static void Main()
{
b = new Bitmap(640, 480, PixelFormat.Format32bppArgb);
hand = new JointTracker();
elbow = new JointTracker();
myK = KinectSensor.KinectSensors[0];
myK.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
myK.SkeletonStream.Enable();
myK.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
myK.Start();
myK.SkeletonFrameReady += new EventHandler <SkeletonFrameReadyEventArgs>(SkeletonFrameReady);
myK.ColorFrameReady += new EventHandler <ColorImageFrameReadyEventArgs>(ColorImageFrameReady);
myK.DepthFrameReady += new EventHandler <DepthImageFrameReadyEventArgs>(DepthFrameReady);
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
f = new cameraForm();
beginListening();
f.setConnectionL("Listening on port " + PORT);
Application.Run(f);
}
public static void processArm(JointTracker hand, JointTracker elbow, out SkeletonPoint output)
{
output = JointTracker.zeroVec();
double s = JointTracker.slope(JointTracker.vecSubt(hand.position(), elbow.position()));
if (s > -.4 && s < .19)
{
JointTracker.vecAdd(ref output, hand.lastDistance());
}
//Console.WriteLine(s);
}
public static void sendData()
{
if (clientS != null)
{
double s = JointTracker.slope(JointTracker.vecSubt(hand.position(), elbow.position()));
bool grab = false;
if (s > -1.5 && s < .19)
{
grab = true;
}
int handX, handZ;
handX = (int)(hand.lastDistance().X *1000000);
handZ = (int)(hand.lastDistance().Z *1000000);
//Console.WriteLine(handX);
byte[] temp = new byte[9];
temp[0] = 0;
if (grab)
{
temp[0] = 0x80;
}
temp[1] = (byte)(handX);
temp[2] = (byte)(handX >> 8);
temp[3] = (byte)(handX >> 16);
temp[4] = (byte)(handX >> 24);
temp[5] = (byte)(handZ);
temp[6] = (byte)(handZ >> 8);
temp[7] = (byte)(handZ >> 16);
temp[8] = (byte)(handZ >> 24);
//Console.WriteLine(getBits(temp[4])+getBits(temp[3])+getBits(temp[2])+getBits(temp[1])+handX);
if (socketOpen)
{
try
{
clientS.Send(temp);
}
catch (SocketException)
{
f.setConnectionL("Connection lost, listening on port " + PORT);
socketOpen = false;
//listenS.Bind(new IPEndPoint(IPAddress.Any, 20736));
listenS.Listen(4);
listenS.BeginAccept(new AsyncCallback(OnCallAccept), null);
}
}
}
}
static void Main()
{
b = new Bitmap(640, 480, PixelFormat.Format32bppArgb);
hand = new JointTracker();
elbow = new JointTracker();
myK = KinectSensor.KinectSensors[0];
myK.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
myK.SkeletonStream.Enable();
myK.DepthStream.Enable(DepthImageFormat.Resolution320x240Fps30);
myK.Start();
myK.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(SkeletonFrameReady);
myK.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(ColorImageFrameReady);
myK.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(DepthFrameReady);
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
f = new cameraForm();
beginListening();
f.setConnectionL("Listening on port " + PORT);
Application.Run(f);
}
public static void processArm(JointTracker hand, JointTracker elbow, out SkeletonPoint output)
{
output = JointTracker.zeroVec();
double s = JointTracker.slope(JointTracker.vecSubt(hand.position(),elbow.position()));
if(s>-.4 && s<.19)
{
JointTracker.vecAdd(ref output, hand.lastDistance());
}
//Console.WriteLine(s);
}
