Hey guys,

At first, sorry for my English, I am German .
So, concering my project: I am trying to control an RC Car via Kinect, until now I got it working with key control only (eg WASD). So, I am using a Velleman K8055 Interface Board + the Kinect and VB Windows Forms. So far, so good, I created 4 Forms: menu, info, kinect-controls + wasdcontrols window. The error only occurs for my kinect-controls window (german name: Steuerung.vb) & that's my source code:

Code:
Imports Microsoft.Research.Kinect.Nui
Imports System.Text
Imports Coding4Fun.Kinect.WinForm
Imports System.Xml.Serialization
Imports System.IO





Public Class Steuerung

    Private Pointer = PictureBox2
    Private Declare Function OpenDevice Lib "k8055d.dll" (ByVal CardAddress As Integer) As Integer
    Private Declare Function CloseDevice Lib "k8055d.dll" (ByVal CardAddress As Integer) As Integer
    Private Declare Sub SetDigitalChannel Lib "k8055d.dll" (ByVal Channel As Integer)
    Private Declare Sub ClearAllDigital Lib "k8055d.dll" (ByVal Channel As Integer)
    Private Declare Sub ClearDigitalChannel Lib "k8055d.dll" (ByVal Channel As Integer)
    Dim nui As New Runtime()





    Public Sub New()

        InitializeComponent()

    End Sub

    Private Sub Window_Loaded(ByVal sender As Object, ByVal e As EventArgs) Handles MyBase.Load


        nui.Initialize(RuntimeOptions.UseSkeletalTracking)
        SetupKinect()
        AddHandler nui.SkeletonFrameReady, AddressOf nui_SkeletonFrameReady
        AddHandler Runtime.Kinects.StatusChanged, AddressOf Kinects_StatusChanged
 End Sub        
    Private Sub SetupKinect()
        If Runtime.Kinects.Count = 0 Then
            Label2.Text = "Keine Kinect angeschlossen"
        Else
            'use first Kinect
            nui = Runtime.Kinects(0)
            nui.Initialize(RuntimeOptions.UseColor Or RuntimeOptions.UseDepthAndPlayerIndex Or RuntimeOptions.UseSkeletalTracking)
        End If
    End Sub
    Private Sub Kinects_StatusChanged(sender As Object, e As StatusChangedEventArgs)
        Dim message As String = "Status geändert: "
        Select Case e.Status
            Case KinectStatus.Connected
                message += "Verbunden"
                Exit Select
            Case KinectStatus.Disconnected
                message += "Getrennt"
                Exit Select
            Case KinectStatus.[Error]
                message += "Error"
                Exit Select
            Case KinectStatus.NotPowered
                message += "Keine Stromversorgung"
                Exit Select
            Case KinectStatus.NotReady
                message += "Nicht bereit"
                Exit Select
            Case Else
                If e.Status.HasFlag(KinectStatus.[Error]) Then
                    message += "Kinect Error"
                End If
                Exit Select
        End Select
        Label2.Text = message


    End Sub

    

    Private Sub nui_SkeletonFrameReady(ByVal sender As Object, ByVal e As SkeletonFrameReadyEventArgs)

        Dim allSkeletons As SkeletonFrame = e.SkeletonFrame

        Dim skeleton As SkeletonData = ( _
            From s In allSkeletons.Skeletons _
            Where s.TrackingState = SkeletonTrackingState.Tracked _
            Select s).FirstOrDefault()




        Dim HandRight = skeleton.Joints(JointID.HandRight).ScaleTo(320, 240, 0.5F, 0.5F)



        SetEllipsePosition(skeleton.Joints(JointID.HandRight))
    End Sub

    Private Sub SetEllipsePosition(ByVal joint As Joint)
        Dim scaledJoint = joint.ScaleTo(320, 240, 0.5F, 0.5F)

        PictureBox2.Left = scaledJoint.Position.X
        PictureBox2.Top = scaledJoint.Position.Y
    End Sub



    Private Sub Hauptmenübutton_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Hauptmenübutton.Click
        Hauptmenü.Show()
        nui.Uninitialize()

        Label1.Text = "Nicht verbunden"

        Me.Hide()



    End Sub

    Private Sub Infobutton_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Infobutton.Click
        Info.Show()
        Me.Hide()

    End Sub

    Private Sub Verbindenbutton_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Verbindenbutton.Click
        Dim CardAddress As Integer
        Dim h As Integer
        CardAddress = 2

        h = OpenDevice(2)
        Label1.Text = "Karte " + Str(h) + " angeschlossen"
    End Sub



End Class
So, my error is concerning this line in the bottom third:
Code:
Dim HandRight = skeleton.Joints(JointID.HandRight).ScaleTo(320, 240, 0.5F, 0.5F)
and it says:

NullReferenceException [wurde nicht von Benutzercode behandelt.] (means: unhandled by user code.)
Object reference not set to an instance of an object.

What I tried so far:

1) Re-creating & cleaning up my project files (was promised to be the solution when I googled this)
2) Defining Dim HandRight in my Declarations
3) Setting HandRight to "Nothing"

but however, nothing will help :/
By the way, I am using the Coding4Fun.Kinect.WinForm.dll & the Microsoft.Research.Kinect.dll


If I forgot to mention anything important, please tell me.


Kind regards,

alex