/// <summary>
/// Sets the 3D representation of the kinect camera in the 3D representation of the room
/// </summary>
/// <param name="devKinect">the representation of the kinect camera of the IGS to get its information of size and
/// and position</param>
public void SetKinectCamera(DevKinect devKinect)
{
Point3D center = new Point3D();
HelixToolkit.Wpf.BoxVisual3D addKinect = new HelixToolkit.Wpf.BoxVisual3D();
RotateTransform3D trans = new RotateTransform3D();
AxisAngleRotation3D rotation = new AxisAngleRotation3D();
center.X = devKinect.ball.Center.X;
center.Y = devKinect.ball.Center.Y;
center.Z = devKinect.ball.Center.Z;
addKinect.Center = center;
addKinect.Length = 0.38;
addKinect.Width = 0.156;
addKinect.Height = 0.123;
rotation.Axis = (new Vector3D(0, 1, 0));
rotation.Angle = devKinect.roomOrientation;
trans.Rotation = rotation;
trans.CenterX = center.X;
trans.CenterY = center.Y;
trans.CenterZ = center.Z;
addKinect.Transform = trans;
this.kinect = addKinect;
mainViewport.Children.Remove(kinect);
mainViewport.Children.Add(kinect);
}
/// <summary>
/// this method intializes the representation of the kinect camera used for positioning and
/// visualization by reading the information out of the config.xml
/// </summary>
public void createIGSKinect()
{
float ballRad = 0.4f;
Point3D kinectCenter = new Point3D(environmentHandler.getKinectPosX(), environmentHandler.getKinectPosY(), environmentHandler.getKinectPosZ());
Ball kinectBall = new Ball(kinectCenter, ballRad);
double roomOrientation = environmentHandler.getKinecHorizontalAngle();
double tiltingDegree = environmentHandler.getKinectTiltAngle();
IGSKinect = new DevKinect("DevKinect", kinectBall, tiltingDegree, roomOrientation);
}
