public void Start()
{
//create session
PXCMSession session;
pxcmStatus status = PXCMSession.CreateInstance(out session);
if (IsError(status))
{
OnError(CamEvent.FAILED_TO_CREATE_SDK_SESSION);
return;
}
//create gesture-module
PXCMBase gestureBase;
status = session.CreateImpl(PXCMGesture.CUID, out gestureBase);
if (IsError(status))
{
OnError(CamEvent.FAILED_TO_LOAD_GESTURE_RECOGNITION);
session.Dispose();
return;
}
//create gesture-profile
PXCMGesture gesture = (PXCMGesture)gestureBase;
PXCMGesture.ProfileInfo profileInfo;
status = gesture.QueryProfile(0, out profileInfo);
profileInfo.activationDistance = 70;
//setup gesture-capture
UtilMCapture capture = new UtilMCapture(session);
status = capture.LocateStreams(ref profileInfo.inputs);
if (IsError(status))
{
OnError(CamEvent.FAILED_TO_LOCATE_CAPTURE_MODULE);
gesture.Dispose();
capture.Dispose();
session.Dispose();
return;
}
status = gesture.SetProfile(ref profileInfo);
status = gesture.SubscribeAlert(this.OnAlertHandler);
status = gesture.SubscribeGesture(100, this.OnGesureHandler);
//start capture of frames
bool device_lost = false;
PXCMImage[] images = new PXCMImage[PXCMCapture.VideoStream.STREAM_LIMIT];
PXCMScheduler.SyncPoint[] syncPoints = new PXCMScheduler.SyncPoint[2];
while (_tracking)
{
status = capture.ReadStreamAsync(images, out syncPoints[0]);
if (IsError(status))
{
if (status == pxcmStatus.PXCM_STATUS_DEVICE_LOST)
{
if (!device_lost)
{
OnError(CamEvent.DEVICE_DISCONNECTED);
}
device_lost = true;
continue;
}
OnError(CamEvent.DEVICE_FAILED);
break;
}
if (device_lost)
{
OnNotify(CamEvent.DEVICE_RECONNECTED);
device_lost = false;
}
status = gesture.ProcessImageAsync(images, out syncPoints[1]);
if (IsError(status))
{
break;
}
PXCMScheduler.SyncPoint.SynchronizeEx(syncPoints);
if (syncPoints[0].Synchronize(0) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMGesture.GeoNode data;
status = gesture.QueryNodeData(0, PXCMGesture.GeoNode.Label.LABEL_BODY_HAND_PRIMARY, out data);
if (!IsError(status))
{
if (ShapeHelper.IsPointInsideRect(data.positionImage.x, data.positionImage.y, Constants.FoVWindow))
{
//adjust the point to field-of-view window
Point cameraPoint = new Point(data.positionImage.x - Constants.FoVWindow.X, data.positionImage.y - Constants.FoVWindow.Y);
//cameraPoint = ShapeHelper.RotatePoint(cameraPoint, Constants.FoVCenter, Constants.RotationAngle);
OnMovement(cameraPoint);
if (data.opennessState != _previousOpenness)
{
OnOpenClose(data.opennessState, data.openness);
_previousOpenness = data.opennessState;
}
}
else
{
OnNotify(CamEvent.HOVERING_OUTSIDE);
}
}
}
foreach (PXCMScheduler.SyncPoint p in syncPoints)
{
if (p != null)
{
p.Dispose();
}
}
foreach (PXCMImage img in images)
{
if (img != null)
{
img.Dispose();
}
}
}
if (gesture != null)
{
gesture.Dispose();
}
if (capture != null)
{
capture.Dispose();
}
if (session != null)
{
session.Dispose();
}
}
public GesturePipeline(Form1 form)
: base()
{
//------------------------------
// Creates datastructures for
// the PCSDK
//------------------------------
UtilMPipeline pp; //The pipeline
PXCMGesture.Blob bdata; //The intrepred blobs
PXCMImage bimage; //The frame from the camera
PXCMImage.ImageData data; //The data contained in the frame.
PXCMImage.ImageInfo info; //Metadata about the frame.
int color; //The "color" for the hand in question.
//------------------------------
//------------------------------
// Initilize the datastructures
// defined above.
//------------------------------
Coord[] locations;
pp = new UtilMPipeline();
pp.EnableGesture();
pp.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH);
//-----------------------------
//initilize the pointer for the WMC window.
IntPtr handle = GetDesktopWindow();
//----------------------------------
// Create and initilize the bitmaps
// that the frames will be comapred
// against.
//---------------------------------
Bitmap pause = convertBitmap(KwisStandalone.Properties.Resources.STOP);
Bitmap fastForward = convertBitmap(KwisStandalone.Properties.Resources.FAST_FORWARD);
Bitmap rewind = convertBitmap(KwisStandalone.Properties.Resources.REWIND);
Bitmap play = convertBitmap(KwisStandalone.Properties.Resources.PLAY);
Bitmap menu = convertBitmap(KwisStandalone.Properties.Resources.MENU);
Bitmap volUp = convertBitmap(KwisStandalone.Properties.Resources.VOL_UP);
Bitmap volDown = convertBitmap(KwisStandalone.Properties.Resources.VOL_DOWN);
//--------------------------------
// initial the template matching algorithm.
templateMatching = new ExhaustiveTemplateMatching(0.75f);
/* If we were able to aquire a frame from the camera,
* start the main application logic.
* */
if (pp.Init())
{
//Loop forever as long as the form is still open.
while (!form.closing)
{
if (!pp.AcquireFrame(true))
{
MessageBox.Show("Failed to aquire a frame.", "Kwi-S", MessageBoxButtons.OKCancel, MessageBoxIcon.Asterisk);
break;
}
//Aquire the gesture data for the frame.
using (PXCMGesture gesture = pp.QueryGesture())
{
//Load gesture data into respective data structures.
gesture.QueryBlobData(PXCMGesture.Blob.Label.LABEL_SCENE, 0, out bdata);
gesture.QueryBlobImage(PXCMGesture.Blob.Label.LABEL_SCENE, 0, out bimage);
bimage.AcquireAccess(PXCMImage.Access.ACCESS_READ, out data);
info = bimage.imageInfo;
/* Although this says left hand,
* this actually aquires the right hand.
* This is from trial and error and contradicts
* both the documentation and common sense. A bug
* in the SDK?
* */
color = (int)bdata.labelLeftHand;
//Store the pixels that include the hand specified above.
locations = new Coord[info.width * info.height];
handLocation(ref locations, data, (int)info.width);
//create a new bitmap from this data.
Bitmap bitmap = createBitmap(ref locations, (int)info.width, (int)info.height);
/* Zero is the left hand (actuall right). So, if we detected this,
* then lets see if it matches any of the stored reference images.
* */
if (color == 0)
{
try
{
if (compare(ref bitmap, ref pause))
{
clickAndSendKey(RemoteKey.PLAY_PAUSE);
}
else if (compare(ref bitmap, ref play))
{
clickAndSendKey(RemoteKey.PLAY);
}
else if (compare(ref bitmap, ref fastForward))
{
clickAndSendKey(RemoteKey.FAST_FORWARD);
}
else if (compare(ref bitmap, ref rewind))
{
clickAndSendKey(APPCOMMAND_MEDIA_REWIND, handle);
}
else if (compare(ref bitmap, ref menu))
{
clickAndSendKey(RemoteKey.STOP);
}
else if (compare(ref bitmap, ref volUp))
{
clickAndSendKey(RemoteKey.VOL_UP);
}
else if (compare(ref bitmap, ref volDown))
{
clickAndSendKey(RemoteKey.VOL_DOWN);
}
}
catch (InvalidImagePropertiesException iipe)
{
}
}
//Clean up the datastructures in prep for a new frame.
bitmap.Dispose();
bimage.ReleaseAccess(ref data);
bimage.Dispose();
gesture.Dispose();
}
pp.ReleaseFrame();
}
}
}
