/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this Motor is part of
/// </param>
internal Motor(Kinect parent)
{
this.parentDevice = parent;
// Set tilt to 0 to start
this.Tilt = 0;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this Motor is part of
/// </param>
internal Motor(Kinect parent)
{
this.parentDevice = parent;
// Set tilt to 0 to start
this.Tilt = 0;
}
/// <summary>
/// Registers a device and its native pointer
/// </summary>
/// <param name="pointer">
/// A <see cref="IntPtr"/>
/// </param>
/// <param name="device">
/// A <see cref="Kinect"/>
/// </param>
public static void RegisterDevice(IntPtr pointer, Kinect device)
{
if (KinectNative.deviceMap.ContainsKey(pointer))
{
KinectNative.deviceMap.Remove(pointer);
}
KinectNative.deviceMap.Add(pointer, device);
}
/// <summary>
/// Handles image data from teh video camera
/// </summary>
/// <param name="device">
/// A <see cref="IntPtr"/>
/// </param>
/// <param name="imageData">
/// A <see cref="IntPtr"/>
/// </param>
/// <param name="timestamp">
/// A <see cref="UInt32"/>
/// </param>
private static void HandleDataReceived(IntPtr device, IntPtr imageData, UInt32 timestamp)
{
// Figure out which device actually got this frame
Kinect realDevice = KinectNative.GetDevice(device);
// Calculate datetime from timestamp
DateTime dateTime = new System.DateTime(1970, 1, 1, 0, 0, 0, 0).AddSeconds(timestamp);
// Send out event
realDevice.VideoCamera.DataReceived(realDevice, new DataReceivedEventArgs(dateTime, realDevice.VideoCamera.nextFrameImage));
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this depth camera is part of
/// </param>
internal DepthCamera(Kinect parent) : base(parent)
{
// Update lsit of available modes for this camera
this.UpdateDepthModes();
// Set the mode to the first available mode
this.Mode = this.Modes[0];
// Setup callbacks
KinectNative.freenect_set_depth_callback(parent.devicePointer, this.DataCallback);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this depth camera is part of
/// </param>
internal DepthCamera(Kinect parent) : base(parent)
{
// Update lsit of available modes for this camera
this.UpdateDepthModes();
// Set the mode to the first available mode
this.Mode = this.Modes[0];
// Setup callbacks
KinectNative.freenect_set_depth_callback(parent.devicePointer, this.DataCallback);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this video camera is part of
/// </param>
internal VideoCamera(Kinect parent) : base(parent)
{
// Update modes available for this video camera
this.UpdateVideoModes();
// Use the first mode by default
this.Mode = this.Modes[0];
// Setup callbacks
KinectNative.freenect_set_video_callback(parent.devicePointer, this.DataCallback);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this video camera is part of
/// </param>
internal VideoCamera(Kinect parent) : base(parent)
{
// Update modes available for this video camera
this.UpdateVideoModes();
// Use the first mode by default
this.Mode = this.Modes[0];
// Setup callbacks
KinectNative.freenect_set_video_callback(parent.devicePointer, this.DataCallback);
}
/// <summary>
/// Base camera constructor
/// </summary>
/// <param name="parent">
/// A <see cref="Kinect"/>
/// </param>
internal BaseCamera(Kinect parent)
{
// Save parent device
this.parentDevice = parent;
// Not running by default
this.IsRunning = false;
// Create callback
this.DataCallback = new FreenectCameraDataCallback(this.HandleDataReceived);
}
/// <summary>
/// Driver
/// </summary>
/// <param name="args">
/// A <see cref="System.String[]"/>
/// </param>
public static void Main (string[] args)
{
Console.WriteLine("----------------------------------------");
Console.WriteLine("| Kinect.NET Wrapper Test |");
Console.WriteLine("----------------------------------------\n");
// Try to get number of devices connected
Console.WriteLine(" - Device Count: " + Kinect.DeviceCount);
// Do more tests if there are devices present
if(Kinect.DeviceCount > 0)
{
// Try to open a device
Kinect k = new Kinect(0);
Console.Write(" - Opening device 0...");
k.Open();
Console.WriteLine("Done.");
// Try to set LED colors
Console.WriteLine(" - LED Testing");
string[] colors = Enum.GetNames(typeof(LEDColor));
foreach(string color in colors)
{
var c = (LEDColor)Enum.Parse(typeof(LEDColor), color);
Console.WriteLine("\t - Setting LED to Color: " + color);
k.LED.Color = c;
Thread.Sleep(3000);
}
// Try to control motor
Console.WriteLine(" - Motor Testing");
Console.WriteLine("\t - Setting tilt to 1 (should face all the way up)");
k.Motor.Tilt = 1;
Thread.Sleep(3000);
Console.WriteLine("\t - Setting tilt to -1 (should face all the way down)");
k.Motor.Tilt = -1;
Thread.Sleep(3000);
Console.WriteLine("\t - Setting tilt to 0 (should be back level)");
k.Motor.Tilt = 0;
Thread.Sleep(3000);
// Close device
Console.Write(" - Closing device 0...");
k.Close();
Console.WriteLine("Done.");
}
// Shutdown the Kinect context
Kinect.Shutdown();
// Pause...
Console.ReadKey(true);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this depth camera is part of
/// </param>
internal DepthCamera(Kinect parent)
{
// Save parent device
this.parentDevice = parent;
// Not running by default
this.IsRunning = false;
// Set format to 11 bit by default
this.DataFormat = DataFormatOption.Format11Bit;
// Setup callbacks
KinectNative.freenect_set_depth_callback(parent.devicePointer, DepthCallback);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this video camera is part of
/// </param>
internal VideoCamera(Kinect parent)
{
// Save parent device
this.parentDevice = parent;
// Not running by default
this.IsRunning = false;
// Set format to RGB by default
this.DataFormat = DataFormatOption.RGB;
// Setup callbacks
KinectNative.freenect_set_video_callback(parent.devicePointer, VideoCallback);
}
public MainWindow()
{
this.worker = new BackgroundWorker();
this.worker.DoWork += new DoWorkEventHandler(worker_DoWork);
string fileName = String.Format("{0}_{1}_{2}_{3}_{4}", DateTime.Now.Year, DateTime.Now.Month, DateTime.Now.Day, DateTime.Now.Hour,DateTime.Now.Minute);
this.kinectWriter = new KinectWriter(@"C:\Temp\" + fileName + ".kinect");
this.positionWriter = new PositiontWriter(@"C:\Temp\" + fileName + ".location");
this.positionSensor = new TcpGpsSensor("127.0.0.1", 4352);
this.positionSensor.PositionReceived += new EventHandler<PositionEventArgs>(positionSensor_PositionReceived);
InitializeComponent();
//startup logic from C# wrapper example
if (Kinect.DeviceCount > 0)
{
kinect = new Kinect(0);
kinect.Open();
kinect.VideoCamera.DataBuffer = IntPtr.Zero;
kinect.DepthCamera.DataBuffer = IntPtr.Zero;
kinect.VideoCamera.DataReceived += VideoCamera_DataReceived;
kinect.DepthCamera.DataReceived += DepthCamera_DataReceived;
kinect.VideoCamera.Start();
kinect.DepthCamera.Start();
worker.RunWorkerAsync();
this.positionSensor.Connect();
this.positionSensor.Start();
ThreadPool.QueueUserWorkItem(
delegate
{
while (!_closed)
{
kinect.UpdateStatus();
Kinect.ProcessEvents();
Thread.Sleep(30);
}
});
}
}
/// <summary>
/// Logging callback.
/// </summary>
/// <param name="device">
/// A <see cref="IntPtr"/>
/// </param>
/// <param name="logLevel">
/// A <see cref="Kinect.LogLevelOptions"/>
/// </param>
/// <param name="message">
/// A <see cref="System.String"/>
/// </param>
internal static void LogCallback(IntPtr device, LoggingLevel logLevel, string message)
{
Kinect realDevice = KinectNative.GetDevice(device);
Kinect.Log(null, new LogEventArgs(realDevice, logLevel, message));
}
public LogEventArgs(Kinect device, LoggingLevel logLevel, string message)
{
this.Device = device;
this.LogLevel = logLevel;
this.Message = message;
}
/// <summary>
/// Base camera constructor
/// </summary>
/// <param name="parent">
/// A <see cref="Kinect"/>
/// </param>
internal BaseCamera(Kinect parent)
{
// Save parent device
this.parentDevice = parent;
// Not running by default
this.IsRunning = false;
// Create callback
this.DataCallback = new FreenectCameraDataCallback(this.HandleDataReceived);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this video camera is part of
/// </param>
internal VideoCamera(Kinect parent)
{
// Save parent device
this.parentDevice = parent;
// Not running by default
this.IsRunning = false;
// Set format to RGB by default
this.DataFormat = DataFormatOption.RGB;
// Setup callbacks
KinectNative.freenect_set_video_callback(parent.devicePointer, VideoCallback);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this LED is part of
/// </param>
internal LED(Kinect parent)
{
this.parentDevice = parent;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this LED is part of
/// </param>
internal LED(Kinect parent)
{
this.parentDevice = parent;
}
public LogEventArgs(Kinect device, LoggingLevel logLevel, string message)
{
this.Device = device;
this.LogLevel = logLevel;
this.Message = message;
}
private void Disconnect()
{
// Stop the update thread
this.updateStatusThread.Abort();
while(this.updateStatusThread.IsAlive)
{
// wait...
Application.DoEvents();
Thread.Sleep(1000);
Console.WriteLine("waiting for disconnect...");
}
this.updateStatusThread = null;
// Disable update timer first
this.infoUpdateTimer.Enabled = false;
// Disconnect from the device
this.kinect.Close();
this.kinect = null;
// Disable controls again
this.bottomPanel.Enabled = false;
// Enable connect
this.connectButton.Enabled = true;
this.disconnectButton.Enabled = false;
}
public static extern void freenect_set_log_level(IntPtr context, Kinect.LogLevelOptions level);
/// <summary>
/// Connects to the specified device
/// </summary>
private void Connect(int deviceID)
{
// If a device is already connected, disconnect
if(this.isRunning)
{
this.Disconnect();
}
// Now running
this.isRunning = true;
// Create instance
this.kinect = new Kinect(deviceID);
// Open kinect
this.kinect.Open();
// Set tilt to 0 to start with
this.motorTiltUpDown.Value = 0;
// Setup image handlers
this.kinect.VideoCamera.DataReceived += HandleKinectVideoCameraDataReceived;
this.kinect.DepthCamera.DataReceived += HandleKinectDepthCameraDataReceived;
// LED is set to none to start
this.kinect.LED.Color = LEDColor.None;
this.selectLEDColorCombo.SelectedIndex = 0;
// Update video/depth modes
this.UpdateModeList();
// Enable video/depth mode chooser
this.selectVideoModeGroup.Enabled = true;
// Setup update thread
this.updateThread = new Thread(delegate()
{
while(this.isRunning)
{
try
{
// Update instance's status
this.kinect.UpdateStatus();
// Let preview control render another frame
this.previewControl.Render();
}
catch(ThreadInterruptedException e)
{
return;
}
catch(Exception ex)
{
}
}
});
// Start updating status
this.statusUpdateTimer.Enabled = true;
// Disable connect button and enable the disconnect one
this.disconnectButton.Visible = true;
this.connectButton.Visible = false;
this.refreshButton.Visible = false;
this.selectDeviceCombo.Enabled = false;
// Enable content areas
this.contentPanel.Enabled = true;
// Start update thread
this.updateThread.Start();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this accelerometer is part of
/// </param>
internal Accelerometer(Kinect parent)
{
this.parentDevice = parent;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this depth camera is part of
/// </param>
internal DepthCamera(Kinect parent)
{
// Save parent device
this.parentDevice = parent;
// Not running by default
this.IsRunning = false;
// Set format to 11 bit by default
this.DataFormat = DataFormatOption.Format11Bit;
// Setup callbacks
KinectNative.freenect_set_depth_callback(parent.devicePointer, DepthCallback);
}
/// <summary>
/// Logging callback.
/// </summary>
/// <param name="device">
/// A <see cref="IntPtr"/>
/// </param>
/// <param name="logLevel">
/// A <see cref="Kinect.LogLevelOptions"/>
/// </param>
/// <param name="message">
/// A <see cref="System.String"/>
/// </param>
internal static void LogCallback(IntPtr device, Kinect.LogLevelOptions logLevel, string message)
{
Kinect realDevice = KinectNative.GetDevice(device);
Kinect.Log(null, new LogEventArgs(realDevice, logLevel, message));
}
/// <summary>
/// Disconnects from teh currently connected Kinect device
/// </summary>
private void Disconnect()
{
// Are we running?
if(this.isRunning == false)
{
return;
}
// Stop updating status
this.statusUpdateTimer.Enabled = false;
// No longer running
this.isRunning = false;
// Wait till update thread closes down
this.updateThread.Interrupt();
this.updateThread.Join();
this.updateThread = null;
// Disconnect from the kinect
this.kinect.Close();
this.kinect = null;
// Disable video/depth mode chooser
this.selectVideoModeGroup.Enabled = false;
// Disable disconnect button and enable the connect/refresh ones
this.disconnectButton.Visible = false;
this.connectButton.Visible = true;
this.refreshButton.Visible = true;
this.selectDeviceCombo.Enabled = true;
// Disable content areas
this.contentPanel.Enabled = false;
}
private void Connect()
{
// Create device instance and open the connection
this.kinect = new Kinect(this.kinectDeviceSelectCombo.SelectedIndex);
this.kinect.Open();
// Set the buffer to back first
this.kinect.VideoCamera.DataBuffer = rgbHandleBack.AddrOfPinnedObject();
this.kinect.DepthCamera.DataBuffer = depthHandleBack.AddrOfPinnedObject();
// Set modes
this.kinect.VideoCamera.DataFormat = VideoCamera.DataFormatOption.RGB;
this.kinect.DepthCamera.DataFormat = DepthCamera.DataFormatOption.Format11Bit;
// Enable controls and info
this.bottomPanel.Enabled = true;
// Set LED to none
this.ledControlCombo.SelectedIndex = 0;
// Set Motor to 0
this.motorControlTrack.Value = 0;
// Start video camera
this.kinect.VideoCamera.DataReceived += new VideoCamera.DataReceivedEventHandler(this.HandleVideoDataReceived);
this.kinect.VideoCamera.Start();
// Start depth camera
this.kinect.DepthCamera.DataReceived += new DepthCamera.DataReceivedEventHandler(this.HandleDepthDataReceived);
this.kinect.DepthCamera.Start();
// Enable disconnect
this.connectButton.Enabled = false;
this.disconnectButton.Enabled = true;
// Enable update timer
this.infoUpdateTimer.Enabled = true;
// Start update status thread
this.updateStatusThread = new Thread(delegate()
{
while(true)
{
if(this.kinect == null)
{
continue;
}
// Update the status for this device
this.kinect.UpdateStatus();
// Let the kinect library handle any pending stuff on the usb streams.
Kinect.ProcessEvents();
try
{
this.imagePanel.Invalidate();
}
catch(Exception e)
{
}
}
});
this.updateStatusThread.Start();
}
/// <summary>
/// Registers a device and its native pointer
/// </summary>
/// <param name="pointer">
/// A <see cref="IntPtr"/>
/// </param>
/// <param name="device">
/// A <see cref="Kinect"/>
/// </param>
public static void RegisterDevice(IntPtr pointer, Kinect device)
{
if(KinectNative.deviceMap.ContainsKey(pointer))
{
KinectNative.deviceMap.Remove(pointer);
}
KinectNative.deviceMap.Add(pointer, device);
}
public LogEventArgs(Kinect device, Kinect.LogLevelOptions logLevel, string message)
{
this.Device = device;
this.LogLevel = logLevel;
this.Message = message;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parent">
/// Parent <see cref="Kinect"/> device that this accelerometer is part of
/// </param>
internal Accelerometer(Kinect parent)
{
this.parentDevice = parent;
}
public LogEventArgs(Kinect device, Kinect.LogLevelOptions logLevel, string message)
{
this.Device = device;
this.LogLevel = logLevel;
this.Message = message;
}