private void InitializeFace()
{
// 顔検出を有効にする
var sts = senceManager.EnableFace();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("顔検出の有効化に失敗しました");
}
//顔検出器を生成する
var faceModule = senceManager.QueryFace();
//顔検出のプロパティを取得
PXCMFaceConfiguration config = faceModule.CreateActiveConfiguration();
config.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
config.ApplyChanges();
// パイプラインを初期化する
pxcmStatus ret = senceManager.Init();
if (ret < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("初期化に失敗しました");
}
// デバイス情報の取得
PXCMCapture.Device device = senceManager.QueryCaptureManager().QueryDevice();
if (device == null)
{
throw new Exception("deviceの生成に失敗しました");
}
// ミラー表示にする
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
PXCMCapture.DeviceInfo deviceInfo;
device.QueryDeviceInfo(out deviceInfo);
if (deviceInfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
device.SetIVCAMFilterOption(6);
device.SetIVCAMMotionRangeTradeOff(21);
}
config.detection.isEnabled = true;
config.detection.maxTrackedFaces = DETECTION_MAXFACES;
config.QueryExpressions().Enable(); //追加：顔の姿勢情報取得を可能にする
config.QueryExpressions().EnableAllExpressions(); //追加：すべての表出情報を取得可能にする
config.QueryExpressions().properties.maxTrackedFaces = EXPRESSION_MAXFACES; //追加：二人までの表出を取得可能に設定する
config.ApplyChanges();
faceData = faceModule.CreateOutput();
}
private void CreateResolutionMap()
{
ColorResolutions = new Dictionary <string, IEnumerable <Tuple <PXCMImage.ImageInfo, PXCMRangeF32> > >();
var desc = new PXCMSession.ImplDesc
{
group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR,
subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE
};
for (int i = 0; ; i++)
{
PXCMSession.ImplDesc desc1;
if (Session.QueryImpl(desc, i, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture capture;
if (Session.CreateImpl(desc1, out capture) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
continue;
}
for (int j = 0; ; j++)
{
PXCMCapture.DeviceInfo info;
if (capture.QueryDeviceInfo(j, out info) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device device = capture.CreateDevice(j);
if (device == null)
{
throw new Exception("PXCMCapture.Device null");
}
var deviceResolutions = new List <Tuple <PXCMImage.ImageInfo, PXCMRangeF32> >();
for (int k = 0; k < device.QueryStreamProfileSetNum(PXCMCapture.StreamType.STREAM_TYPE_COLOR); k++)
{
PXCMCapture.Device.StreamProfileSet profileSet;
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, k, out profileSet);
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
var currentRes = new Tuple <PXCMImage.ImageInfo, PXCMRangeF32>(profileSet.color.imageInfo, profileSet.color.frameRate);
if (IsProfileSupported(profileSet, dinfo))
{
continue;
}
if (SupportedColorResolutions.Contains(new Tuple <int, int>(currentRes.Item1.width, currentRes.Item1.height)))
{
deviceResolutions.Add(currentRes);
}
}
try
{
ColorResolutions.Add(info.name, deviceResolutions);
}
catch (Exception e)
{
e.ToString();
}
device.Dispose();
}
capture.Dispose();
}
}
private bool PopulateDeviceFromFileMenu()
{
devices.Clear();
devices_iuid.Clear();
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCMSession.ImplDesc desc1;
PXCMCapture.Device device = null;
PXCMCapture.DeviceInfo dinfo;
PXCMSenseManager pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
UpdateStatus("Init Failed");
return(false);
}
if (pp.captureManager == null)
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
try
{
if (session.QueryImpl(desc, 0, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.SetFileName(filename, false) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.LocateStreams() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
device = pp.captureManager.QueryDevice();
if (device != null)
{
device.QueryDeviceInfo(out dinfo);
}
else
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
}
catch
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
DeviceMenu.DropDownItems.Clear();
ToolStripMenuItem sm1 = new ToolStripMenuItem(dinfo.name, null, new EventHandler(Device_Item_Click));
devices[sm1] = dinfo;
devices_iuid[sm1] = desc1.iuid;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem("Playback from the file : ", null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem(filename, null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
if (DeviceMenu.DropDownItems.Count > 0)
{
(DeviceMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
// populate color depth menu from the file
profiles.Clear();
ColorMenu.DropDownItems.Clear();
DepthMenu.DropDownItems.Clear();
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
if (dinfo.streams.HasFlag(PXCMCapture.StreamType.STREAM_TYPE_COLOR))
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_COLOR];
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Color_Item_Click));
profiles[sm1] = sprofile;
ColorMenu.DropDownItems.Add(sm1);
}
}
if (((int)dinfo.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
if (sprofile.options != (PXCMCapture.Device.StreamOption) 0x20000) // do not show Depth Confidence
{
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
}
GetCheckedDevice();
pp.Close();
pp.Dispose();
return(true);
}
/* Using PXCMSenseManager to handle data */
public void SimplePipeline()
{
form.UpdateInfo(String.Empty, Color.Black);
bool liveCamera = false;
bool flag = true;
PXCMSenseManager instance = null;
_disconnected = false;
instance = form.g_session.CreateSenseManager();
if (instance == null)
{
form.UpdateStatus("Failed creating SenseManager");
return;
}
if (form.GetRecordState())
{
instance.captureManager.SetFileName(form.GetFileName(), true);
PXCMCapture.DeviceInfo info;
if (form.Devices.TryGetValue(form.GetCheckedDevice(), out info))
{
instance.captureManager.FilterByDeviceInfo(info);
}
}
else if (form.GetPlaybackState())
{
instance.captureManager.SetFileName(form.GetFileName(), false);
instance.captureManager.SetRealtime(false);
}
else
{
PXCMCapture.DeviceInfo info;
if (String.IsNullOrEmpty(form.GetCheckedDevice()))
{
form.UpdateStatus("Device Failure");
return;
}
if (form.Devices.TryGetValue(form.GetCheckedDevice(), out info))
{
instance.captureManager.FilterByDeviceInfo(info);
}
liveCamera = true;
}
/* Set Module */
pxcmStatus status = instance.EnableHand(form.GetCheckedModule());
PXCMHandModule handAnalysis = instance.QueryHand();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null)
{
form.UpdateStatus("Failed Loading Module");
return;
}
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
PXCMHandData handData = handAnalysis.CreateOutput();
if (handConfiguration == null)
{
form.UpdateStatus("Failed Create Configuration");
return;
}
if (handData == null)
{
form.UpdateStatus("Failed Create Output");
return;
}
if (form.getInitGesturesFirstTime() == false)
{
int totalNumOfGestures = handConfiguration.QueryGesturesTotalNumber();
if (totalNumOfGestures > 0)
{
this.form.UpdateGesturesToList("", 0);
for (int i = 0; i < totalNumOfGestures; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) ==
pxcmStatus.PXCM_STATUS_NO_ERROR)
{
this.form.UpdateGesturesToList(gestureName, i + 1);
}
}
form.setInitGesturesFirstTime(true);
form.UpdateGesturesListSize();
}
}
FPSTimer timer = new FPSTimer(form);
form.UpdateStatus("Init Started");
if (handAnalysis != null && instance.Init(handler) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.DeviceInfo dinfo;
PXCMCapture.Device device = instance.captureManager.device;
if (device != null)
{
pxcmStatus result = device.QueryDeviceInfo(out dinfo);
if (result == pxcmStatus.PXCM_STATUS_NO_ERROR && dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
device.SetIVCAMFilterOption(6);
}
_maxRange = device.QueryDepthSensorRange().max;
}
if (handConfiguration != null)
{
handConfiguration.EnableAllAlerts();
handConfiguration.EnableSegmentationImage(true);
handConfiguration.ApplyChanges();
handConfiguration.Update();
}
form.UpdateStatus("Streaming");
int frameCounter = 0;
int frameNumber = 0;
string nextPageGesture, previousPageGesture, firstPageGesture, endPageGesture;
HandsRecognition.Hand nextHand, previousHand, firstHand, endHand;
while (!form.stop)
{
form.GetHandType(out nextHand, out previousHand, out firstHand, out endHand);
form.GetGestureName(out nextPageGesture, out previousPageGesture, out firstPageGesture, out endPageGesture);
handConfiguration.DisableAllGestures();
if (string.IsNullOrEmpty(nextPageGesture) == false && handConfiguration.IsGestureEnabled(nextPageGesture) == false)
{
handConfiguration.EnableGesture(nextPageGesture, true);
NextPageGesture.Gesture = nextPageGesture;
NextPageGesture.handler = form.NextPage;
NextPageGesture.HandType = nextHand;
}
if (string.IsNullOrEmpty(previousPageGesture) == false && handConfiguration.IsGestureEnabled(previousPageGesture) == false)
{
handConfiguration.EnableGesture(previousPageGesture, true);
PreviousPageGesture.Gesture = previousPageGesture;
PreviousPageGesture.handler = form.PreviousPage;
PreviousPageGesture.HandType = previousHand;
}
if (string.IsNullOrEmpty(firstPageGesture) == false && handConfiguration.IsGestureEnabled(firstPageGesture) == false)
{
handConfiguration.EnableGesture(firstPageGesture, true);
FirstPageGesture.Gesture = firstPageGesture;
FirstPageGesture.handler = form.FirstPage;
FirstPageGesture.HandType = firstHand;
}
if (string.IsNullOrEmpty(endPageGesture) == false && handConfiguration.IsGestureEnabled(endPageGesture) == false)
{
handConfiguration.EnableGesture(endPageGesture, true);
EndPageGesture.Gesture = endPageGesture;
EndPageGesture.handler = form.EndPage;
EndPageGesture.HandType = endHand;
}
handConfiguration.ApplyChanges();
if (instance.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
frameCounter++;
if (!DisplayDeviceConnection(!instance.IsConnected()))
{
if (handData != null)
{
handData.Update();
}
PXCMCapture.Sample sample = instance.QueryHandSample();
if (sample != null && sample.depth != null)
{
DisplayPicture(sample.depth, handData);
if (handData != null)
{
frameNumber = liveCamera ? frameCounter : instance.captureManager.QueryFrameIndex();
DisplayJoints(handData);
DisplayGesture(handData, frameNumber);
DisplayAlerts(handData, frameNumber);
}
form.UpdatePanel();
}
timer.Tick();
}
instance.ReleaseFrame();
}
// Clean Up
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
}
else
{
form.UpdateStatus("Init Failed");
flag = false;
}
foreach (PXCMImage pxcmImage in m_images)
{
pxcmImage.Dispose();
}
instance.Close();
instance.Dispose();
if (flag)
{
form.UpdateStatus("Stopped");
}
}
/// <summary>
/// 取得所有裝置支援的顏色與解析度
/// </summary>
private PXCMCapture.Device.StreamProfileSet[][] GetDeviceStreamProfiles()
{
var result = new List <PXCMCapture.Device.StreamProfileSet[]>();
var desc = new PXCMSession.ImplDesc {
group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR,
subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE
};
for (int i = 0; ; i++)
{
PXCMSession.ImplDesc desc1;
if (RealSenseObjects.Session.QueryImpl(desc, i, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture capture;
if (RealSenseObjects.Session.CreateImpl(desc1, out capture) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
continue;
}
for (int j = 0; ; j++)
{
PXCMCapture.DeviceInfo info;
if (capture.QueryDeviceInfo(j, out info) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device device = capture.CreateDevice(j);
if (device == null)
{
throw new Exception("PXCMCapture.Device null");
}
var deviceResolutions = new List <PXCMCapture.Device.StreamProfileSet>();
for (int k = 0; k < device.QueryStreamProfileSetNum(PXCMCapture.StreamType.STREAM_TYPE_COLOR); k++)
{
PXCMCapture.Device.StreamProfileSet profileSet;
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, k, out profileSet);
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (IsProfileSupported(profileSet, dinfo))
{
continue;
}
deviceResolutions.Add(profileSet);
}
try {
result.Add(deviceResolutions.ToArray());
} catch (Exception e) {
}
device.Dispose();
}
capture.Dispose();
}
return(result.ToArray());
}
private void InitializeFace()
{
// 顔検出を有効にする
var sts = senceManager.EnableFace();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("顔検出の有効化に失敗しました");
}
//顔検出器を生成する
var faceModule = senceManager.QueryFace();
//顔検出のプロパティを取得
PXCMFaceConfiguration config = faceModule.CreateActiveConfiguration();
config.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
config.ApplyChanges();
//追加：顔識別のプロパティを取得
PXCMFaceConfiguration.RecognitionConfiguration rcfg = config.QueryRecognition();
//追加：顔識別を有効化
rcfg.Enable();
//追加：顔識別用データベースの用意
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc desc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
desc.maxUsers = 10;
rcfg.CreateStorage("MyDB", out desc);
rcfg.UseStorage("MyDB");
//追加：顔識別の登録の設定を行う
rcfg.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// パイプラインを初期化する
pxcmStatus ret = senceManager.Init();
if (ret < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("初期化に失敗しました");
}
// デバイス情報の取得
PXCMCapture.Device device = senceManager.QueryCaptureManager().QueryDevice();
if (device == null)
{
throw new Exception("deviceの生成に失敗しました");
}
// ミラー表示にする
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
PXCMCapture.DeviceInfo deviceInfo;
device.QueryDeviceInfo(out deviceInfo);
if (deviceInfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
device.SetIVCAMFilterOption(6);
device.SetIVCAMMotionRangeTradeOff(21);
}
config.detection.isEnabled = true;
config.detection.maxTrackedFaces = DETECTION_MAXFACES;
config.QueryRecognition().Enable();
config.ApplyChanges();
faceData = faceModule.CreateOutput();
}