public KinectCoreV2(ref KinectBase.MasterSettings settings, bool isGUILaunched, int kinectNumber)
{
masterSettings = settings;
dynamic temp = masterSettings.kinectOptionsList[kinectNumber];
masterKinectSettings = (KinectV2Settings)temp;
//TODO: Update this to open a specific Kinect v2, if the SDK is ever updated to support multiple on one machine
kinect = KinectSensor.GetDefault();
kinectID = kinectNumber;
uint tempC = kinect.ColorFrameSource.FrameDescription.LengthInPixels;
uint tempD = kinect.DepthFrameSource.FrameDescription.LengthInPixels;
uint tempI = kinect.InfraredFrameSource.FrameDescription.LengthInPixels;
colorImagePool = new KinectBase.ObjectPool<byte[]>(() => new byte[tempC * 4]);
depthImagePool = new KinectBase.ObjectPool<byte[]>(() => new byte[tempD * 4]);
irImagePool = new KinectBase.ObjectPool<byte[]>(() => new byte[tempI * sizeof(UInt16)]);
if (isGUILaunched)
{
isGUI = true;
LaunchKinect();
}
else
{
launchKinectDelegate kinectDelegate = LaunchKinect;
IAsyncResult result = kinectDelegate.BeginInvoke(null, null);
kinectDelegate.EndInvoke(result); //Even though this is blocking, the events should be on a different thread now.
}
}
//TODO: Subscribe this to the skeletonChanged event and update the GUI with a preview of the skeleton positions
public NetworkKinectSettingsControl(int kinectNumber, ref KinectBase.MasterSettings settings, KinectBase.IKinectCore kinect)
{
if (settings != null)
{
if (settings.kinectOptionsList[kinectNumber].version == KinectBase.KinectVersion.NetworkKinect)
{
masterSettings = settings;
dynamic tempSettings = settings.kinectOptionsList[kinectNumber];
kinectSettings = (NetworkKinectSettings)tempSettings;
kinectID = kinectNumber;
kinectCore = (NetworkKinectCore)kinect;
uniqueKinectID = kinect.uniqueKinectID;
InitializeComponent();
this.HorizontalAlignment = System.Windows.HorizontalAlignment.Stretch;
this.VerticalAlignment = System.Windows.VerticalAlignment.Stretch;
//Set the binding on the joint mapping data grid
jointMappingDataGrid.ItemsSource = kinectSettings.jointMappings;
jointMappingDataGrid.Items.Refresh();
}
else
{
throw new ArgumentException("The provided KinectID is not for a network Kinect sensor.");
}
}
else
{
throw new ArgumentNullException("settings");
}
}
public KinectV2SettingsControl(int kinectNumber, ref KinectBase.MasterSettings settings, KinectBase.IKinectCore kinect)
{
if (settings != null)
{
if (settings.kinectOptionsList[kinectNumber].version == KinectBase.KinectVersion.KinectV2)
{
masterSettings = settings;
dynamic tempSettings = settings.kinectOptionsList[kinectNumber];
kinectSettings = (KinectV2Settings)tempSettings;
kinectID = kinectNumber;
kinectCore = (KinectCoreV2)kinect;
uniqueKinectID = kinect.uniqueKinectID;
InitializeComponent();
this.HorizontalAlignment = System.Windows.HorizontalAlignment.Stretch;
this.VerticalAlignment = System.Windows.VerticalAlignment.Stretch;
}
else
{
throw new ArgumentException("The provided KinectID is not for a Kinect v2 sensor.");
}
}
else
{
throw new NotSupportedException("Method arguments are invalid!");
}
}
//Why is the kinectNumber nullable if it is requried later?
public KinectCoreV1(ref KinectBase.MasterSettings settings, bool isGUILaunched, int? kinectNumber = null)
{
if (kinectNumber != null)
{
masterSettings = settings;
dynamic tempSettings = masterSettings.kinectOptionsList[(int)kinectNumber]; //We have to use dynamic because the type of the Kinect settings in the master list isn't defined until runtime
masterKinectSettings = (KinectV1Settings)tempSettings;
//Initialize the object pools
colorImagePool = new KinectBase.ObjectPool<byte[]>(() => new byte[640 * 480 * 4]);
depthImagePool = new KinectBase.ObjectPool<byte[]>(() => new byte[640 * 480 * 4]);
//Note: the kinectNumber could be greater than the number of Kinect v1s if there are other types of sensors in use
//Therefore, we have to find the correct Kinect, if it exists using this loop
int globalIndex = -1;
for (int i = 0; i < KinectSensor.KinectSensors.Count; i++)
{
if (KinectSensor.KinectSensors[i].DeviceConnectionId == masterSettings.kinectOptionsList[(int)kinectNumber].uniqueKinectID)
{
globalIndex = i;
break;
}
}
if (globalIndex >= 0)
{
kinect = KinectSensor.KinectSensors[globalIndex];
kinectID = (int)kinectNumber;
}
else
{
throw new System.IndexOutOfRangeException("Specified Kinect sensor does not exist");
}
if (isGUILaunched)
{
isGUI = true;
LaunchKinect();
}
else
{
launchKinectDelegate kinectDelegate = LaunchKinect;
IAsyncResult result = kinectDelegate.BeginInvoke(null, null);
kinectDelegate.EndInvoke(result); //Even though this is blocking, the events should be on a different thread now.
}
}
else
{
//TODO: Open the default Kinect?
throw new NullReferenceException("To create a KinectCore object, the KinectNumber must be valid.");
}
}
public void UpdateGUI(KinectBase.MasterSettings settings)
{
if (kinectID.HasValue)
{
masterSettings = settings;
dynamic tempSettings = masterSettings.kinectOptionsList[kinectID.Value];
kinectSettings = (NetworkKinectSettings)tempSettings;
//Shutdown the server, if it is running
bool wasRunning = false;
if (kinectCore.isKinectRunning)
{
kinectCore.ShutdownSensor();
wasRunning = true;
}
//Update the skeleton server and joint mappings
serverNameTextBox.Text = kinectSettings.serverName;
jointMappingDataGrid.ItemsSource = kinectSettings.jointMappings;
jointMappingDataGrid.Items.Refresh();
//Update the physical position
xPosTextBox.Text = kinectSettings.kinectPosition.X.ToString();
yPosTextBox.Text = kinectSettings.kinectPosition.Y.ToString();
zPosTextBox.Text = kinectSettings.kinectPosition.Z.ToString();
yawTextBox.Text = kinectSettings.kinectYaw.ToString();
pitchTextBox.Text = kinectSettings.kinectPitch.ToString();
rollTextBox.Text = kinectSettings.kinectRoll.ToString();
//Update the hand grab data
lhServerTextBox.Text = kinectSettings.lhServerName;
lhChannelTextBox.Text = kinectSettings.lhChannel.ToString();
rhServerTextBox.Text = kinectSettings.rhServerName;
rhChannelTextBox.Text = kinectSettings.rhChannel.ToString();
//Restart the server if it was running to begin with
if (wasRunning)
{
kinectCore.StartNetworkKinect();
}
}
}
//TODO: Subscribe this to the skeletonChanged event and update the GUI with a preview of the skeleton positions
public NetworkKinectSettingsControl(int kinectNumber, ref KinectBase.MasterSettings settings, KinectBase.IKinectCore kinect)
{
if (settings != null)
{
if (settings.kinectOptionsList[kinectNumber].version == KinectBase.KinectVersion.NetworkKinect)
{
masterSettings = settings;
dynamic tempSettings = settings.kinectOptionsList[kinectNumber];
kinectSettings = (NetworkKinectSettings)tempSettings;
kinectID = kinectNumber;
kinectCore = (NetworkKinectCore)kinect;
uniqueKinectID = kinect.uniqueKinectID;
InitializeComponent();
this.HorizontalAlignment = System.Windows.HorizontalAlignment.Stretch;
this.VerticalAlignment = System.Windows.VerticalAlignment.Stretch;
//Set the binding on the joint mapping data grid
jointMappingDataGrid.ItemsSource = kinectSettings.jointMappings;
jointMappingDataGrid.Items.Refresh();
//Subscribe to the skeletonChanged event
kinectCore.SkeletonChanged += kinectCore_SkeletonChanged;
guiUpdateTimer = new Timer();
guiUpdateTimer.Interval = 1000;
guiUpdateTimer.AutoReset = true;
guiUpdateTimer.Elapsed += guiUpdateTimer_Elapsed;
guiUpdateTimer.Start();
}
else
{
throw new ArgumentException("The provided KinectID is not for a network Kinect sensor.");
}
}
else
{
throw new ArgumentNullException("settings");
}
}
public KinectV1SettingsControl(int kinectNumber, ref KinectBase.MasterSettings settings, KinectBase.IKinectCore kinect)
{
if (settings != null)
{
if (settings.kinectOptionsList[kinectNumber].version == KinectBase.KinectVersion.KinectV1)
{
masterSettings = settings;
dynamic tempSettings = settings.kinectOptionsList[kinectNumber];
kinectSettings = (KinectV1Settings)tempSettings;
kinectID = kinectNumber;
kinectCore = (KinectCoreV1)kinect;
kinectCore.AccelerationChanged += kinectCore_AccelerationChanged;
uniqueKinectID = kinect.uniqueKinectID;
InitializeComponent();
this.HorizontalAlignment = System.Windows.HorizontalAlignment.Stretch;
this.VerticalAlignment = System.Windows.VerticalAlignment.Stretch;
//This moved to the wrapper
//Grid.SetColumn(this, 2);
//this.Visibility = System.Windows.Visibility.Collapsed;
if (kinectCore.isXbox360Kinect != null && (bool)kinectCore.isXbox360Kinect)
{
DisableK4WOnlyOptions();
}
}
else
{
throw new ArgumentException("The provided KinectID is not for a Kinect v1 sensor.");
}
}
else
{
throw new ArgumentNullException("settings");
}
}
public KinectV1SettingsControl(int kinectNumber, ref KinectBase.MasterSettings settings, KinectBase.IKinectCore kinect)
{
if (settings != null)
{
if (settings.kinectOptionsList[kinectNumber].version == KinectBase.KinectVersion.KinectV1)
{
masterSettings = settings;
dynamic tempSettings = settings.kinectOptionsList[kinectNumber];
kinectSettings = (KinectV1Settings)tempSettings;
kinectID = kinectNumber;
kinectCore = (KinectCoreV1)kinect;
kinectCore.AccelerationChanged += kinectCore_AccelerationChanged;
uniqueKinectID = kinect.uniqueKinectID;
InitializeComponent();
this.HorizontalAlignment = System.Windows.HorizontalAlignment.Stretch;
this.VerticalAlignment = System.Windows.VerticalAlignment.Stretch;
//This moved to the wrapper
//Grid.SetColumn(this, 2);
//this.Visibility = System.Windows.Visibility.Collapsed;
if (kinectCore.isXbox360Kinect != null && (bool)kinectCore.isXbox360Kinect)
{
DisableK4WOnlyOptions();
}
}
else
{
throw new ArgumentException("The provided KinectID is not for a Kinect v1 sensor.");
}
}
else
{
throw new ArgumentNullException("settings");
}
}
public void UpdateGUI(KinectBase.MasterSettings newSettings)
{
if (kinectID.HasValue)
{
masterSettings = newSettings;
dynamic tempSettings = masterSettings.kinectOptionsList[kinectID.Value];
kinectSettings = (KinectV1Settings)tempSettings;
//Update the color options
switch (kinectSettings.colorImageMode)
{
case KinectBase.ColorImageFormat.RgbResolution640x480Fps30:
{
colorResComboBox.SelectedIndex = 0;
break;
}
case KinectBase.ColorImageFormat.RgbResolution1280x960Fps12:
{
colorResComboBox.SelectedIndex = 1;
break;
}
case KinectBase.ColorImageFormat.InfraredResolution640x480Fps30:
{
colorResComboBox.SelectedIndex = 2;
break;
}
default:
{
//If we don't know how to handle a mode, lets just shut it off
colorResComboBox.SelectedIndex = 3;
break;
}
}
//Update the skeleton settings
UseSkeletonCheckBox.IsChecked = kinectSettings.mergeSkeletons;
UseRawSkeletonCheckBox.IsChecked = kinectSettings.sendRawSkeletons;
XFormRawSkeletonCheckBox.IsChecked = kinectSettings.transformRawSkeletons;
SeatedModeCheckBox.IsChecked = kinectSettings.rawSkeletonSettings.isSeatedMode;
//Update the depth settings
irOnCheckBox.IsChecked = kinectSettings.irON;
nearModeCheckBox.IsChecked = kinectSettings.isNearMode;
switch (kinectSettings.depthImageMode)
{
case KinectBase.DepthImageFormat.Resolution320x240Fps30:
{
depthResComboBox.SelectedIndex = 1;
break;
}
case KinectBase.DepthImageFormat.Resolution80x60Fps30:
{
depthResComboBox.SelectedIndex = 2;
break;
}
default:
{
depthResComboBox.SelectedIndex = 0;
break;
}
}
//Update the audio settings
SendSoundAngleCheckBox.IsChecked = kinectSettings.sendAudioAngle;
audioServerTextBox.Text = kinectSettings.audioAngleServerName;
audioChannelTextBox.Text = kinectSettings.audioAngleChannel.ToString();
audioBeamSkeletonNumberTextBox.Text = kinectSettings.audioBeamTrackSkeletonNumber.ToString();
switch (kinectSettings.audioTrackMode)
{
//Note: the enabled/disabled controls don't need to be set manually here because the selected index changed event will still be hit
case KinectBase.AudioTrackingMode.Feedback:
{
audioBeamModeComboBox.SelectedIndex = 1;
break;
}
case KinectBase.AudioTrackingMode.MergedSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 2;
break;
}
case KinectBase.AudioTrackingMode.LocalSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 3;
break;
}
default:
{
audioBeamModeComboBox.SelectedIndex = 0;
break;
}
}
//Update the acceleration options
SendAccelCheckBox.IsChecked = kinectSettings.sendAcceleration;
accelServerTextBox.Text = kinectSettings.accelerationServerName;
accelXChannelTextBox.Text = kinectSettings.accelXChannel.ToString();
accelYChannelTextBox.Text = kinectSettings.accelYChannel.ToString();
accelZChannelTextBox.Text = kinectSettings.accelZChannel.ToString();
//Update the position options
xPosTextBox.Text = kinectSettings.kinectPosition.X.ToString();
yPosTextBox.Text = kinectSettings.kinectPosition.Y.ToString();
zPosTextBox.Text = kinectSettings.kinectPosition.Z.ToString();
yawPosTextBox.Text = kinectSettings.kinectYaw.ToString();
}
}
internal static void RunServerInConsole(bool isVerbose, bool autoStart, string startupFile, AvaliableDLLs dlls)
{
Console.Clear();
Console.WriteLine("Welcome to the Kinect With VR (KVR) Server!");
Console.WriteLine("Press the \"E\" key at any time to exit.");
//Notify the user if DLLs are missing
if (!dlls.HasKinectV1)
{
Console.WriteLine("Warning: Kinect v1 support is unavaliable due to missing DLLs");
}
if (!dlls.HasKinectV2)
{
Console.WriteLine("Warning: Kinect v2 support is unavaliable due to missing DLLs");
}
if (!dlls.HasNetworkedKinect)
{
Console.WriteLine("Warning: Networked Kinect support is unavaliable due to missing DLLs");
}
KinectBase.MasterSettings settings = new KinectBase.MasterSettings();
try
{
settings = HelperMethods.LoadSettings(startupFile);
}
catch
{
HelperMethods.WriteToLog("Cannot open settings file!");
}
ServerCore server = new ServerCore(isVerbose, settings);
for (int i = 0; i < server.serverMasterOptions.kinectOptionsList.Count; i++) //Launch the Kinects
{
if (server.serverMasterOptions.kinectOptionsList[i].version == KinectBase.KinectVersion.KinectV1)
{
if (dlls.HasKinectV1)
{
//server.kinects.Add(new KinectV1Core.KinectCoreV1(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID));
server.kinects.Add(new KinectV1Wrapper.Core(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID));
}
else
{
Console.WriteLine("Cannot load Kinect v1 with ID: {0} due to missing DLLs.", server.serverMasterOptions.kinectOptionsList[i].kinectID);
}
}
else if (server.serverMasterOptions.kinectOptionsList[i].version == KinectBase.KinectVersion.KinectV2)
{
if (dlls.HasKinectV2)
{
server.kinects.Add(new KinectV2Wrapper.Core(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID));
}
else
{
Console.WriteLine("Cannot load Kinect v2 with ID: {0} due to missing DLLs.", server.serverMasterOptions.kinectOptionsList[i].kinectID);
}
}
else if (server.serverMasterOptions.kinectOptionsList[i].version == KinectBase.KinectVersion.NetworkKinect)
{
if (dlls.HasNetworkedKinect)
{
server.kinects.Add(new NetworkKinectWrapper.Core(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID, server.serverMasterOptions.kinectOptionsList[i].uniqueKinectID));
}
else
{
Console.WriteLine("Cannot load network Kinect with ID: {0} due to missing DLLs.", server.serverMasterOptions.kinectOptionsList[i].kinectID);
}
}
else
{
Console.WriteLine("Kinect number {0} was of an unknown version and could not be opened.", i);
}
}
server.launchServer(); //This will still try to launch with default settings even if the settings load fails
bool running = true;
while (running)
{
Thread.Sleep(100);
if (Console.KeyAvailable)
{
ConsoleKeyInfo key = Console.ReadKey(false);
if (key.Key == ConsoleKey.E || (key.Key == ConsoleKey.C && key.Modifiers == ConsoleModifiers.Control))
{
running = false;
}
}
}
Console.WriteLine(); //Write a blank so the next statement has its own line
Console.WriteLine("Shutting down the server. Please wait...");
server.stopServer();
NativeInterop.FreeConsole();
}
public void UpdateGUI(KinectBase.MasterSettings newSettings)
{
if (kinectID.HasValue)
{
masterSettings = newSettings;
dynamic tempSettings = newSettings.kinectOptionsList[kinectID.Value];
kinectSettings = (KinectV2Settings)tempSettings;
//Update the color options
useColorRadioButton.IsChecked = kinectSettings.useColorPreview;
useIRRadionButton.IsChecked = kinectSettings.useIRPreview;
//Update the depth options
ScaleDepthCheckBox.IsChecked = kinectSettings.scaleDepthToReliableRange;
ColorizeDepthCheckBox.IsChecked = kinectSettings.colorizeDepth;
//Update skeleton options
UseSkeletonCheckBox.IsChecked = kinectSettings.mergeSkeletons;
UseRawSkeletonCheckBox.IsChecked = kinectSettings.sendRawSkeletons;
XFormRawSkeletonCheckBox.IsChecked = kinectSettings.transformRawSkeletons;
//Update audio settings
SendSoundAngleCheckBox.IsChecked = kinectSettings.sendAudioAngle;
audioServerTextBox.Text = kinectSettings.audioAngleServerName;
audioChannelTextBox.Text = kinectSettings.audioAngleChannel.ToString();
audioBeamSkeletonNumberTextBox.Text = kinectSettings.audioBeamTrackSkeletonNumber.ToString();
switch (kinectSettings.audioTrackMode)
{
//Note: the enabled/disabled controls don't need to be set manually here because the selected index changed event will still be hit
case KinectBase.AudioTrackingMode.Feedback:
{
audioBeamModeComboBox.SelectedIndex = 1;
break;
}
case KinectBase.AudioTrackingMode.MergedSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 2;
break;
}
case KinectBase.AudioTrackingMode.LocalSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 3;
break;
}
default:
{
audioBeamModeComboBox.SelectedIndex = 0;
break;
}
}
//Update the position options
xPosTextBox.Text = kinectSettings.kinectPosition.X.ToString();
yPosTextBox.Text = kinectSettings.kinectPosition.Y.ToString();
zPosTextBox.Text = kinectSettings.kinectPosition.Z.ToString();
yawPosTextBox.Text = kinectSettings.kinectYaw.ToString();
pitchPosTextBox.Text = kinectSettings.kinectPitch.ToString();
rollPosTextBox.Text = kinectSettings.kinectRoll.ToString();
}
}
public void UpdateGUI(KinectBase.MasterSettings newSettings)
{
if (kinectID.HasValue)
{
masterSettings = newSettings;
dynamic tempSettings = newSettings.kinectOptionsList[kinectID.Value];
kinectSettings = (KinectV2Settings)tempSettings;
//Update the color options
useColorRadioButton.IsChecked = kinectSettings.useColorPreview;
useIRRadionButton.IsChecked = kinectSettings.useIRPreview;
//Update the depth options
ScaleDepthCheckBox.IsChecked = kinectSettings.scaleDepthToReliableRange;
ColorizeDepthCheckBox.IsChecked = kinectSettings.colorizeDepth;
//Update skeleton options
UseSkeletonCheckBox.IsChecked = kinectSettings.mergeSkeletons;
UseRawSkeletonCheckBox.IsChecked = kinectSettings.sendRawSkeletons;
XFormRawSkeletonCheckBox.IsChecked = kinectSettings.transformRawSkeletons;
//Update audio settings
SendSoundAngleCheckBox.IsChecked = kinectSettings.sendAudioAngle;
audioServerTextBox.Text = kinectSettings.audioAngleServerName;
audioChannelTextBox.Text = kinectSettings.audioAngleChannel.ToString();
audioBeamSkeletonNumberTextBox.Text = kinectSettings.audioBeamTrackSkeletonNumber.ToString();
switch (kinectSettings.audioTrackMode)
{
//Note: the enabled/disabled controls don't need to be set manually here because the selected index changed event will still be hit
case KinectBase.AudioTrackingMode.Feedback:
{
audioBeamModeComboBox.SelectedIndex = 1;
break;
}
case KinectBase.AudioTrackingMode.MergedSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 2;
break;
}
case KinectBase.AudioTrackingMode.LocalSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 3;
break;
}
default:
{
audioBeamModeComboBox.SelectedIndex = 0;
break;
}
}
//Update the position options
xPosTextBox.Text = kinectSettings.kinectPosition.X.ToString();
yPosTextBox.Text = kinectSettings.kinectPosition.Y.ToString();
zPosTextBox.Text = kinectSettings.kinectPosition.Z.ToString();
yawPosTextBox.Text = kinectSettings.kinectYaw.ToString();
pitchPosTextBox.Text = kinectSettings.kinectPitch.ToString();
rollPosTextBox.Text = kinectSettings.kinectRoll.ToString();
}
}
public void UpdateGUI(KinectBase.MasterSettings newSettings)
{
if (kinectID.HasValue)
{
masterSettings = newSettings;
dynamic tempSettings = masterSettings.kinectOptionsList[kinectID.Value];
kinectSettings = (KinectV1Settings)tempSettings;
//Update the color options
switch (kinectSettings.colorImageMode)
{
case KinectBase.ColorImageFormat.RgbResolution640x480Fps30:
{
colorResComboBox.SelectedIndex = 0;
break;
}
case KinectBase.ColorImageFormat.RgbResolution1280x960Fps12:
{
colorResComboBox.SelectedIndex = 1;
break;
}
case KinectBase.ColorImageFormat.InfraredResolution640x480Fps30:
{
colorResComboBox.SelectedIndex = 2;
break;
}
default:
{
//If we don't know how to handle a mode, lets just shut it off
colorResComboBox.SelectedIndex = 3;
break;
}
}
//Update the skeleton settings
UseSkeletonCheckBox.IsChecked = kinectSettings.mergeSkeletons;
UseRawSkeletonCheckBox.IsChecked = kinectSettings.sendRawSkeletons;
XFormRawSkeletonCheckBox.IsChecked = kinectSettings.transformRawSkeletons;
SeatedModeCheckBox.IsChecked = kinectSettings.rawSkeletonSettings.isSeatedMode;
//Update the depth settings
irOnCheckBox.IsChecked = kinectSettings.irON;
nearModeCheckBox.IsChecked = kinectSettings.isNearMode;
switch (kinectSettings.depthImageMode)
{
case KinectBase.DepthImageFormat.Resolution320x240Fps30:
{
depthResComboBox.SelectedIndex = 1;
break;
}
case KinectBase.DepthImageFormat.Resolution80x60Fps30:
{
depthResComboBox.SelectedIndex = 2;
break;
}
default:
{
depthResComboBox.SelectedIndex = 0;
break;
}
}
//Update the audio settings
SendSoundAngleCheckBox.IsChecked = kinectSettings.sendAudioAngle;
audioServerTextBox.Text = kinectSettings.audioAngleServerName;
audioChannelTextBox.Text = kinectSettings.audioAngleChannel.ToString();
audioBeamSkeletonNumberTextBox.Text = kinectSettings.audioBeamTrackSkeletonNumber.ToString();
switch (kinectSettings.audioTrackMode)
{
//Note: the enabled/disabled controls don't need to be set manually here because the selected index changed event will still be hit
case KinectBase.AudioTrackingMode.Feedback:
{
audioBeamModeComboBox.SelectedIndex = 1;
break;
}
case KinectBase.AudioTrackingMode.MergedSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 2;
break;
}
case KinectBase.AudioTrackingMode.LocalSkeletonX:
{
audioBeamModeComboBox.SelectedIndex = 3;
break;
}
default:
{
audioBeamModeComboBox.SelectedIndex = 0;
break;
}
}
//Update the acceleration options
SendAccelCheckBox.IsChecked = kinectSettings.sendAcceleration;
accelServerTextBox.Text = kinectSettings.accelerationServerName;
accelXChannelTextBox.Text = kinectSettings.accelXChannel.ToString();
accelYChannelTextBox.Text = kinectSettings.accelYChannel.ToString();
accelZChannelTextBox.Text = kinectSettings.accelZChannel.ToString();
//Update the position options
xPosTextBox.Text = kinectSettings.kinectPosition.X.ToString();
yPosTextBox.Text = kinectSettings.kinectPosition.Y.ToString();
zPosTextBox.Text = kinectSettings.kinectPosition.Z.ToString();
yawPosTextBox.Text = kinectSettings.kinectYaw.ToString();
}
}
internal static void RunServerInConsole(bool isVerbose, bool autoStart, string startupFile, AvaliableDLLs dlls)
{
Console.Clear();
Console.WriteLine("Welcome to the Kinect With VR (KVR) Server!");
Console.WriteLine("Press the \"E\" key at any time to exit.");
//Notify the user if DLLs are missing
if (!dlls.HasKinectV1)
{
Console.WriteLine("Warning: Kinect v1 support is unavaliable due to missing DLLs");
}
if (!dlls.HasKinectV2)
{
Console.WriteLine("Warning: Kinect v2 support is unavaliable due to missing DLLs");
}
if (!dlls.HasNetworkedKinect)
{
Console.WriteLine("Warning: Networked Kinect support is unavaliable due to missing DLLs");
}
KinectBase.MasterSettings settings = new KinectBase.MasterSettings();
try
{
settings = HelperMethods.LoadSettings(startupFile);
}
catch
{
HelperMethods.WriteToLog("Cannot open settings file!");
}
ServerCore server = new ServerCore(isVerbose, settings);
for (int i = 0; i < server.serverMasterOptions.kinectOptionsList.Count; i++) //Launch the Kinects
{
if (server.serverMasterOptions.kinectOptionsList[i].version == KinectBase.KinectVersion.KinectV1)
{
if (dlls.HasKinectV1)
{
//server.kinects.Add(new KinectV1Core.KinectCoreV1(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID));
server.kinects.Add(new KinectV1Wrapper.Core(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID));
}
else
{
Console.WriteLine("Cannot load Kinect v1 with ID: {0} due to missing DLLs.", server.serverMasterOptions.kinectOptionsList[i].kinectID);
}
}
else if (server.serverMasterOptions.kinectOptionsList[i].version == KinectBase.KinectVersion.KinectV2)
{
if (dlls.HasKinectV2)
{
server.kinects.Add(new KinectV2Wrapper.Core(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID));
}
else
{
Console.WriteLine("Cannot load Kinect v2 with ID: {0} due to missing DLLs.", server.serverMasterOptions.kinectOptionsList[i].kinectID);
}
}
else if (server.serverMasterOptions.kinectOptionsList[i].version == KinectBase.KinectVersion.NetworkKinect)
{
if (dlls.HasNetworkedKinect)
{
server.kinects.Add(new NetworkKinectWrapper.Core(ref server.serverMasterOptions, false, server.serverMasterOptions.kinectOptionsList[i].kinectID, server.serverMasterOptions.kinectOptionsList[i].uniqueKinectID));
}
else
{
Console.WriteLine("Cannot load network Kinect with ID: {0} due to missing DLLs.", server.serverMasterOptions.kinectOptionsList[i].kinectID);
}
}
else
{
Console.WriteLine("Kinect number {0} was of an unknown version and could not be opened.", i);
}
}
server.launchServer(); //This will still try to launch with default settings even if the settings load fails
bool running = true;
while (running)
{
Thread.Sleep(100);
if (Console.KeyAvailable)
{
ConsoleKeyInfo key = Console.ReadKey(false);
if (key.Key == ConsoleKey.E || (key.Key == ConsoleKey.C && key.Modifiers == ConsoleModifiers.Control))
{
running = false;
}
}
}
Console.WriteLine(); //Write a blank so the next statement has its own line
Console.WriteLine("Shutting down the server. Please wait...");
server.stopServer();
NativeInterop.FreeConsole();
}
public void UpdateGUI(KinectBase.MasterSettings settings)
{
if (kinectID.HasValue)
{
masterSettings = settings;
dynamic tempSettings = masterSettings.kinectOptionsList[kinectID.Value];
kinectSettings = (NetworkKinectSettings)tempSettings;
//Shutdown the server, if it is running
bool wasRunning = false;
if (kinectCore.isKinectRunning)
{
kinectCore.ShutdownSensor();
wasRunning = true;
}
//Update the skeleton server and joint mappings
serverNameTextBox.Text = kinectSettings.serverName;
jointMappingDataGrid.ItemsSource = kinectSettings.jointMappings;
jointMappingDataGrid.Items.Refresh();
//Update the physical position
xPosTextBox.Text = kinectSettings.kinectPosition.X.ToString();
yPosTextBox.Text = kinectSettings.kinectPosition.Y.ToString();
zPosTextBox.Text = kinectSettings.kinectPosition.Z.ToString();
yawTextBox.Text = kinectSettings.kinectYaw.ToString();
pitchTextBox.Text = kinectSettings.kinectPitch.ToString();
rollTextBox.Text = kinectSettings.kinectRoll.ToString();
//Update the hand grab data
lhServerTextBox.Text = kinectSettings.lhServerName;
lhChannelTextBox.Text = kinectSettings.lhChannel.ToString();
rhServerTextBox.Text = kinectSettings.rhServerName;
rhChannelTextBox.Text = kinectSettings.rhChannel.ToString();
//Restart the server if it was running to begin with
if (wasRunning)
{
kinectCore.StartNetworkKinect();
}
}
}