c++ - 如何使用 Visual Studio 2010 使用 C++ 中的 OpenNI 库将数据从 Kinect 发送到 Arduino？

Question

我正在开发一个项目，该项目从用户那里获取右手和左手的值，然后将数据发送到 Arduino。我目前的问题是 Arduino 没有收到我能说的任何信息。现在我们将其设置为 5V；如果它收到“2”或“3”并且设置为 0V。当我们在 Arduino 和 Kinect 上运行程序时，我们从未看到引脚的输出降至 0V。

我拥有的完整代码是：

#pragma region Includes
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOS.h>
#include <GL/glut.h>
#include <math.h>
#include <XnCppWrapper.h>

using namespace xn;

#pragma endregion

#pragma region Defines
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define SAMPLE_XML_PATH "../Data/SamplesConfig.xml"

// Pose to Use Added
#define POSE_TO_USE "Psi"
#pragma endregion

#pragma region Global Nodes
//---------------------------------------------------------------------------
// Globals
//---------------------------------------------------------------------------
// Nodes Added for Skeletal Tracking
UserGenerator g_UserGenerator;
#pragma endregion

#pragma region Functions
// Functions Added for Skeletal Tracking

void XN_CALLBACK_TYPE User_NewUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{
    printf("New User: %d\n", nId);
    g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(POSE_TO_USE, nId);
}

void XN_CALLBACK_TYPE User_LostUser(xn::UserGenerator& generator, XnUserID nId, void* pCookie)
{}

void XN_CALLBACK_TYPE Pose_Detected(xn::PoseDetectionCapability& pose, const XnChar* strPose, XnUserID nId, void* pCookie)
{
    printf("Pose %s for user %d\n", strPose, nId);
    g_UserGenerator.GetPoseDetectionCap().StopPoseDetection(nId);
    g_UserGenerator.GetSkeletonCap().RequestCalibration(nId, TRUE);
}

void XN_CALLBACK_TYPE Calibration_Start(xn::SkeletonCapability& capability, XnUserID nId, void* pCookie)
{
    printf("Starting calibration for user %d\n", nId);
}

void XN_CALLBACK_TYPE Calibration_End(xn::SkeletonCapability& capability, XnUserID nId, XnBool bSuccess, void* pCookie)
{
    if (bSuccess)
    {
        printf("User calibrated\n");
        g_UserGenerator.GetSkeletonCap().StartTracking(nId);
    }
    else
    {
        printf("Failed to calibrate user %d\n", nId);
        g_UserGenerator.GetPoseDetectionCap().StartPoseDetection(POSE_TO_USE, nId);
    }
}
#pragma endregion

int main(int argc, char* argv[])
{
    //System::IO::Ports::SerialPort^  serialPort1;
    //serialPort1 = (gcnew System::IO::Ports::SerialPort(this->components));
    //serialPort1->PortName="COM3";

    XnStatus nRetVal = XN_STATUS_OK;

    Context context;
    nRetVal = context.Init();
    // TODO: check error code

    // Create the user generator
    nRetVal = g_UserGenerator.Create(context);
    // TODO: check error code

    XnCallbackHandle h1, h2, h3;
    g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, h1);
    g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(Pose_Detected, NULL, NULL, h2);
    g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(Calibration_Start, Calibration_End, NULL, h3);

    // Set the profile
    g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
    // Start generating
    nRetVal = context.StartGeneratingAll();
    // TODO: check error code
    printf("Start Pose:\n");

    while (TRUE)
    {
        // Update to next frame
        nRetVal = context.WaitAndUpdateAll();
        // TODO: check error code
        // Extract hand position of each tracked user
        XnUserID aUsers[1];
        XnUInt16 nUsers = 1;
        g_UserGenerator.GetUsers(aUsers, nUsers);
        for (int i = 0; i < nUsers; ++i)
        {
            if (g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i]))
            {
                //serialPort1->Open();

                //Get head position
                /*XnSkeletonJointPosition Head;
                g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_HEAD, Head);
                printf("%d: (%f,%f,%f) [%f]\n", aUsers[i], Head.position.X, Head.position.Y, Head.position.Z, Head.fConfidence);*/

                //Get right hand position
                XnSkeletonJointPosition RightHand;
                g_UserGenerator.GetSkeletonCap().GetSkeletonJointPosition(aUsers[i], XN_SKEL_LEFT_HAND, RightHand);
                printf("%d: (%f,%f,%f) [%f]\n", aUsers[i], RightHand.position.X, RightHand.position.Y, RightHand.position.Z, RightHand.fConfidence);



                //http://stackoverflow.com/questions/13547574/visual-studio-2010-arduino-serial-communication
                int portspeed;
                int centerpix;
                int xmid;
                HANDLE hDevice = CreateFile("COM7",GENERIC_READ | GENERIC_WRITE,FILE_SHARE_READ | FILE_SHARE_WRITE,NULL,OPEN_EXISTING,0,0);
                DCB lpTest;
                GetCommState(hDevice,&lpTest);
                lpTest.BaudRate = CBR_9600;
                lpTest.ByteSize = 8;
                lpTest.Parity = NOPARITY;
                lpTest.StopBits = ONESTOPBIT;
                SetCommState(hDevice,&lpTest);
                DWORD btsIO;

                if (RightHand.position.X<0)
                {
                    char test[] = "2";
                    WriteFile(hDevice,test,strlen(test),&btsIO,NULL);
                    printf("Right ");
                }
                else
                {
                    char test[] = "3";
                    WriteFile(hDevice,test,strlen(test),&btsIO,NULL);
                    printf("Left");
                }
                FlushFileBuffers(hDevice);
            }
            else
            {
                printf("Not tracking.\n");
            }
        }
    }

    // Clean up
    context.Shutdown();

    return 0;
}`

Arduino的代码是：

int incomingByte = 0;   // For incoming serial data
void setup()
{
    Serial.begin(9600);     // Opens serial port, sets data rate to 9600 bit/s
}

void loop()
{
    // Send data only when you receive data:
    //if (Serial.available() > 0)
    //{
        incomingByte = Serial.read();
        if (incomingByte==50)   //if =2
            analogWrite(9,0);
        //else
         //   analogWrite(9,0);

        if (incomingByte==51)   //if =3
            analogWrite(9,255);
        //else 
        //    analogWrite(9,0);

        delay(3000);
    //}
    //else
    //    analogWrite(9,255);
}

每次 Kinect 接收到用户右手的新值时，此代码当前都处于 while 循环中。

有什么我可以在我的代码中修复或使用不同的代码吗？