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);
}
/// <summary>
/// Initializes a new instance of the MainWindow class.
/// </summary>
public MainWindow()
{
InitializeComponent();
nearX = 1000;
nearY = 1000;
nearZ = 1000;
farX = 0;
farY = 0;
farZ = 0;
myRoom = new Room();
myTracker = new Tracker("myKinect", new Point(0, 2.5), 0.0, 15);
myRoom.AddTracker(myTracker);
myDevice = new Device("me");
myRoom.AddDevice(myDevice);
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Display the drawing using our image control
Image.Source = this.imageSource;
// 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 skeleton stream to receive skeleton frames
this.sensor.SkeletonStream.Enable();
// Add an event handler to be called whenever there is new color frame data
this.sensor.SkeletonFrameReady += this.SensorSkeletonFrameReady;
// Start the sensor!
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
if (null == this.sensor)
{
MessageBox.Show("No Kinect");
//this.statusBarText.Text = Properties.Resources.NoKinectReady;
}
room = new Room();
tracker = new Tracker("kinect", new Point(2.25, yRange), 270.0);
room.AddTracker(tracker);
devices = new Device[6];
for (int i = 0; i < 6; i++)
{
devices[i] = new Device(i.ToString());
if (i % 2 == 1)
devices[i].Orientation = 0;
else
devices[i].Orientation = 180.0;
room.AddDevice(devices[i]);
}
}
public void FieldOfViewWithVaryingOrientationTest()
{
Room r = new Room();
List<Device> devices = new List<Device>();
devices.Add((new Device("zero", new Point(5, 0), 0.0, 15.0)));
devices.Add((new Device("one", new Point(10, 0), 0.0, 15.0)));
devices.Add((new Device("two", new Point(15, 0), 0.0, 15.0)));
devices.Add((new Device("three", new Point(10, 5), 0.0, 15.0)));
devices.Add((new Device("four", new Point(10, -5), 0.0, 15.0)));
foreach (Device d in devices)
r.AddDevice(d);
List<Device> results = r.GetDevicesInViewOf(r.GetDevice("zero"));
Assert.AreEqual(results[0], devices[1]);
Assert.AreEqual(results[1], devices[2]);
Assert.AreEqual(results.Count, 2);
results = r.GetDevicesInViewOf(r.GetDevice("one"));
Assert.AreEqual(results[0], devices[2]);
Assert.AreEqual(results.Count, 1);
results = r.GetDevicesInViewOf(r.GetDevice("two"));
Assert.AreEqual(results.Count, 0);
results = r.GetDevicesInViewOf(r.GetDevice("three"));
Assert.AreEqual(results.Count, 0);
results = r.GetDevicesInViewOf(r.GetDevice("four"));
Assert.AreEqual(results.Count, 0);
foreach (Device d in devices)
{
d.Orientation = 90.0;
}
results = r.GetDevicesInViewOf(r.GetDevice("one"));
Assert.AreEqual(results[0], devices[3]);
Assert.AreEqual(results.Count, 1);
results = r.GetDevicesInViewOf(r.GetDevice("four"));
Assert.AreEqual(results[0], devices[1]);
Assert.AreEqual(results[1], devices[3]);
Assert.AreEqual(results.Count, 2);
results = r.GetDevicesInViewOf(r.GetDevice("zero"));
Assert.AreEqual(results.Count, 0);
results = r.GetDevicesInViewOf(r.GetDevice("two"));
Assert.AreEqual(results.Count, 0);
results = r.GetDevicesInViewOf(r.GetDevice("three"));
Assert.AreEqual(results.Count, 0);
foreach (Device d in devices)
{
d.Orientation = 115.0;
}
foreach (Device d in devices)
{
results = r.GetDevicesInViewOf(d);
Assert.AreEqual(results.Count, 0);
}
}
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);
}
public void VaryingFieldOfViewTest()
{
Room r = new Room();
List<Device> devices = new List<Device>();
devices.Add((new Device("zero", new Point(5, 0), 0.0, 190.0)));
devices.Add((new Device("one", new Point(10, 0), 0.0, 190.0)));
devices.Add((new Device("two", new Point(15, 0), 0.0, 190.0)));
devices.Add((new Device("three", new Point(10, 5), 0.0, 190.0)));
devices.Add((new Device("four", new Point(10, -5), 0.0, 190.0)));
foreach (Device d in devices)
r.AddDevice(d);
List<Device> results = r.GetDevicesInViewOf(r.GetDevice("zero"));
Assert.AreEqual(results.Count, 4);
results = r.GetDevicesInViewOf(r.GetDevice("one"));
Assert.AreEqual(results.Count, 3);
results = r.GetDevicesInViewOf(r.GetDevice("two"));
Assert.AreEqual(results.Count, 0);
results = r.GetDevicesInViewOf(r.GetDevice("three"));
Assert.AreEqual(results.Count, 3);
results = r.GetDevicesInViewOf(r.GetDevice("four"));
Assert.AreEqual(results.Count, 3);
}