public static PanTiltAlignment getInstance()
{
if (instance == null)
{
instance = new PanTiltAlignment();
}
return(instance);
}
public static PanTiltAlignment getInstance()
{
if (instance == null)
{
instance = new PanTiltAlignment();
}
return instance;
}
private void panFactorScrollBar_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
try
{
PanTiltAlignment.getInstance().panFactor = panFactorScrollBar.Value;
panFactorLabel.Content = string.Format("{0,5:0}", PanTiltAlignment.getInstance().panFactor);
setPan(currentPan);
} catch { };
}
private void tiltAlignScrollBar_ValueChanged(object sender, RoutedPropertyChangedEventArgs <double> e)
{
try
{
PanTiltAlignment.getInstance().tiltAlign = tiltAlignScrollBar.Value;
tiltAlignLabel.Content = string.Format("{0,5:0}", PanTiltAlignment.getInstance().tiltAlign);
setTilt(currentTilt);
}
catch { };
}
public static void Restore()
{
if (File.Exists(filename))
{
using (TextReader reader = new StreamReader(filename))
{
XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(PanTiltAlignment));
instance = (PanTiltAlignment)x.Deserialize(reader);
}
}
}
public static void Restore()
{
if (File.Exists(filename))
{
using (TextReader reader = new StreamReader(filename))
{
XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(PanTiltAlignment));
instance = (PanTiltAlignment)x.Deserialize(reader);
}
}
}
private void setTilt(double degreesFromCenter)
{
currentTilt = degreesFromCenter;
double mks = 1500.0d + PanTiltAlignment.getInstance().tiltAlign + degreesFromCenter * PanTiltAlignment.getInstance().tiltFactor;
int tiltMks = (int)mks;
if (tiltMks != tiltMksLast)
{
tiltMksLast = tiltMks;
if (_picpxmod != null && deviceAttached)
{
_picpxmod.ServoPositionSet(2, mks);
this.Dispatcher.Invoke(new UpdateLabelDelegate(updatePmValuesLabel), string.Format("Pan: {0:0}\r\nTilt: {1:0}", currentPan, currentTilt));
this.Dispatcher.Invoke(new UpdateLabelDelegate(updateTiltMksLabel), string.Format("{0,4} mks {1,4:0} degrees", tiltMksLast, currentTilt));
}
}
}
private void saveAlignmentButton_Click(object sender, RoutedEventArgs e)
{
PanTiltAlignment.Save();
}
private void Window_Loaded(object sender, EventArgs e)
{
PanTiltAlignment.Restore();
PanTiltAlignment pta = PanTiltAlignment.getInstance();
panAlignScrollBar.Value = pta.panAlign;
panFactorScrollBar.Value = pta.panFactor;
tiltAlignScrollBar.Value = pta.tiltAlign;
tiltFactorScrollBar.Value = pta.tiltFactor;
// =============================================================
//create picpxmod device:
_picpxmod = new ProximityModule(0x0925, 0x7001); // see PIC Firmware - usb_descriptors.c lines 178,179
_picpxmod.HasReadFrameEvent += pmFrameCompleteHandler;
_picpxmod.DeviceAttachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceAttachedEvent);
_picpxmod.DeviceDetachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceDetachedEvent);
deviceAttached = _picpxmod.FindTheHid();
pmValuesLabel.Content = deviceAttached ?
"Proximity Board Found" : string.Format("Proximity Board NOT Found\r\nYour USB Device\r\nmust have:\r\n vendorId=0x{0:X}\r\nproductId=0x{1:X}", _picpxmod.vendorId, _picpxmod.productId);
// =============================================================
// create Kinect device:
nui = new Runtime();
try
{
nui.Initialize(RuntimeOptions.UseDepthAndPlayerIndex | RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseColor);
}
catch (InvalidOperationException)
{
System.Windows.MessageBox.Show("Runtime initialization failed. Please make sure Kinect device is plugged in.");
return;
}
// parameters used to smooth the skeleton data
nui.SkeletonEngine.TransformSmooth = true;
TransformSmoothParameters parameters = new TransformSmoothParameters();
parameters.Smoothing = 0.7f;
parameters.Correction = 0.3f;
parameters.Prediction = 0.4f;
parameters.JitterRadius = 1.0f;
parameters.MaxDeviationRadius = 0.5f;
nui.SkeletonEngine.SmoothParameters = parameters;
try
{
nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
nui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
}
catch (InvalidOperationException)
{
System.Windows.MessageBox.Show("Failed to open stream. Please make sure to specify a supported image type and resolution.");
return;
}
lastTime = DateTime.Now;
nui.DepthFrameReady += new EventHandler <ImageFrameReadyEventArgs>(nui_DepthFrameReady);
nui.SkeletonFrameReady += new EventHandler <SkeletonFrameReadyEventArgs>(nui_SkeletonFrameReady);
nui.VideoFrameReady += new EventHandler <ImageFrameReadyEventArgs>(nui_ColorFrameReady);
speak("come on!");
}
