void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (frameCount % 3 == 0) // increase the number after the mod to increase speed. in its current setup it skips 2 out of 3 frames and only processes the 3rd.
{
DepthImageFrame imageFrame = e.OpenDepthImageFrame();
if (imageFrame != null) // makes sure a frame exists.
{
short[] pixelData = new short[imageFrame.PixelDataLength]; // Creates an array the size of the image frame pixel length
imageFrame.CopyPixelDataTo(pixelData); // copies pixel data to the pixel data array.
int temp = 0; // initalizes depth.
int i = 0; // intializes the count.
for (int y = 0; y < 480; y += pointDen) // iterates through each row.
{
for (int x = 0; x < 640; x += pointDen) //iterates through each column in the row.
{
temp = ((ushort)pixelData[x + y * 640]) >> 4;
((TranslateTransform3D)points[i].Transform).OffsetZ = temp; // sets the triangles z offset.
if (temp < 400 && x >= 200 && x <= 400)
{
points[i].Material = new DiffuseMaterial(new SolidColorBrush(Colors.Red)); // throws a read warning.
rotate = -.2f;
speed = .0f;
REDALERT = true;
}
else if (temp < 500 && x >= 200 && x <= 400 && !REDALERT)
{
points[i].Material = new DiffuseMaterial(new SolidColorBrush(Colors.Yellow)); // sets it to be yellow when it is in a cetain range.
objectDetected = true;
av += x;
count++;
// 3 triagles that are yellow, what x value? x value is on left side, rotate right.
}
else
{
points[i].Material = new DiffuseMaterial(new SolidColorBrush(Colors.Blue)); // paints everyhting else blue.
}
i++;
}
}
if (objectDetected)
{
av = av / count;
av = av - 320;
if (av >= 0 && count > 5)
{
rotate = -.2f;
speed = .5f;
}
else if (count > 5)
{
rotate = .2f;
speed = .5f;
}
}
if (pathChecked == true)
{
if (mp == null)
{
mp = new MotionProxy(ipBox.Text, 9559);
}
if (mp != null)
{
mp.setWalkTargetVelocity(speed, 0, rotate, .5f);
}
}
else if (pathChecked == false)
{
if (mp == null)
{
mp = new MotionProxy(ipBox.Text, 9559);
}
if (mp != null)
{
mp.stopMove();
}
}
}
}
speed = .6f;
rotate = 0;
av = 0;
count = 0;
objectDetected = false;
REDALERT = false;
pathChecked = false;
frameCount++;
}