public void OnFrame(object sender, FrameEventArgs args)
{
// Get the most recent frame and report some basic information
Frame frame = args.frame;
if (frame.Hands.Count == 2)
{
Console.WriteLine("Two Hands in frame, move one out of the way.");
}
else if (frame.Hands.Count == 0)
{
Console.WriteLine("No Hands in Frame, move one into the frame.");
}
else
{
float[] WristPos = frame.Hands[0].WristPosition.ToFloatArray();
float pitch = frame.Hands[0].Direction.Pitch * 180.0f / (float)Math.PI;
if (pitch <= -90)
{
pitch = -90;
}
else if (pitch >= 90)
{
pitch = 90;
}
float roll = frame.Hands[0].PalmNormal.Roll * 180.0f / (float)Math.PI;
if (roll >= 90)
{
roll = 90;
}
else if (roll <= -90)
{
roll = -90;
}
float gripdist = frame.Hands[0].PinchDistance;
data.setData((int)WristPos[0], (int)WristPos[1] - 254, (int)WristPos[2] - 350, roll + 90, pitch + 90, gripdist);
}
/**
* Console.WriteLine(
* "Frame id: {0}, timestamp: {1}, hands: {2}",
* frame.Id, frame.Timestamp, frame.Hands.Count
* );
*
* foreach (Hand hand in frame.Hands)
* {
* Console.WriteLine(" Hand id: {0}, palm position: {1}, fingers: {2}",
* hand.Id, hand.PalmPosition, hand.Fingers.Count);
* // Get the hand's normal vector and direction
* Vector normal = hand.PalmNormal;
* Vector direction = hand.Direction;
*
* // Calculate the hand's pitch, roll, and yaw angles
* Console.WriteLine(
* " Hand pitch: {0} degrees, roll: {1} degrees, yaw: {2} degrees",
* direction.Pitch * 180.0f / (float)Math.PI,
* normal.Roll * 180.0f / (float)Math.PI,
* direction.Yaw * 180.0f / (float)Math.PI
* );
*
* // Get the Arm bone
* Arm arm = hand.Arm;
* Console.WriteLine(
* " Arm direction: {0}, wrist position: {1}, elbow position: {2}",
* arm.Direction, arm.WristPosition, arm.ElbowPosition
* );
*
* // Get fingers
* foreach (Finger finger in
*
* .Fingers)
* {
* Console.WriteLine(
* " Finger id: {0}, {1}, length: {2}mm, width: {3}mm",
* finger.Id,
* finger.Type.ToString(),
* finger.Length,
* finger.Width
* );
*
* // Get finger bones
* Bone bone;
* for (int b = 0; b < 4; b++)
* {
* bone = finger.Bone ((Bone.BoneType)b);
* Console.WriteLine (
* " Bone: {0}, start: {1}, end: {2}, direction: {3}",
* bone.Type, bone.PrevJoint, bone.NextJoint, bone.Direction
* );
* }
* }
* }
*
* if (frame.Hands.Count != 0)
* {
* Console.WriteLine("");
* }
*/
}