXAXIS.SelectedIndex = 0;
comboYAXIS.SelectedIndex = 1;
comboTheSize.SelectionChanged += new SelectionChangedEventHandler(comboBox1_SelectionChanged_1);
comboTheSize.SelectedIndex = 5;
sliderTILT.Maximum = 8000;
sliderTILT.Minimum = -8000;
sliderTILT.Value = 0;
CLNUIDevice.SetMotorPosition(motor, 0);
}
