NXT gesture control with Kinect

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Hello,
my name is Levin I'm from germany and I go to a technical school.
I have made a project with the Kinect Sensor and the NXT Mindstorm, using gesture I steered the NXT.
But now I have a problem.
If the Kinect recognizes my skeleton it will not work, but when I hold my right hand over my Head the NXT drive.
Sorry if I have errors in spelling :(

Thanks in advance!

Now here my C# Code:

C#

using System;
using System.IO;
using System.Linq;
using System.Text;
using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using Microsoft.Kinect;
using AForge;
using AForge.Robotics.Lego;


namespace KinectDemo1
{

    public partial class MainWindow : Window
    {


        public MainWindow()
        {
            InitializeComponent();
        }

        
                           
                    
        public KinectSensor sensor;
    
        public NXTBrick nxt = new NXTBrick();



        private void Window_Loaded(object sender, RoutedEventArgs e)
        {          
            this.drawingGroup = new DrawingGroup();//Skeleton


            this.imageSource = new DrawingImage(this.drawingGroup);//Skeleton


            image3.Source = this.imageSource;//Skeleton
                                
                    
            foreach (var potentialSensor in KinectSensor.KinectSensors)//Skeleton
            {
                if (potentialSensor.Status == KinectStatus.Connected)
                {
                    sensor = potentialSensor;
                    break;
                }
            }
                                

                    

            sensor = (from Sensor in KinectSensor.KinectSensors where Sensor.Status == KinectStatus.Connected select Sensor).FirstOrDefault();




            if (sensor != null)
            {

                label9.Content = "Kinect ist verbunden!";
                    
                sensor.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(r_ColorFrameReady);//RGB-Bild

                sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);//RGB-Bild

                sensor.SkeletonStream.Enable();//Skeleton

                sensor.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(SensorSkeletonFrameReady);

                sensor.SkeletonFrameReady += this.SensorSkeletonFrameReady;//Skeleton

                sensor.Start();


            }
            else
            {
                label9.Content = "Kinect nicht verbunden!";
                MessageBox.Show("Keine Kinect angeschlossen.", "Fehler", MessageBoxButton.OK, MessageBoxImage.Hand);
            }



            //Akkustand des Mindstorm Roboter
            nxt.Connect("COM3");

            int Akkustand;

            if (nxt.GetBatteryPower(out Akkustand))
            {
                label6.Content = Akkustand.ToString();
                progressBar1.Value = Akkustand;
            }

            //NXT verbunden?
            if (nxt.Connect("COM3"))
            {
                label8.Content = "Mindstorm ist verbunden!";
            }

        }

        private void Window_Closed(object sender, EventArgs e)
        {
            if (sensor != null)
            {
                sensor.Stop();
                sensor.Dispose();
            }
        }





        #region RGB-Bild der Kinect

        void r_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)// Ausgabe des RGB Bildes
        {
            using (ColorImageFrame frame = e.OpenColorImageFrame())// Werte von der Kamera werden ausgegeben
            {
                if (frame == null)
                    return;

                byte[] buffer = new byte[frame.PixelDataLength];// Pixeldatengröße wird errstellt
                frame.CopyPixelDataTo(buffer);
                image1.Source = BitmapSource.Create(frame.Width, frame.Height, 96, 96, PixelFormats.Bgr32, null, buffer, frame.Width * frame.BytesPerPixel);
            }
        }

        #endregion



        #region SkeletonView


        private const float RenderWidth = 800.0f; //Größenfaktor (je größer die Zahl desto kleiner das Skeleton)

        private const float RenderHeight = 600.0f;//Größenfaktor (je größer die Zahl desto kleiner das Skeleton)

        private const double JointThickness = 3;//Größenfaktor (je größer die Zahl desto größer die Gelenkzeichnungen)

        private const double BodyCenterThickness = 10;

        private const double ClipBoundsThickness = 10;

        private readonly Brush centerPointBrush = Brushes.Blue;

        private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));

        private readonly Brush inferredJointBrush = Brushes.Yellow;

        private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);

        private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1); 

        private DrawingGroup drawingGroup;

        private DrawingImage imageSource;


        private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            Skeleton[] skeletons = new Skeleton[0];

            using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
            {
                if (skeletonFrame != null)
                {
                    skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
                    skeletonFrame.CopySkeletonDataTo(skeletons);
                }
            }

            using (DrawingContext dc = this.drawingGroup.Open())
            {

                dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));

                if (skeletons.Length != 0)
                {
                    foreach (Skeleton skel in skeletons)
                    {


                        if (skel.TrackingState == SkeletonTrackingState.Tracked)
                        {
                            this.DrawBonesAndJoints(skel, dc);
                            this.nxtDrive(skel);
                        }
                        else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
                        {
                            dc.DrawEllipse(
                            this.centerPointBrush,
                            null,
                            this.SkeletonPointToScreen(skel.Position),
                            BodyCenterThickness,
                            BodyCenterThickness);
                        }
                    }
                }


                this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
            }
        }


        private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
        {

            this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
            this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
            this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
            this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);


            this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
            this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
            this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);


            this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
            this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
            this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);


            this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
            this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
            this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);


            this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
            this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
            this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);


            foreach (Joint joint in skeleton.Joints)
            {
                Brush drawBrush = null;

                if (joint.TrackingState == JointTrackingState.Tracked)
                {
                    drawBrush = this.trackedJointBrush;
                }
                else if (joint.TrackingState == JointTrackingState.Inferred)
                {
                    drawBrush = this.inferredJointBrush;
                }

                if (drawBrush != null)
                {
                    drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
                }
            }







        }


        private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
        {

            DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
            return new Point(depthPoint.X, depthPoint.Y);
        }


        private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
        {
            Joint joint0 = skeleton.Joints[jointType0];
            Joint joint1 = skeleton.Joints[jointType1];


            if (joint0.TrackingState == JointTrackingState.NotTracked ||
                joint1.TrackingState == JointTrackingState.NotTracked)
            {
                return;
            }


            if (joint0.TrackingState == JointTrackingState.Inferred &&
                joint1.TrackingState == JointTrackingState.Inferred)
            {
                return;
            }


            Pen drawPen = this.inferredBonePen;
            if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
            {
                drawPen = this.trackedBonePen;
            }

            drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
        }

        #endregion



        #region Manuelle fahrt des Mindstorm Roboter



        // Vorwärts
        private void button1_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = 100;
            motorState.TurnRatio = 50;  
            motorState.Mode = NXTBrick.MotorMode.On;
            motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
            motorState.RunState = NXTBrick.MotorRunState.Running;
            motorState.TachoLimit = 0;

            
            nxt.SetMotorState(NXTBrick.Motor.B, motorState);
           
            nxt.SetMotorState(NXTBrick.Motor.C, motorState);
        }

        private void button1_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = 0;

            nxt.SetMotorState(NXTBrick.Motor.All, motorState);

        }



        // Rückwärts
        private void button2_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = -100;
            motorState.TurnRatio = 50;
            motorState.Mode = NXTBrick.MotorMode.On;
            motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
            motorState.RunState = NXTBrick.MotorRunState.Running;
            motorState.TachoLimit = 0;


            nxt.SetMotorState(NXTBrick.Motor.B, motorState);

            nxt.SetMotorState(NXTBrick.Motor.C, motorState);
        }

        private void button2_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = 0;

            nxt.SetMotorState(NXTBrick.Motor.All, motorState);
        }



        // Links
        private void button3_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            
            motorState.TurnRatio = 50;
            motorState.Mode = NXTBrick.MotorMode.On;
            motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
            motorState.RunState = NXTBrick.MotorRunState.Running;
            motorState.TachoLimit = 0;

            motorState.Power = 100;
            nxt.SetMotorState(NXTBrick.Motor.B, motorState);
            motorState.Power = -100;
            nxt.SetMotorState(NXTBrick.Motor.C, motorState);
        }

        private void button3_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = 0;

            nxt.SetMotorState(NXTBrick.Motor.All, motorState);
        }



        // Rechts
        private void button4_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();


            motorState.TurnRatio = 50;
            motorState.Mode = NXTBrick.MotorMode.On;
            motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
            motorState.RunState = NXTBrick.MotorRunState.Running;
            motorState.TachoLimit = 0;

            motorState.Power = -100;
            nxt.SetMotorState(NXTBrick.Motor.B, motorState);
            motorState.Power = 100;
            nxt.SetMotorState(NXTBrick.Motor.C, motorState);
        }

        private void button4_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = 0;

            nxt.SetMotorState(NXTBrick.Motor.All, motorState);
        }



        // Schießen
        private void button5_MouseEnter(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.TurnRatio = 50;
            motorState.Mode = NXTBrick.MotorMode.On;
            motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
            motorState.RunState = NXTBrick.MotorRunState.Running;
            motorState.TachoLimit = 360;

            motorState.Power = 90;
            nxt.SetMotorState(NXTBrick.Motor.A, motorState);

        }

        private void button5_MouseLeave(object sender, System.Windows.Input.MouseEventArgs e)
        {
            nxt.Connect("COM3");

            NXTBrick.MotorState motorState = new NXTBrick.MotorState();

            motorState.Power = 0;

            nxt.SetMotorState(NXTBrick.Motor.All, motorState);
        }


        #endregion



        #region nxtDrive


        private void nxtDrive(Skeleton skeleton)
        {
            SkeletonPoint headPos = skeleton.Joints[JointType.Head].Position;
            SkeletonPoint righthandPos = skeleton.Joints[JointType.HandRight].Position;
            SkeletonPoint lefthandPos = skeleton.Joints[JointType.HandLeft].Position;

            bool LinkeHandÜberKopf = (headPos.Y < lefthandPos.Y);

            bool RechteHandÜberKopf = (headPos.Y < righthandPos.Y);

            if (nxt.Connect("COM3"))
            {

                if (RechteHandÜberKopf && LinkeHandÜberKopf)
                {




                    NXTBrick.MotorState motorState = new NXTBrick.MotorState();

                    motorState.Power = 100;
                    motorState.TurnRatio = 50;
                    motorState.Mode = NXTBrick.MotorMode.On;
                    motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
                    motorState.RunState = NXTBrick.MotorRunState.Running;
                    motorState.TachoLimit = 0;


                    nxt.SetMotorState(NXTBrick.Motor.B, motorState);

                    nxt.SetMotorState(NXTBrick.Motor.C, motorState);

                }

                else
                {


                    NXTBrick.MotorState motorState = new NXTBrick.MotorState();

                    motorState.Power = 0;

                    nxt.SetMotorState(NXTBrick.Motor.All, motorState);
                }



                if (RechteHandÜberKopf)
                {




                    NXTBrick.MotorState motorState = new NXTBrick.MotorState();

                    motorState.Power = 100;
                    motorState.TurnRatio = 50;
                    motorState.Mode = NXTBrick.MotorMode.On;
                    motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
                    motorState.RunState = NXTBrick.MotorRunState.Running;
                    motorState.TachoLimit = 0;



                    nxt.SetMotorState(NXTBrick.Motor.C, motorState);




                }

                else
                {


                    NXTBrick.MotorState motorState = new NXTBrick.MotorState();

                    motorState.Power = 0;

                    nxt.SetMotorState(NXTBrick.Motor.All, motorState);


                }

                if (LinkeHandÜberKopf)
                {




                    NXTBrick.MotorState motorState = new NXTBrick.MotorState();

                    motorState.Power = 100;
                    motorState.TurnRatio = 50;
                    motorState.Mode = NXTBrick.MotorMode.On;
                    motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
                    motorState.RunState = NXTBrick.MotorRunState.Running;
                    motorState.TachoLimit = 0;


                    nxt.SetMotorState(NXTBrick.Motor.B, motorState);
                }

                else
                {


                    NXTBrick.MotorState motorState = new NXTBrick.MotorState();

                    motorState.Power = 0;

                    nxt.SetMotorState(NXTBrick.Motor.All, motorState);
                }
            }

            else
            {
                MessageBox.Show("Es besteht keine Bluetooth verbindung zum Mindstorm!", "Fehler", MessageBoxButton.OK, MessageBoxImage.Warning);
            }

        }


        #endregion


    }

 }

Posted 5-Feb-13 2:17am

Levin Eersink

Add a Solution

Comments

ZurdoDev 5-Feb-13 8:51am

That is too much code for us to look through and find the issue. Can you narrow down what and where the problem is?

2 solutions

Add a Solution

This content, along with any associated source code and files, is licensed under The Code Project Open License (CPOL)

Levin Eersink · Answer 1 · 2013-02-25T06:31:00

<pre lang="c#">#region SkeletonView
 

        private const float RenderWidth = 800.0f; //Größenfaktor (je größer die Zahl desto kleiner das Skeleton)

        private const float RenderHeight = 600.0f;//Größenfaktor (je größer die Zahl desto kleiner das Skeleton)

        private const double JointThickness = 3;//Größenfaktor (je größer die Zahl desto größer die Gelenkzeichnungen)

        private const double BodyCenterThickness = 10;
 
        private const double ClipBoundsThickness = 10;
 
        private readonly Brush centerPointBrush = Brushes.Blue;
 
        private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));
 
        private readonly Brush inferredJointBrush = Brushes.Yellow;
 
        private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);
 
        private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1); 
 
        private DrawingGroup drawingGroup;
 
        private DrawingImage imageSource;
 

        private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            Skeleton[] skeletons = new Skeleton[0];
 
            using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
            {
                if (skeletonFrame != null)
                {
                    skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
                    skeletonFrame.CopySkeletonDataTo(skeletons);
                }
            }
 
            using (DrawingContext dc = this.drawingGroup.Open())
            {
 
                dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
 
                if (skeletons.Length != 0)
                {
                    foreach (Skeleton skel in skeletons)
                    {
 

                        if (skel.TrackingState == SkeletonTrackingState.Tracked)
                        {
                            this.DrawBonesAndJoints(skel, dc);
                            this.nxtDrive(skel);
                        }
                        else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
                        {
                            dc.DrawEllipse(
                            this.centerPointBrush,
                            null,
                            this.SkeletonPointToScreen(skel.Position),
                            BodyCenterThickness,
                            BodyCenterThickness);
                        }
                    }
                }
 

                this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
            }
        }
 

        private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
        {
 
            this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
            this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
            this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
            this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
 

            this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
            this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
            this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);
 

            this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
            this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
            this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);
 

            this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
            this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
            this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);
 

            this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
            this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
            this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
 

            foreach (Joint joint in skeleton.Joints)
            {
                Brush drawBrush = null;
 
                if (joint.TrackingState == JointTrackingState.Tracked)
                {
                    drawBrush = this.trackedJointBrush;
                }
                else if (joint.TrackingState == JointTrackingState.Inferred)
                {
                    drawBrush = this.inferredJointBrush;
                }
 
                if (drawBrush != null)
                {
                    drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
                }
            }
 

 

 

 
        }
 

        private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
        {
 
            DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
            return new Point(depthPoint.X, depthPoint.Y);
        }
 

        private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
        {
            Joint joint0 = skeleton.Joints[jointType0];
            Joint joint1 = skeleton.Joints[jointType1];
 

            if (joint0.TrackingState == JointTrackingState.NotTracked ||
                joint1.TrackingState == JointTrackingState.NotTracked)
            {
                return;
            }
 

            if (joint0.TrackingState == JointTrackingState.Inferred &&
                joint1.TrackingState == JointTrackingState.Inferred)
            {
                return;
            }
 

            Pen drawPen = this.inferredBonePen;
            if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
            {
                drawPen = this.trackedBonePen;
            }
 
            drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
        }
 
        #endregion

Levin Eersink · Answer 2 · 2013-05-07T06:00:00

Solution 2

hey,
if i debug the program it works.
But when i stand in front of the camera and the camera recognizes me than the picture hangs.
Still the gesture are detected and the NXT drive but the picture hangs on further.

Posted 7-May-13 6:00am

Levin Eersink

NXT gesture control with Kinect

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