Пример #1
0
 protected virtual void OnAccelerationChanged(KinectBase.AccelerationEventArgs e)
 {
     if (AccelerationChanged != null)
     {
         AccelerationChanged(this, e);
     }
 }
        void kinectCore_AccelerationChanged(object sender, KinectBase.AccelerationEventArgs e)
        {
            //Don't bother calling the disptacher (which is kind of expensive) if the control is hidden
            if (IsInitialized && Visibility == System.Windows.Visibility.Visible)
            {
                this.Dispatcher.BeginInvoke((Action)(() =>
                {
                    if (e.acceleration.HasValue)
                    {
                        AccelXTextBlock.Text = e.acceleration.Value.X.ToString("F2");
                        AccelYTextBlock.Text = e.acceleration.Value.Y.ToString("F2");
                        AccelZTextBlock.Text = e.acceleration.Value.Z.ToString("F2");
                    }
                    else
                    {
                        AccelXTextBlock.Text = "N/A";
                        AccelYTextBlock.Text = "N/A";
                        AccelZTextBlock.Text = "N/A";
                    }

                    if (e.elevationAngle.HasValue)
                    {
                        AngleTextBlock.Text = e.elevationAngle.Value.ToString();
                    }
                    else
                    {
                        AngleTextBlock.Text = "N/A";
                    }
                }), null);
            }
        }
Пример #3
0
        //Updates the acceleration on the GUI and the server, 30 FPS may be a little fast for the GUI, but for VRPN, it probably needs to be at least that fast
        private void updateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            //Update the acceleration data
            bool    dataValid      = false;
            Vector4?acceleration   = null;
            int?    elevationAngle = null;

            lock (kinect)
            {
                if (kinect != null && kinect.IsRunning)
                {
                    //I wish these try/catch statements weren't necessary, but these two calls seemed to fail often
                    dataValid = true;
                    try
                    {
                        acceleration = kinect.AccelerometerGetCurrentReading();
                    }
                    catch
                    {
                        acceleration = null;
                        dataValid    = false;
                    }

                    if (dataValid)  //We can't even try to calculate the elevation angle if the accelerometer doesn't read right
                    {
                        try
                        {
                            elevationAngle = kinect.ElevationAngle;
                        }
                        catch
                        {
                            elevationAngle = null;
                            dataValid      = false;
                        }
                    }
                }
            }

            //Update the GUI
            if (dataValid)
            {
                //Update the filtered acceleration
                EigenWrapper.Matrix accelMat = new EigenWrapper.Matrix(3, 1);
                accelMat[0, 0] = acceleration.Value.X;
                accelMat[1, 0] = acceleration.Value.Y;
                accelMat[2, 0] = acceleration.Value.Z;
                accelerationFilter.IntegrateMeasurement(accelMat, DateTime.UtcNow, 0.01);
                accelFilterStarted = true;
                //lastAcceleration = acceleration.Value;
                //Transmits the acceleration data using an event
                KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
                accelE.kinectID       = this.kinectID;
                accelE.acceleration   = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
                accelE.elevationAngle = elevationAngle.Value;
                OnAccelerationChanged(accelE);
            }
            else
            {
                KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
                accelE.kinectID = this.kinectID;

                //Send the acceleration, if it is valid
                if (acceleration.HasValue)
                {
                    //Update the filtered acceleration
                    EigenWrapper.Matrix accelMat = new EigenWrapper.Matrix(3, 1);
                    accelMat[0, 0] = acceleration.Value.X;
                    accelMat[1, 0] = acceleration.Value.Y;
                    accelMat[2, 0] = acceleration.Value.Z;
                    accelerationFilter.IntegrateMeasurement(accelMat, DateTime.UtcNow, 0.01);
                    accelFilterStarted = true;
                    //lastAcceleration = acceleration.Value;
                    accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
                }
                else
                {
                    accelE.acceleration = null;
                }

                //Send the Kinect angle if it is valid
                if (elevationAngle.HasValue)
                {
                    accelE.elevationAngle = elevationAngle.Value;
                }
                else
                {
                    accelE.elevationAngle = null;
                }

                OnAccelerationChanged(accelE);
            }
        }
Пример #4
0
        //Updates the acceleration on the GUI and the server, 30 FPS may be a little fast for the GUI, but for VRPN, it probably needs to be at least that fast
        private void updateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            //Update the acceleration data
            bool dataValid = false;
            Vector4? acceleration = null;
            int? elevationAngle = null;
            lock (kinect)
            {
                if (kinect.IsRunning)
                {
                    //I wish these try/catch statements weren't necessary, but these two calls seemed to failed often
                    dataValid = true;
                    try
                    {
                        acceleration = kinect.AccelerometerGetCurrentReading();
                    }
                    catch
                    {
                        acceleration = null;
                        dataValid = false;
                    }

                    if (dataValid)  //We can't even try to calculate the elevation angle if the accelerometer doesn't read right
                    {
                        try
                        {
                            elevationAngle = kinect.ElevationAngle;
                        }
                        catch
                        {
                            elevationAngle = null;
                            dataValid = false;
                        }
                    }
                }
            }

            //Update the GUI
            if (dataValid)
            {
                //Transmits the acceleration data using an event
                lastAcceleration = acceleration.Value;
                KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
                accelE.kinectID = this.kinectID;
                accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
                accelE.elevationAngle = elevationAngle.Value;
                OnAccelerationChanged(accelE);
            }
            else
            {
                KinectBase.AccelerationEventArgs accelE = new KinectBase.AccelerationEventArgs();
                accelE.kinectID = this.kinectID;

                //Send the acceleration, if it is valid
                if (acceleration.HasValue)
                {
                    lastAcceleration = acceleration.Value;
                    accelE.acceleration = new Vector3D(acceleration.Value.X, acceleration.Value.Y, acceleration.Value.Z);
                }
                else
                {
                    accelE.acceleration = null;
                }

                //Send the Kinect angle if it is valid
                if (elevationAngle.HasValue)
                {
                    accelE.elevationAngle = elevationAngle.Value;
                }
                else
                {
                    accelE.elevationAngle = null;
                }

                OnAccelerationChanged(accelE);
            }
        }