private void startButton_Click(object sender, RoutedEventArgs e)
{
CurrentIpAdress = ipTextBox.Text;
currentPort = portTextBox.Text;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
senseManager.EnableFace();
senseManager.Init();
faceModule = senseManager.QueryFace();
faceConfiguration = faceModule.CreateActiveConfiguration();
faceConfiguration.detection.isEnabled = true;
expressionConfiguration = faceConfiguration.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
faceConfiguration.landmarks.isEnabled = true;
faceConfiguration.landmarks.numLandmarks = 78;
faceConfiguration.EnableAllAlerts();
faceConfiguration.ApplyChanges();
captureProcess = new Thread(new ThreadStart(CaptureProcess));
captureProcess.Start();
}
/// <summary>
/// Starts this instance.
/// </summary>
public void Start()
{
if (_sm != null)
{
throw new ResearchException("Camera is already started.");
}
_sm = PXCMSenseManager.CreateInstance();
// Configure face detection.
if (EnableFace)
{
_sm.EnableFace();
var faceModule = _sm.QueryFace();
using (PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration())
{
faceConfig.EnableAllAlerts();
faceConfig.pose.isEnabled = true;
faceConfig.pose.maxTrackedFaces = 4;
if (EnableExpression)
{
PXCMFaceConfiguration.ExpressionsConfiguration expression = faceConfig.QueryExpressions();
expression.Enable();
expression.EnableAllExpressions();
faceConfig.ApplyChanges();
}
}
}
if (EnableEmotion)
{
// Configure emotion detection.
_sm.EnableEmotion();
}
if (EnableStreaming)
{
// Configure streaming.
_sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480);
}
// Event handler for data callbacks.
var handler = new PXCMSenseManager.Handler {
onModuleProcessedFrame = OnModuleProcessedFrame
};
_sm.Init(handler);
// GO.
Debug.WriteLine("{0} Starting streaming.", Time());
_sm.StreamFrames(false);
//Debug.WriteLine("{0} End streaming.", Time());
}
// Initialise all the things
public override void Init(PXCMSenseManager sManager)
{
senseManager = sManager;
module = senseManager.QueryFace();
fg = module.CreateActiveConfiguration();
fg.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR);
fg.detection.isEnabled = true;
// Set to enable all alerts
fg.EnableAllAlerts();
// Apply changes
fg.ApplyChanges();
fg.Update();
}
private PXCMFaceModule faceAnalyzer; //FaceModule Instance
/// <summary>
/// Use this for initialization
/// Unity function called on the frame when a script is enabled
/// just before any of the Update methods is called the first time.
/// </summary>
void Start()
{
faceRenderer = gameObject.GetComponent <FaceRenderer>();
/* Initialize a PXCMSenseManager instance */
psm = PXCMSenseManager.CreateInstance();
if (psm == null)
{
Debug.LogError("SenseManager Initialization Failed");
return;
}
/* Enable the color stream of size 640x480 */
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
/* Enable the face tracking module*/
sts = psm.EnableFace();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableFace: " + sts);
}
/* Retrieve an instance of face to configure */
faceAnalyzer = psm.QueryFace();
if (faceAnalyzer == null)
{
Debug.LogError("PXCSenseManager.QueryFace");
}
/* Initialize the execution pipeline */
sts = psm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCMSenseManager.Init Failed");
OnDisable();
return;
}
/* Retrieve a PXCMFaceConfiguration instance from a face to enable Gestures and Alerts */
PXCMFaceConfiguration config = faceAnalyzer.CreateActiveConfiguration();
config.detection.isEnabled = true; // 3D detection is the default tracking mode.
config.landmarks.isEnabled = true;
config.pose.isEnabled = true;
config.QueryExpressions().Enable();
config.QueryExpressions().EnableExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN);
config.EnableAllAlerts();
config.ApplyChanges();
config.Dispose();
}
public override void Init(PXCMSenseManager sManager)
{
senseManager = sManager;
// Get a face instance here (or inside the AcquireFrame/ReleaseFrame loop) for configuration
module = senseManager.QueryFace();
// face is a PXCMFaceModule instance
fg = module.CreateActiveConfiguration();
// Set to enable all alerts
fg.EnableAllAlerts();
// Apply changes
fg.ApplyChanges();
//fg.Update();
}
public override void Init(PXCMSenseManager sManager)
{
this.senseManager = sManager;
hand = senseManager.QueryHand();
face = senseManager.QueryFace();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("wave");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
faceConfic = face.CreateActiveConfiguration();
faceConfic.QueryExpressions();
faceConfic.EnableAllAlerts();
faceConfic.ApplyChanges();
PXCMFaceConfiguration.ExpressionsConfiguration expc = faceConfic.QueryExpressions();
expc.Enable();
expc.EnableAllExpressions();
faceConfic.ApplyChanges();
Console.WriteLine("init smile done");
}
public FaceTrackerThread()
{
running = true;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
senseManager.EnableFace();
senseManager.Init();
face = senseManager.QueryFace();
faceConfiguration = face.CreateActiveConfiguration();
faceConfiguration.detection.isEnabled = true;
expressionConfiguration = faceConfiguration.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
//Gaze detection
gazec = faceConfiguration.QueryGaze();
gazec.isEnabled = true;
faceConfiguration.ApplyChanges();
faceConfiguration.EnableAllAlerts();
faceConfiguration.ApplyChanges();
}
private void FaceTrackingPipeline()
{
IsDispose = false;
OnStart?.Invoke(this, null);
#region Manager Init
realSenseManager = RealSenseObjects.Session.CreateSenseManager();
if (realSenseManager == null)
{
MessageBox.Show(
"PXCMSenseManager初始化失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
PXCMCaptureManager captureManager = realSenseManager.captureManager;
if (captureManager == null)
{
MessageBox.Show(
"PXCMCaptureManager初始化失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
#endregion
#region 基本設定
//設定裝置
captureManager.FilterByDeviceInfo(Form.SelectedDevice);
//設定串流類型
captureManager.FilterByStreamProfiles(Form.SelectedDeviceStreamProfile);
//啟用臉部追蹤模組
realSenseManager.EnableFace();
PXCMFaceModule faceModule = realSenseManager.QueryFace();
if (faceModule == null)
{
MessageBox.Show(
"取得PXCMFaceModule失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
//建立臉部追蹤模組設定
moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
MessageBox.Show(
"建立PXCMFaceConfiguration失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
//追蹤模式設定
moduleConfiguration.SetTrackingMode(Form.ModeType);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.isEnabled = true;
moduleConfiguration.detection.maxTrackedFaces = 4;//最大追蹤4個臉
moduleConfiguration.landmarks.isEnabled = false;
moduleConfiguration.pose.isEnabled = false;
recognitionConfig =
moduleConfiguration.QueryRecognition();
if (recognitionConfig == null)
{
MessageBox.Show(
"建立RecognitionConfiguration失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
recognitionConfig.Enable();
#endregion
#region 讀取資料庫數據
if (Form.FaceData != null)
{
recognitionConfig.SetDatabase(Form.FaceData);
moduleConfiguration.ApplyChanges();
}
#endregion
#region 預備啟動
moduleConfiguration.EnableAllAlerts();
//moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
Form.SetStatus("RealSenseManager初始化中");
if (applyChangesStatus.IsError() || realSenseManager.Init().IsError())
{
MessageBox.Show(
"RealSenseManager初始化失敗，請檢查設定正確。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
#endregion
using (moduleOutput = faceModule.CreateOutput()) {
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureManager.QueryDevice();
if (device == null)
{
MessageBox.Show(
"取得設備失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
#region Loop
while (!_Stop)
{
while (_Paush)
{
Application.DoEvents();
}
if (realSenseManager.AcquireFrame(true).IsError())
{
break;
}
var isConnected = realSenseManager.IsConnected();
if (isConnected)
{
var sample = realSenseManager.QueryFaceSample();
if (sample == null)
{
realSenseManager.ReleaseFrame();
continue;
}
#region 畫面取出
PXCMImage image = null;
if (Form.ModeType == PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR)
{
image = sample.ir;
}
else
{
image = sample.color;
}
#endregion
moduleOutput.Update();//更新辨識
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
realSenseManager.ReleaseFrame();
continue;
}
#region 繪圖與事件
OnFrame?.Invoke(this, new FaceRecognitionEventArgs()
{
Image = ToBitmap(image)
});
FindFace(moduleOutput);
#endregion
}
//發布框
realSenseManager.ReleaseFrame();
}
#endregion
//更新資料庫緩衝區
//Buffer = moduleOutput.QueryRecognitionModule().GetDatabaseBuffer();
}
#region 釋放資源
moduleConfiguration.Dispose();
realSenseManager.Close();
realSenseManager.Dispose();
#endregion
IsDispose = true;
OnStop?.Invoke(this, null);
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
// Set Source & Landmark Profile Index
PXCMCapture.DeviceInfo info;
if (m_form.GetRecordState())
{
pp.captureManager.SetFileName(m_form.GetFileName(), true);
if (m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out info))
{
pp.captureManager.FilterByDeviceInfo(info);
}
}
else if (m_form.GetPlaybackState())
{
pp.captureManager.SetFileName(m_form.GetFileName(), false);
PXCMCaptureManager cmanager = pp.QueryCaptureManager();
if (cmanager == null)
{
throw new Exception("PXCMCaptureManager null");
}
cmanager.SetRealtime(false);
}
else
{
if (m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out info))
{
pp.captureManager.FilterByDeviceInfo(info);
Tuple <PXCMImage.ImageInfo, PXCMRangeF32> selectedRes = m_form.GetCheckedColorResolution();
var set = new PXCMCapture.Device.StreamProfileSet();
set.color.frameRate = selectedRes.Item2;
set.color.imageInfo.format = selectedRes.Item1.format;
set.color.imageInfo.width = selectedRes.Item1.width;
set.color.imageInfo.height = selectedRes.Item1.height;
pp.captureManager.FilterByStreamProfiles(set);
}
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
PXCMFaceConfiguration.TrackingModeType mode = m_form.GetCheckedProfile().Contains("3D")
? PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH
: PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.RecognitionConfiguration qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCaptureManager cmanager = pp.QueryCaptureManager();
if (cmanager == null)
{
throw new Exception("capture manager null");
}
PXCMCapture.Device device = cmanager.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
ushort threshold = device.QueryDepthConfidenceThreshold();
int filter_option = device.QueryIVCAMFilterOption();
int range_tradeoff = device.QueryIVCAMMotionRangeTradeOff();
device.SetDepthConfidenceThreshold(1);
device.SetIVCAMFilterOption(6);
device.SetIVCAMMotionRangeTradeOff(21);
if (m_form.IsMirrored())
{
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
}
else
{
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
}
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
bool isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
PXCMCapture.Sample sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
DisplayPicture(sample.color);
moduleOutput.Update();
if (moduleConfiguration.QueryRecognition().properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
device.SetDepthConfidenceThreshold(threshold);
device.SetIVCAMFilterOption(filter_option);
device.SetIVCAMMotionRangeTradeOff(range_tradeoff);
}
moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
PXCMCaptureManager captureMgr = pp.captureManager;
if (captureMgr == null)
{
throw new Exception("PXCMCaptureManager null");
}
var selectedRes = m_form.GetCheckedColorResolution();
if (selectedRes != null && !m_form.IsInPlaybackState())
{
// Set active camera
PXCMCapture.DeviceInfo deviceInfo;
m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out deviceInfo);
captureMgr.FilterByDeviceInfo(m_form.GetCheckedDeviceInfo());
// activate filter only live/record mode , no need in playback mode
var set = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = selectedRes.Item2,
imageInfo =
{
format = selectedRes.Item1.format,
height = selectedRes.Item1.height,
width = selectedRes.Item1.width
}
}
};
if (m_form.IsPulseEnabled() && (set.color.imageInfo.width < 1280 || set.color.imageInfo.height < 720))
{
captureMgr.FilterByStreamProfiles(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else
{
captureMgr.FilterByStreamProfiles(set);
}
}
// Set Source & Landmark Profile Index
if (m_form.IsInPlaybackState())
{
//pp.captureManager.FilterByStreamProfiles(null);
captureMgr.SetFileName(m_form.GetFileName(), false);
captureMgr.SetRealtime(false);
}
else if (m_form.GetRecordState())
{
captureMgr.SetFileName(m_form.GetFileName(), true);
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
var checkedProfile = m_form.GetCheckedProfile();
var mode = m_form.FaceModesMap.First(x => x.Value == checkedProfile).Key;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.PulseConfiguration pulseConfiguration = moduleConfiguration.QueryPulse();
if (pulseConfiguration == null)
{
throw new Exception("pulseConfiguration null");
}
pulseConfiguration.properties.maxTrackedFaces = m_form.NumPulse;
if (m_form.IsPulseEnabled())
{
pulseConfiguration.Enable();
}
qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
#region 臉部辨識資料庫讀取
if (File.Exists(DatabasePath))
{
m_form.UpdateStatus("正在讀取資料庫", MainForm.Label.StatusLabel);
List <RecognitionFaceData> faceData = null;
FaceDatabaseFile.Load(DatabasePath, ref faceData, ref NameMapping);
FaceData = faceData.ToArray();
qrecognition.SetDatabase(FaceData);
}
#endregion
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureMgr.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
#region loop
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
var isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
switch (mode)
{
case PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR:
if (sample.ir != null)
{
DisplayPicture(sample.ir);
}
break;
default:
DisplayPicture(sample.color);
break;
}
moduleOutput.Update();
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
pp.ReleaseFrame();
continue;
}
if (recognition.properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
#endregion
}
// moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
// moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
#region 儲存臉部辨識資訊檔案
if (DatabaseChanged)
{
FaceDatabaseFile.Save(DatabasePath, FaceData.ToList(), NameMapping);
}
#endregion
var dbm = new FaceDatabaseManager(pp);
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
// Use this for initialization
void Start()
{
// Creates an instance of the sense manager to be called later
session = PXCMSenseManager.CreateInstance();
//Output an error if there is no instance of the sense manager
if (session == null)
{
Debug.LogError("SenseManager Init Failed!");
}
// Enables hand tracking
sts = session.EnableHand();
handAnalyzer = session.QueryHand();
sts2 = session.EnableFace();
faceAnalyzer = session.QueryFace();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableHand: " + sts);
}
if (sts2 != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableFace: " + sts2);
}
// Creates the session
sts = session.Init();
sts2 = session.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.Init: " + sts);
}
if (sts2 != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.Init: " + sts2);
}
// Creates a hand config for future data
PXCMHandConfiguration handconfig = handAnalyzer.CreateActiveConfiguration();
PXCMFaceConfiguration faceconfig = faceAnalyzer.CreateActiveConfiguration();
//If there is handconfig instance
if (handconfig != null)
{
handconfig.EnableAllAlerts();
handconfig.ApplyChanges();
handconfig.Dispose();
}
if (faceconfig != null)
{
faceconfig.EnableAllAlerts();
faceconfig.ApplyChanges();
faceconfig.Dispose();
}
}
public MainWindow()
{
InitializeComponent();
//set the current date and time
currentDateTime = DateTime.Now.ToString("yyyyMMddHHmmssfff");
//set total timer count to 0 and init vars
highPerformanceTimer = new HiPerfTimer();
totalHighPerfTimeElapsed = 0;
numLinesWritten = 0; //set the total number of lines written to 0 so we can track when to start the timer
//init pipe stuff
pipeClient = new MyClient(PIPE_NAME);
pipeClient.SendMessage("I Am Intel RealSense");
//Debug.WriteLine("Server Ready");
//initialise combobox
populateComboBox();
//init the exprToDisplay global var
exprToDisplay = "";
//Work on the file
//create paths
string dirToCreate = "data";
string dirToCreateFull = System.IO.Path.GetFullPath(dirToCreate);
Directory.CreateDirectory(dirToCreateFull);
dirToCreate = "video";
dirToCreateFull = System.IO.Path.GetFullPath(dirToCreate);
Directory.CreateDirectory(dirToCreateFull);
//create the csv file to write to
file = new StreamWriter("data/" + currentDateTime + "data" + ".csv");
//initialise global expressions array - faster to add the keys here?
var enumListMain = Enum.GetNames(typeof(PXCMFaceData.ExpressionsData.FaceExpression));
exprTable = new Hashtable();
string initLine = "";
//Add the column schema
//Initial line: timestamp and high prec time
initLine += "TIMESTAMP,HIGH_PRECISION_TIME_FROM_START,STIMCODE";
//add all the expression data columns
for (int i = 0; i < enumListMain.Length; i++)
{
exprTable.Add(enumListMain[i], 0);
initLine += "," + enumListMain[i];
}
//add the bounding rectangle column
initLine += "," + "BOUNDING_RECTANGLE_HEIGHT" + "," + "BOUNDING_RECTANGLE_WIDTH" + "," + "BOUNDING_RECTANGLE_X" + "," + "BOUNDING_RECTANGLE_Y";
//add the average depth column
initLine += "," + "AVERAGE_DEPTH";
//add landmark points column
for (int i = 0; i < LANDMARK_POINTS_TOTAL; i++)
{
initLine += "," + "LANDMARK_" + i + "_X";
initLine += "," + "LANDMARK_" + i + "_Y";
}
//add euler angles columns
initLine += "," + "EULER_ANGLE_PITCH" + "," + "EULER_ANGLE_ROLL" + "," + "EULER_ANGLE_YAW";
initLine += "," + "QUATERNION_W" + "," + "QUATERNION_X" + "," + "QUATERNION_Y" + "," + "QUATERNION_Z";
//write the initial row to the file
file.WriteLine(initLine);
//configure the camera mode selection box
cbCameraMode.Items.Add("Color");
cbCameraMode.Items.Add("IR");
cbCameraMode.Items.Add("Depth");
//configure initial camera mode
cameraMode = "Color";
//initialise global vars
numFacesDetected = 0;
handWaving = false;
handTrigger = false;
handResetTimer = 0;
lEyeClosedIntensity = 0;
lEyeClosed = false;
lEyeClosedTrigger = false;
lEyeClosedResetTimer = 0;
rEyeClosed = false;
rEyeClosedTrigger = false;
rEyeClosedResetTimer = 0;
rEyeClosedIntensity = 0;
emotionEvidence = 0;
blinkTrigger = false;
blinkResetTimer = 0;
//global fps vars
prevTime = 0;
stopwatch = new Stopwatch();
// Instantiate and initialize the SenseManager
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
MessageBox.Show("Cannot initialise sense manager: closing in 20s, report to Sriram");
Thread.Sleep(20000);
Environment.Exit(1);
}
//capture samples
senseManager.captureManager.SetFileName("video/" + currentDateTime + ".raw", true);
//Enable color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS);
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS);
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS);
//Enable face and hand tracking AND EMOTION TRACKING
senseManager.EnableHand();
senseManager.EnableFace();
senseManager.EnableEmotion();
//Initialise the senseManager - begin collecting data
senseManager.Init();
// Configure the Hand Module
hand = senseManager.QueryHand();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("wave");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
//Configure the Face Module
face = senseManager.QueryFace();
faceConfig = face.CreateActiveConfiguration();
faceConfig.EnableAllAlerts();
faceConfig.detection.isEnabled = true; //enables querydetection function to retrieve face loc data
faceConfig.detection.maxTrackedFaces = 1; //MAXIMUM TRACKING - 1 FACE
faceConfig.ApplyChanges();
//Configure the sub-face-module Expressions
exprConfig = faceConfig.QueryExpressions();
exprConfig.Enable();
exprConfig.EnableAllExpressions();
faceConfig.ApplyChanges();
// Start the worker thread that processes the captured data in real-time
processingThread = new Thread(new ThreadStart(ProcessingThread));
processingThread.Start();
}
private void ConfigureRealSense()
{
PXCMFaceModule faceModule;
// Start the SenseManager and session
senseManager = PXCMSenseManager.CreateInstance();
senseManager.captureManager.SetFileName("recorded_video.wm", true);
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
senseManager.Init();
senseManager.captureManager.SetRealtime(false);
senseManager.captureManager.SetPause(true);
// Enable the color stream
//senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
//60 0r 0 for fps?
// Enable the face module
senseManager.EnableFace();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.detection.isEnabled = true;
expressionConfig = faceConfig.QueryExpressions();
expressionConfig.Enable();
expressionConfig.EnableAllExpressions();
faceConfig.EnableAllAlerts();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
// Enable facial recognition
recognitionConfig = faceConfig.QueryRecognition();
recognitionConfig.Enable();
// Create a recognition database
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc recognitionDesc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
recognitionDesc.maxUsers = DatabaseUsers;
recognitionConfig.CreateStorage(DatabaseName, out recognitionDesc);
recognitionConfig.UseStorage(DatabaseName);
LoadDatabaseFromFile();
recognitionConfig.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
int numFaces = faceData.QueryNumberOfDetectedFaces();
Console.WriteLine("number of detected faces", numFaces);
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
faceConfig.Dispose();
faceModule.Dispose();
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
PXCMCaptureManager captureMgr = pp.captureManager;
if (captureMgr == null)
{
throw new Exception("PXCMCaptureManager null");
}
var selectedRes = m_form.GetCheckedColorResolution();
if (selectedRes != null)
{
// Set active camera
PXCMCapture.DeviceInfo deviceInfo;
m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out deviceInfo);
captureMgr.FilterByDeviceInfo(m_form.GetCheckedDeviceInfo());
// activate filter only live/record mode , no need in playback mode
var set = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = selectedRes.Item2,
imageInfo =
{
format = selectedRes.Item1.format,
height = selectedRes.Item1.height,
width = selectedRes.Item1.width
}
}
};
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
var checkedProfile = m_form.GetCheckedProfile();
var mode = m_form.FaceModesMap.First(x => x.Value == checkedProfile).Key;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = 4; //Expressionの最大認識量
econfiguration.EnableAllExpressions();
//if (m_form.IsExpressionsEnabled())
//{
econfiguration.Enable(); //Expressionsの強制有効化
//}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
m_form.UpdateStatus("カメラ起動中", MainForm.Label.ReportLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
m_form.UpdateStatus("設定エラー：メニューから適切な設定をしてください。", MainForm.Label.ReportLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureMgr.QueryDevice();
if (device == null)
{
m_form.UpdateStatus("カメラを接続してください。", MainForm.Label.ReportLabel);
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
var isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
switch (mode)
{
case PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR:
if (sample.ir != null)
{
DisplayPicture(sample.ir);
}
break;
default:
DisplayPicture(sample.color);
break;
}
moduleOutput.Update();
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
pp.ReleaseFrame();
continue;
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
}
// moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
// moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}