public static void Main()
{
int LCD_RS = 12;
int LCD_E = 16;
int LCD_DATA4 = 6;
int LCD_DATA5 = 13;
int LCD_DATA6 = 19;
int LCD_DATA7 = 26;
Thread updateThread = null;
Console.WriteLine("Debug Hook v3");
Console.ReadKey();
Console.WriteLine("Initialisiere LCD");
LCD LCD = new LCD(LCD_RS, LCD_E, LCD_DATA4, LCD_DATA5, LCD_DATA6, LCD_DATA7);
LCD.InitializeLCD();
/*
* Console.WriteLine("Teste EmguCV");
* String win1 = "Test Window"; //The name of the window
* CvInvoke.NamedWindow(win1); //Create the window using the specific name
*
* Mat img = new Mat(200, 400, DepthType.Cv8U, 3); //Create a 3 channel image of 400x200
* img.SetTo(new Bgr(255, 0, 0).MCvScalar); // set it to Blue color
*
* //Draw "Hello, world." on the image using the specific font
* CvInvoke.PutText(
* img,
* "Hello Bibi",
* new System.Drawing.Point(10, 80),
* FontFace.HersheyComplex,
* 1.0,
* new Bgr(0, 0, 0).MCvScalar);
*
* CvInvoke.Imshow(win1, img); //Show the image
* CvInvoke.DestroyWindow(win1); //Destroy the window if key is pressed
* Console.WriteLine("EmguCV Test abgeschlossen.");*/
Console.WriteLine("Initialisiere Kinect.");
Kinect kinect = new Kinect(0);
Init(kinect);
Console.WriteLine("Kinect initialisiert.");
Console.WriteLine("Soll ein Servotest durchgeführt werden? [y/n]");
if (Console.ReadKey().KeyChar.Equals("y"))
{
Console.WriteLine("Servotest wird ausgeführt.");
ServoTest(kinect);
}
else
{
Console.WriteLine("Servotest wird übersprungen.");
}
Console.WriteLine("In welchem Modus soll die Tiefenkamera arbeiten?");
for (int i = 0; i < kinect.DepthCamera.Modes.Length; i++)
{
Console.WriteLine(i + " - " + kinect.DepthCamera.Modes[i]);
}
var input_tiefe = Convert.ToInt32(Console.ReadLine());
kinect.DepthCamera.Mode = kinect.DepthCamera.Modes[input_tiefe];
Console.WriteLine("Tiefenkamera arbeitet im Modus " + kinect.DepthCamera.Mode);
Console.WriteLine("In welchem Modus soll die Farbkamera arbeiten?");
for (int i = 0; i < kinect.VideoCamera.Modes.Length; i++)
{
Console.WriteLine(i + " - " + kinect.VideoCamera.Modes[i]);
}
var input_rgb = Convert.ToInt32(Console.ReadLine());
kinect.VideoCamera.Mode = kinect.VideoCamera.Modes[input_rgb];
Console.WriteLine("Farbkamera arbeitet im Modus " + kinect.VideoCamera.Mode);
Console.WriteLine("Erstelle Thread zum Updaten des Kinects.");
updateThread = new Thread(delegate()
{
try
{
kinect.UpdateStatus();
Kinect.ProcessEvents();
}
catch (ThreadInterruptedException e)
{
return;
}
catch (Exception ex)
{
}
});
updateThread.Start();
while (!(Console.KeyAvailable && Console.ReadKey(true).Key == ConsoleKey.Escape))
{
Console.WriteLine("Tiefenkamera FPS: " + kinect.DepthCamera.Mode.FrameRate);
Console.WriteLine("Farbkamera FPS: " + kinect.VideoCamera.Mode.FrameRate);
LCD.SendMessage("X=" + Math.Round(kinect.Accelerometer.X, 2).ToString() + " Y=" + Math.Round(kinect.Accelerometer.Y, 2).ToString(), 1);
LCD.SendMessage("Z=" + Math.Round(kinect.Accelerometer.Z, 2).ToString(), 2);
Thread.Sleep(250);
kinect.UpdateStatus();
}
Console.WriteLine("Programm beendet.");
Console.ReadKey();
LCD.Clear();
LCD = null;
kinect.Close();
Kinect.Shutdown();
kinect = null;
}
