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);
}
});
}
}
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>
/// Basic constructor
/// </summary>
/// <param name="ver">Vertical movement servo PWM port</param>
/// <param name="hor">Horizontal movement servo PWM port</param>
/// <param name="s">Inertial Measurement Unit to check current device position</param>
public CameraGimbal(IPwmPort ver, IPwmPort hor, IPositionSensor s)
{
horizontalPort = hor;
verticalPort = ver;
horizontalCoinfig = new ServoConfig(minServoAngle, maxServoAngle, 370, 2700, 50);
verticalConfig = new ServoConfig(minServoAngle, maxServoAngle, 370, 2700, 50);
horizontal = new Servo(horizontalPort, horizontalCoinfig);
vertical = new Servo(verticalPort, verticalConfig);
sensor = s;
source = new CancellationTokenSource();
angleDelta = maxServoAngle - maxAngle;
quarterCircle = fullCircle / 4;
locker = new object();
Test();
#if DEBUG
stopwatch = new Stopwatch();
#endif
}