/// <summary>
/// Event handler for Kinect sensor's DepthFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Copy the pixel data from the image to a temporary array
depthFrame.CopyPixelDataTo(this.depthPixels);
// Convert the depth to RGB
int width = 480;
int height = 640;
int start = width * (height / 2 - 1); //start at the beginning of the middle line
for (int i = 0; i < 480; ++i)
{
// discard the portion of the depth that contains only the player index
short depth = (short)(this.depthPixels[i + start] >> DepthImageFrame.PlayerIndexBitmaskWidth);
//find the angle to the left (if negative) or right (if positive) of the depth. The kinect's fov is 58
//so we halve it because it's going to be either left or right
double angle = (i - 240) / 29 * Math.PI / 180;
double xFromRBot = Math.Sin(angle) * depth;
double yFromRBot = Math.Cos(angle) * depth;
Vector2D posFromRBot = new Vector2D(xFromRBot, yFromRBot);
posFromRBot.translate(rbotPos);
posFromRBot.rotate(rbotAngle);
Vector2D absolutePos = posFromRBot;
}
}
}
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null != this.sensor)
{
// Turn on the depth stream to receive depth frames
this.sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
// Allocate space to put the depth pixels we'll receive
this.depthPixels = new short[this.sensor.DepthStream.FramePixelDataLength];
// Add an event handler to be called whenever there is new depth frame data
this.sensor.DepthFrameReady += this.SensorDepthFrameReady;
// Put the RBot at (0,0)
rbotPos = new Vector2D(0, 0);
// Start the sensor!
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
if (null == this.sensor)
{
//this.statusBarText.Text = Properties.Resources.NoKinectReady;
}
}
public void translate(Vector2D v)
{
x = x + v.getX();
y = y + v.getY();
}
