public void ZeroDeviceOrientationTest()
{
Tracker tracker = new Tracker() {Location = new System.Windows.Point(2,4)};
Device device = new Device() {Location = new System.Windows.Point(7,7)};
tracker.ZeroDeviceOrientation(device);
System.Diagnostics.Debug.WriteLine(device.Orientation.Value);
device.Location = new System.Windows.Point(-7, 7);
tracker.ZeroDeviceOrientation(device);
System.Diagnostics.Debug.WriteLine(device.Orientation.Value);
device.Location = new System.Windows.Point(-7, -7);
tracker.ZeroDeviceOrientation(device);
System.Diagnostics.Debug.WriteLine(device.Orientation.Value);
device.Location = new System.Windows.Point(7, -7);
tracker.ZeroDeviceOrientation(device);
System.Diagnostics.Debug.WriteLine(device.Orientation.Value);
}
public TrackerControl(Tracker tracker)
{
this._Tracker = tracker;
InitializeComponent();
deviceRotationControl = new DeviceRotationControl();
deviceRotationControl.onSliderValueChanged += new EventHandler<RotationSliderEventArgs>(onOrientationSliderChanged);
canvas.Children.Add(deviceRotationControl);
Canvas.SetLeft(deviceRotationControl, -150);
Canvas.SetTop(deviceRotationControl, -10);
deviceRotationControl.Opacity = 0;
TrackerNameLabel.Text = tracker.Identifier;
LeftLine.StrokeThickness = DrawingResources.TRACKER_FOV_WIDTH;
RightLine.StrokeThickness = DrawingResources.TRACKER_FOV_WIDTH;
tracker.LocationChanged += onLocationChanged;
tracker.OrientationChanged += onOrientationChanged;
tracker.FOVChanged += onFOVChanged;
tracker.RangeChanged += onRangeChanged;
//formatForStackPanel();
}
/// <summary>
/// This updates the Range drawing for a given tracker
/// </summary>
/// <param name="tracker"></param>
public void updateRange(Tracker tracker)
{
double FOVAngle = tracker.FieldOfView.Value / 2;
// We want to adjust the MinRange triangle, so we're using sin law
if (tracker.MinRange.HasValue)
{
double leftX = (tracker.MinRange.Value * Math.Sin(Util.DEGREES_TO_RADIANS * FOVAngle)) / (Util.DEGREES_TO_RADIANS * (180.0 - FOVAngle - 90));
double leftXPixels = DrawingResources.ConvertFromMetersToPixelsX(leftX, MainWindow.SharedCanvas);
double YPixels = DrawingResources.ConvertFromMetersToPixelsY(tracker.MinRange.Value, MainWindow.SharedCanvas);
NearTriangle.Points.Clear();
NearTriangle.Points.Add(new Point(50, 15));
NearTriangle.Points.Add(new Point(50 + leftXPixels, 15+YPixels));
NearTriangle.Points.Add(new Point(50 - leftXPixels, 15+YPixels));
}
// Adjusting the FarLine
if (tracker.MaxRange.HasValue)
{
double leftX = (tracker.MaxRange.Value * Math.Sin(Util.DEGREES_TO_RADIANS * FOVAngle)) / (Util.DEGREES_TO_RADIANS * (180.0 - FOVAngle - 90));
double leftXPixels = DrawingResources.ConvertFromMetersToPixelsX(leftX, MainWindow.SharedCanvas);
double YPixels = DrawingResources.ConvertFromMetersToPixelsY(tracker.MaxRange.Value, MainWindow.SharedCanvas);
FarLine.X1 = 50+ leftXPixels;
FarLine.Y1 = YPixels;
FarLine.X2 = 50-leftXPixels;
FarLine.Y2 = YPixels;
}
}
/// <summary>
/// This updates the FOV draw lines for a given tracker
/// </summary>
/// <param name="tracker"></param>
public void updateFOV(Tracker tracker)
{
double FOVAngle = tracker.FieldOfView.Value / 2;
double leftX = (tracker.MaxRange.Value * Math.Sin(Util.DEGREES_TO_RADIANS * FOVAngle)) / (Util.DEGREES_TO_RADIANS * (180.0 - FOVAngle - 90));
double leftXPixels = DrawingResources.ConvertFromMetersToPixelsX(leftX, MainWindow.SharedCanvas);
double YPixels = DrawingResources.ConvertFromMetersToPixelsY(tracker.MaxRange.Value, MainWindow.SharedCanvas);
RightLine.X2 = 50 + leftXPixels;
RightLine.Y2 = YPixels;
LeftLine.X2 = 50-leftXPixels;
LeftLine.Y2 = YPixels;
//double topAngle = Util.NormalizeAngle(270 + FOVAngle);
//double topX = Math.Cos(topAngle * Math.PI / 180);
//double topY = Math.Sin(topAngle * Math.PI / 180);
//Point newLeft = DrawingResources.ConvertPointToProperLength(new Point(topX, topY), DrawingResources.TRACKER_FOV_LENGTH);
//LeftLine.X2 = newLeft.X;
//LeftLine.Y2 = -newLeft.Y;
//double bottomAngle = Util.NormalizeAngle(270 - FOVAngle);
//double bottomX = Math.Cos(bottomAngle * Math.PI / 180);
//double bottomY = Math.Sin(bottomAngle * Math.PI / 180);
//Point newRight = DrawingResources.ConvertPointToProperLength(new Point(bottomX, bottomY), DrawingResources.TRACKER_FOV_LENGTH);
//RightLine.X2 = newRight.X;
//RightLine.Y2 = -newRight.Y;
}
public void onRangeChanged(Tracker tracker)
{
updateRange(tracker);
}
void trackerChanged(PersonManager sender, Tracker tracker)
{
if (tracker != null)
{
//drawnTracker = new DrawnTracker(tracker);
}
}
void kinectserver_NewKinectDiscovered(string NewKinectID, Point? KinectLocation, Double? KinectOrientation)
{
Tracker newTracker = new Tracker(NewKinectID, this.kinectserver);
locator.Trackers.Add(newTracker);
newKinectDiscovered(NewKinectID, KinectLocation, KinectOrientation);
}
