private void Window_Loaded(object sender, RoutedEventArgs e)
{
Room room = new Room();
Tracker tracker = new Tracker("kinect", new Point(10, 10), 225, 15);
room.AddTracker(tracker);
//double angle = 180.0;
//double fov = 190;
//room.AddDevice(new Device("one", new Point(5, 0), angle, fov));
//room.AddDevice(new Device("two", new Point(10, 0), angle, fov));
//room.AddDevice(new Device("three", new Point(15, 0), angle, fov));
//room.AddDevice(new Device("four", new Point(10, 5), angle, fov));
//room.AddDevice(new Device("five", new Point(10, -5), angle, fov));
//Debug.WriteLine(room.GetDevicesInViewOf(room.GetDevice("one")).Count);
//Debug.WriteLine(room.GetDevicesInViewOf(room.GetDevice("two")).Count);
//Debug.WriteLine(room.GetDevicesInViewOf(room.GetDevice("three")).Count);
//Debug.WriteLine(room.GetDevicesInViewOf(room.GetDevice("four")).Count);
//Debug.WriteLine(room.GetDevicesInViewOf(room.GetDevice("five")).Count);
Device dev = new Device("dev");
room.AddDevice(dev);
tracker.UpdatePositionForDevice(dev, new Vector(-20,0));
Debug.Write(dev.Location.X + " " + dev.Location.Y);
}
public void CoordinateTranslationTest()
{
Room r = new Room();
Tracker t = new Tracker("myKinect", new Point(5, 5), 270);
r.AddTracker(t);
Device one = new Device("one");
Device two = new Device("two");
Device three = new Device("three");
r.AddDevice(one);
r.AddDevice(two);
r.AddDevice(three);
t.UpdatePositionForDevice(one, new Vector(1, 1));
t.UpdatePositionForDevice(two, new Vector(5, 0));
t.UpdatePositionForDevice(three, new Vector(3, -3));
Assert.AreEqual(one.Location.X, 6, 0.001);
Assert.AreEqual(one.Location.Y, 4, 0.001);
Assert.AreEqual(two.Location.X, 5, 0.001);
Assert.AreEqual(two.Location.Y, 0, 0.001);
Assert.AreEqual(three.Location.X, 2, 0.001);
Assert.AreEqual(three.Location.Y, 2, 0.001);
// test of translation alone
Tracker t2 = new Tracker("kinect2", new Point(0, -10), 0.0);
r.AddTracker(t2);
t2.UpdatePositionForDevice(one, new Vector(6, 14));
t2.UpdatePositionForDevice(two, new Vector(5, 10));
t2.UpdatePositionForDevice(three, new Vector(2, 12));
Assert.AreEqual(one.Location.X, 6, 0.001);
Assert.AreEqual(one.Location.Y, 4, 0.001);
Assert.AreEqual(two.Location.X, 5, 0.001);
Assert.AreEqual(two.Location.Y, 0, 0.001);
Assert.AreEqual(three.Location.X, 2, 0.001);
Assert.AreEqual(three.Location.Y, 2, 0.001);
//test of rotation alone
Tracker t3 = new Tracker("kinect3", new Point(0, 0), 135);
t3.UpdatePositionForDevice(one, new Vector(-1.425, -7.0678));
t3.UpdatePositionForDevice(two, new Vector(-3.535, -3.535));
t3.UpdatePositionForDevice(three, new Vector(0, -Math.Sqrt(8)));
Assert.AreEqual(one.Location.X, 6, 0.01); // to deal with horrible horrible rounding error introduced by hardcoded positions just above
Assert.AreEqual(one.Location.Y, 4, 0.01);
Assert.AreEqual(two.Location.X, 5, 0.001);
Assert.AreEqual(two.Location.Y, 0, 0.001);
Assert.AreEqual(three.Location.X, 2, 0.001);
Assert.AreEqual(three.Location.Y, 2, 0.001);
}