// Use this for initialization
void Start()
{
rotationType = RotationType.Pinch;
//sm = PXCMSession.CreateInstance();
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm != null)
{
/* Enable hand tracking and configure the hand module */
pxcmStatus sts = sm.EnableHand();
if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Hand module interface instance */
hand = sm.QueryHand();
/* Hand data interface instance */
hand_data = hand.CreateOutput();
// Create hand configuration instance and configure
hcfg = hand.CreateActiveConfiguration();
hcfg.EnableAllAlerts();
hcfg.SubscribeAlert(OnFiredAlert);
hcfg.EnableNormalizedJoints(true);
hcfg.ApplyChanges();
hcfg.Dispose();
/* Initialize the execution pipeline */
if (sm.Init() != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
OnDisable();
}
}
}
}
// Update is called once per frame
void Update()
{
/* Make sure PXCMSenseManager Instance is Initialized */
if (SenseToolkitManager.Instance.SenseManager == null)
{
return;
}
/* Wait until any frame data is available true(aligned) false(unaligned) */
if (SenseToolkitManager.Instance.SenseManager.AcquireFrame(false, 0) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
/* Retrieve am instance of hand tracking Module */
handAnalyzer = SenseToolkitManager.Instance.SenseManager.QueryHand();
if (handAnalyzer != null)
{
/* Retrieve an instance of hand tracking Data */
PXCMHandData _outputData = handAnalyzer.CreateOutput();
if (_outputData != null)
{
_outputData.Update();
//Retrieve joint data, gesture recognition data and alert notification data
//refer to next section
//AcquireFrame
/* Retrieve Gesture Data */
PXCMHandData.GestureData _gestureData;
for (int i = 0; i < _outputData.QueryFiredGesturesNumber(); i++)
{
if (_outputData.QueryFiredGestureData(i, out _gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
//Display the gestures: explained in rendering the frame section
if ((_gestureData.name == "spreadfingers") || (_gestureData.name == "tap") ||
(_gestureData.name == "swipe"))
{
CursorController.isHandClicked = false;
}
else if ((_gestureData.name == "fist") || (_gestureData.name == "full_pinch") ||
(_gestureData.name == "thumb_down") || (_gestureData.name == "thumb_up") ||
(_gestureData.name == "two_fingers_pinch_open") || (_gestureData.name == "v_sign"))
{
CursorController.isHandClicked = true;
}
else if (_gestureData.name == "wave")
{
transform.position = new Vector3(0, 0, 0);
}
}
}
}
}
/* Realease the frame to process the next frame */
SenseToolkitManager.Instance.SenseManager.ReleaseFrame();
}
public override void Work(Graphics g)
{
data = module.CreateOutput();
data.Update();
PXCMHandData.IHand hands = null;
data.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_ID, 0, out hands);
if (hands == null)
{
return;
}
PXCMRectI32 rect = hands.QueryBoundingBoxImage();
Rectangle rectangle = new Rectangle(rect.x, rect.y, rect.w, rect.h); // Convert to Rectangle
g.DrawRectangle(pen, rectangle); // Draw
}
void Start()
{
// Initialise a PXCMSenseManager instance
psm = PXCMSenseManager.CreateInstance();
if (psm == null)
{
Debug.LogError("SenseManager Init Failed");
return;
}
// Enable the depth and colour streams
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
// Enable hand analysis
pxcmStatus sts = psm.EnableHand();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("SenseManager Hand Init Failed");
OnDisable();
return;
}
handModule = psm.QueryHand();
// Initialise the execution pipeline
sts = psm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("SenseManager Pipeline Init Failed");
OnDisable();
return;
}
handData = handModule.CreateOutput();
handConfig = handModule.CreateActiveConfiguration();
handConfig.EnableAllGestures();
handConfig.ApplyChanges();
foreach (CapsuleCollider capsule in GetComponentsInChildren <CapsuleCollider>())
{
hands.Add(capsule.gameObject);
}
mainCamera = GetComponentInChildren <Camera>();
}
// 手の検出の初期化
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if (handAnalyzer == null)
{
throw new Exception("手の検出器の取得に失敗しました");
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if (handData == null)
{
throw new Exception("手の検出器の作成に失敗しました");
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption(6);
}
// 手の検出の設定
handConfig = handAnalyzer.CreateActiveConfiguration();
// 登録されているジェスチャーを列挙する
var num = handConfig.QueryGesturesTotalNumber();
for (int i = 0; i < num; i++)
{
string gestureName;
var sts = handConfig.QueryGestureNameByIndex(i, out gestureName);
if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
ComboGesture.Items.Add(gestureName);
}
}
handConfig.ApplyChanges();
handConfig.Update();
}
public override void Work(Graphics g)
{
// Retrieve gesture data
hand = senseManager.QueryHand();
face = senseManager.QueryFace(); //
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
handWaving = handData.IsGestureFired("wave", out gestureData);
}
if (face != null)
{
faceData = face.CreateOutput();
faceData.Update();
//surching faces
Int32 nfaces = faceData.QueryNumberOfDetectedFaces();
for (Int32 i = 0; i < nfaces; i++)
{
// Retrieve the data instance
PXCMFaceData.Face faceI = faceData.QueryFaceByIndex(i);
PXCMFaceData.ExpressionsData edata = faceI.QueryExpressions();
if (edata != null)
{
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_SMILE, out score);
if (score.intensity >= 25)
{
smiling = true;
}
else
{
smiling = false;
}
Console.WriteLine(i + ": " + score.intensity);
}
}
faceData.Dispose();
}
}
/// <summary> 手の検出の初期化 </summary>
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if (handAnalyzer == null)
{
throw new Exception("手の検出器の取得に失敗しました");
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if (handData == null)
{
throw new Exception("手の検出器の作成に失敗しました");
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption(6);
}
// 手の検出の設定
config = handAnalyzer.CreateActiveConfiguration();
//config.EnableSegmentationImage(true);
config.EnableJointSpeed(PXCMHandData.JointType.JOINT_MIDDLE_TIP, PXCMHandData.JointSpeedType.JOINT_SPEED_AVERAGE, 100);
//config.EnableGesture("v_sign");
config.EnableGesture("thumb_up");
config.EnableGesture("thumb_down");
//config.EnableGesture("tap");
//config.EnableGesture("fist");
config.SubscribeGesture(OnFiredGesture);
config.ApplyChanges();
config.Update();
gestureTimer.Start();
}
public override void Listen()
{
// attach the controller to the PXCM sensor
_senseManager = Session.CreateSenseManager();
_senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
_senseManager.EnableHand();
_handModule = _senseManager.QueryHand();
_handData = _handModule.CreateOutput();
_handConfiguration = _handModule.CreateActiveConfiguration();
_handConfiguration.SubscribeGesture(_handGestureHandler);
_handConfiguration.SubscribeAlert(_handAlertHandler);
_handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TRACKED);
_handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_CALIBRATED);
_handConfiguration.EnableGesture("full_pinch");
_handConfiguration.EnableGesture("thumb_up");
_handConfiguration.ApplyChanges();
_senseManager.Init(_handler);
sensorActive = true;
_senseManager.StreamFrames(true);
_senseManager.Close();
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
// Get color image data
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Retrieve gesture data
hand = senseManager.QueryHand();
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
handWaving = handData.IsGestureFired("v_sign", out gestureData);
}
// Update the user interface
UpdateUI(colorBitmap);
// Release the frame
if (handData != null)
{
handData.Dispose();
}
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
senseManager.ReleaseFrame();
}
}
// 手の検出の初期化
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if (handAnalyzer == null)
{
throw new Exception("手の検出器の取得に失敗しました");
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if (handData == null)
{
throw new Exception("手の検出器の作成に失敗しました");
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption(6);
}
// 手の検出の設定
var config = handAnalyzer.CreateActiveConfiguration();
config.SetTrackingMode(PXCMHandData.TrackingModeType.TRACKING_MODE_EXTREMITIES);
config.EnableSegmentationImage(true);
config.ApplyChanges();
config.Update();
}
// Use this for initialization
void Start()
{
// Set up the reference to the aeroplane controller.
m_Aeroplane = GetComponent <AeroplaneController>();
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm != null)
{
/* Enable hand tracking and configure the hand module */
pxcmStatus sts = sm.EnableHand();
if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/*init hand data structure*/
handData = new PXCMHandData.IHand[2];
/* Hand module interface instance */
hand = sm.QueryHand();
/* Hand data interface instance */
hand_data = hand.CreateOutput();
// Create hand configuration instance and configure
hcfg = hand.CreateActiveConfiguration();
hcfg.EnableAllAlerts();
hcfg.SubscribeAlert(OnFiredAlert);
hcfg.EnableNormalizedJoints(true);
hcfg.ApplyChanges();
hcfg.Dispose();
/* Initialize the execution pipeline */
if (sm.Init() != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
OnDisable();
}
}
}
}
public void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
hand = senseManager.QueryHand();
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
// Get number of tracked hands
nhands = handData.QueryNumberOfHands();
if (nhands > 0)
{
// Retrieve hand identifier
handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 0, out handId);
// Retrieve hand data
handData.QueryHandDataById(handId, out ihand);
PXCMHandData.BodySideType bodySideType = ihand.QueryBodySide();
if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
leftHand = true;
}
else if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
leftHand = false;
}
// Retrieve all hand joint data
for (int i = 0; i < nhands; i++)
{
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
ihand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
}
}
// Get world coordinates for tip of middle finger on the first hand in camera range
handTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.x;
handTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.y;
handTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.z;
swipehandTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.x;
swipehandTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.y;
swipehandTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.z;
//Console.Out.WriteLine("Before x={0}", swipehandTipX);
//Console.Out.WriteLine("Before speed={0}", nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].speed.x);
// Retrieve gesture data
if (handData.IsGestureFired("spreadfingers", out gestureData))
{
gesture = Gesture.FingerSpread;
}
else if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
gesture = Gesture.Pinch;
}
else if (handData.IsGestureFired("wave", out gestureData))
{
gesture = Gesture.Wave;
}
else if (handData.IsGestureFired("swipe_left", out gestureData))
{
gesture = Gesture.SwipeLeft;
}
else if (handData.IsGestureFired("swipe_right", out gestureData))
{
gesture = Gesture.SwipeRight;
}
else if (handData.IsGestureFired("fist", out gestureData))
{
gesture = Gesture.Fist;
}
else if (handData.IsGestureFired("thumb_up", out gestureData))
{
gesture = Gesture.Thumb;
}
}
else
{
gesture = Gesture.Undefined;
}
UpdateUI();
if (handData != null)
{
handData.Dispose();
}
}
senseManager.ReleaseFrame();
}
}
private void ProcessingHandThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
hand = senseManager.QueryHand();
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
// Get number of tracked hands
nhands = handData.QueryNumberOfHands();
if (nhands > 0)
{
// Retrieve hand identifier
handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 0, out handId);
// Retrieve hand data
handData.QueryHandDataById(handId, out ihand);
// Retrieve all hand joint data
for (int i = 0; i < nhands; i++)
{
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
ihand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
}
}
// Get world coordinates for tip of middle finger on the first hand in camera range
handTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.x;
handTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.y;
handTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.z;
// Retrieve gesture data
if (handData.IsGestureFired("spreadfingers", out gestureData))
{
gesture = Gesture.FingerSpread;
}
else if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
gesture = Gesture.Pinch;
}
else if (handData.IsGestureFired("wave", out gestureData))
{
gesture = Gesture.Wave;
}
}
else
{
gesture = Gesture.Undefined;
}
// Get alert status
for (int i = 0; i < handData.QueryFiredAlertsNumber(); i++)
{
PXCMHandData.AlertData alertData;
if (handData.QueryFiredAlertData(i, out alertData) != pxcmStatus.PXCM_STATUS_NO_ERROR) { continue; }
//Displaying last alert
switch (alertData.label)
{
case PXCMHandData.AlertType.ALERT_HAND_DETECTED:
detectionAlert = "Hand Detected";
detectionStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED:
detectionAlert = "Hand Not Detected";
detectionStatusOk = false;
break;
case PXCMHandData.AlertType.ALERT_HAND_CALIBRATED:
calibrationAlert = "Hand Calibrated";
calibrationStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_NOT_CALIBRATED:
calibrationAlert = "Hand Not Calibrated";
calibrationStatusOk = false;
break;
case PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS:
bordersAlert = "Hand Inside Borders";
borderStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS:
bordersAlert = "Hand Out Of Borders";
borderStatusOk = false;
break;
}
}
UpdateUI();
if (handData != null) handData.Dispose();
}
senseManager.ReleaseFrame();
}
}
// Update is called once per frame
void Update()
{
/* Make sure SenseManager Instance is valid */
if (sm == null)
{
return;
}
/* Wait until any frame data is available */
if (sm.AcquireFrame(false) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
/* Retrieve hand tracking Module Instance */
handAnalyzer = sm.QueryHand();
if (handAnalyzer != null)
{
/* Retrieve hand tracking Data */
PXCMHandData _handData = handAnalyzer.CreateOutput();
if (_handData != null)
{
_handData.Update();
/* Retrieve all joint Data */
bool[] someJointsDetected = { false, false };
for (int i = 0; i < _handData.QueryNumberOfHands(); i++)
{
PXCMHandData.IHand _iHand;
if (_handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, i, out _iHand) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
for (int j = 0; j < MaxJoints; j++)
{
if (_iHand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData[i, j]) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
jointData[i, j] = null;
}
else if (jointData[i, j].confidence == 100)
{
someJointsDetected[i] = true;
}
}
if (!handList.ContainsKey(_iHand.QueryUniqueId()))
{
handList.Add(_iHand.QueryUniqueId(), _iHand.QueryBodySide());
}
}
}
for (int i = 0; i < MaxHands; i++)
{
if (!someJointsDetected[i] && handWasTracked[i])
{
for (int j = 0; j < MaxJoints; j++)
{
Joint joint = myJoints[i, j];
if (joint == null)
{
continue;
}
joint.transform.position = joint.originalPosition;
joint.transform.rotation = joint.originalRotation;
foreach (Joint e in joint.extensions)
{
e.transform.position = e.originalPosition;
e.transform.rotation = e.originalRotation;
}
}
}
else
{
if (!handWasTracked[i])
{
if (myJoints[i, 0] == null || jointData[i, 0] == null || jointData[i, 0].confidence < 100)
{
break;
}
PXCMPoint3DF32 smoothedPoint = smoother3D[i, 0].SmoothValue(jointData[i, 0].positionWorld);
Vector3 targetPosition = new Vector3(-1 * smoothedPoint.x, smoothedPoint.y, smoothedPoint.z);
trackingOffset[i] = targetPosition - myJoints[i, 0].originalPosition;
}
/* Smooth the data and move the joints*/
MoveJoints(i);
}
handWasTracked[i] = someJointsDetected[i];
}
}
handAnalyzer.Dispose();
}
sm.ReleaseFrame();
RotateCam();
}
// Update is called once per frame
void Update () {
/* Make sure SenseManager Instance is valid */
if (senseManager == null)
return;
/* Wait until any frame data is available */
if (senseManager.AcquireFrame (false) != pxcmStatus.PXCM_STATUS_NO_ERROR)
return;
/* Retrieve hand tracking Module Instance */
handAnalyzer = senseManager.QueryHand ();
try
{
if (handAnalyzer != null) {
/* Retrieve hand tracking Data */
PXCMHandData _handData = handAnalyzer.CreateOutput ();
if (_handData != null) {
_handData.Update ();
PXCMHandData.IHand[] _iHand = new PXCMHandData.IHand[MaxHands];
NumOfHands = _handData.QueryNumberOfHands ();
hands.isLeft = false;
hands.isRight = false;
/* Retrieve all joint Data */
if (_handData.QueryHandData (PXCMHandData.AccessOrderType.ACCESS_ORDER_LEFT_HANDS, 0, out _iHand[0]) == pxcmStatus.PXCM_STATUS_NO_ERROR) {
/*Identify left/right hand */
gesture[0].isExist = true;
hands.isLeft = true;
for (int i = 0; i < _handData.QueryFiredGesturesNumber(); i++){
//Debug.Log (i.ToString());
if (_handData.QueryFiredGestureData (i, out gesture[0].gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
Debug.Log (gesture[0].gestureData.name);
//continue;//If you want to use this gesture info, you need to realize a SEND function here.
}
for (int j = 0; j < MaxJoints; j++) {
if (_iHand[0].QueryTrackedJoint ((PXCMHandData.JointType)j, out hands.jointData [0] [j]) != pxcmStatus.PXCM_STATUS_NO_ERROR)
hands.jointData [0] [j] = null;
/* hands.smoothPosition[0][j].AddSample(hands.jointData[0][j].positionWorld);
hands.smoothLocalRotation[0][j].AddSample(((Quaternion)hands.jointData[0][j].localRotation).eulerAngles);
hands.smoothGlobalRotation[0][j].AddSample(((Quaternion)hands.jointData[0][j].globalOrientation).eulerAngles);
*/}
if (!handList.ContainsKey (_iHand[0].QueryUniqueId ()))
handList.Add (_iHand[0].QueryUniqueId (), _iHand[0].QueryBodySide ());
}else{
gesture[0].isExist = false;
}
if (_handData.QueryHandData (PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, 0, out _iHand[1]) == pxcmStatus.PXCM_STATUS_NO_ERROR) {
/*Identify left/right hand */
gesture[1].isExist = true;
hands.isRight = true;
for (int i = 0; i < _handData.QueryFiredGesturesNumber(); i++)
if (_handData.QueryFiredGestureData (i, out gesture[1].gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
continue;//If you want to use this gesture info, you need to realize a SEND function here.
for (int j = 0; j < MaxJoints; j++) {
if (_iHand[1].QueryTrackedJoint ((PXCMHandData.JointType)j, out hands.jointData [1] [j]) != pxcmStatus.PXCM_STATUS_NO_ERROR)
hands.jointData [1] [j] = null;
}
if (!handList.ContainsKey (_iHand[1].QueryUniqueId ()))
handList.Add (_iHand[1].QueryUniqueId (), _iHand[1].QueryBodySide ());
}else{
gesture[1].isExist = false;
}
}
_handData.Dispose ();
}
}
catch (IOException ex)
{
Console.WriteLine("An IOException has been thrown!");
Console.WriteLine(ex.ToString());
Console.ReadLine();
return;
}
handAnalyzer.Dispose ();
senseManager.ReleaseFrame ();
}
// 手の検出の初期化
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if ( handAnalyzer == null ) {
throw new Exception( "手の検出器の取得に失敗しました" );
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if ( handData == null ) {
throw new Exception( "手の検出器の作成に失敗しました" );
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo( out dinfo );
if ( dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM ) {
device.SetDepthConfidenceThreshold( 1 );
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption( 6 );
}
// 手の検出の設定
var config = handAnalyzer.CreateActiveConfiguration();
config.EnableSegmentationImage( true );
config.ApplyChanges();
config.Update();
}
public void InitializeHandsStream()
{
manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 30);
var s = manager.EnableHand();
this.handAnalyzer = manager.QueryHand();
var re = manager.Init();
this.outputData = handAnalyzer.CreateOutput();
if (re != pxcmStatus.PXCM_STATUS_NO_ERROR)
throw new RealSenseException("error: " + re, re);
this.isHandsStreamEnabled = true;
}
public Main.HandCoord[] GetJointCoordinates()
{
#region Catch exception errors
/* Wait until frame is available and SenseManager is ready */
/* Make sure SenseManager has an instance */
if (SenseManager == null)
{
return(null);
}
/* Wait until any frame data is available */
if (SenseManager.AcquireFrame(true) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return(null);
}
#endregion
#region Get joint coordinates
HandModule = SenseManager.QueryHand(); // Get hand tracking Module instance
HandData = HandModule.CreateOutput(); // Get hand tracking data
if (HandData != null)
{
HandData.Update(); // Update hand data to the most current output
/*Reset the detected hands to zero*/
for (int i = 0; i < NumOfHands; i++)
{
Coordinates[i].HandDetected = false;
}
/* Retrieve all joint data */
for (int i = 0; i < HandData.QueryNumberOfHands(); i++)
{
Coordinates[i].HandDetected = true;
PXCMHandData.IHand iHand;
Status = HandData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, i, out iHand);
if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError(Status);
}
else
{
for (int j = 0; j < NumOfJoints; j++)
{
Status = iHand.QueryTrackedJoint((PXCMHandData.JointType)j, out JointData[i][j]);
if (Status == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Coordinates[i].Coordinates[0, j] = JointData[i][j].positionWorld.x * -100;
Coordinates[i].Coordinates[1, j] = JointData[i][j].positionWorld.y * 100;
Coordinates[i].Coordinates[2, j] = JointData[i][j].positionWorld.z * 100;
Coordinates[i].Coordinates[3, j] = JointData[i][j].speed.x * -100;
Coordinates[i].Coordinates[4, j] = JointData[i][j].speed.y * -100;
Coordinates[i].Coordinates[5, j] = JointData[i][j].speed.z * 100;
}
}
}
}
}
SenseManager.ReleaseFrame(); // Prepare for a new frame
return(Coordinates);
#endregion
}
void OnEnable()
{
Initialized = false;
/* Create a SenseManager instance */
SenseManager = PXCMSenseManager.CreateInstance();
if (SenseManager == null)
{
print("Unable to create the pipeline instance");
return;
}
if (_speechCommandsRef.Count != 0)
{
SetSenseOption(SenseOption.SenseOptionID.Speech);
}
int numberOfEnabledModalities = 0;
//Set mode according to RunMode - play from file / record / live stream
if (RunMode == MCTTypes.RunModes.PlayFromFile)
{
//CHECK IF FILE EXISTS
if (!System.IO.File.Exists(FilePath))
{
Debug.LogWarning("No Filepath Set Or File Doesn't Exist, Run Mode Will Be Changed to Live Stream");
RunMode = MCTTypes.RunModes.LiveStream;
}
else
{
PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
cManager.SetFileName(FilePath, false);
Debug.Log("SenseToolkitManager: Playing from file: " + FilePath);
}
}
if (RunMode == MCTTypes.RunModes.RecordToFile)
{
//CHECK IF PATH
string PathOnly = FilePath;
while (!PathOnly[PathOnly.Length - 1].Equals('\\'))
{
PathOnly = PathOnly.Remove(PathOnly.Length - 1, 1);
}
if (!System.IO.Directory.Exists(PathOnly))
{
Debug.LogWarning("No Filepath Set Or Path Doesn't Exist, Run Mode Will Be Changed to Live Stream");
RunMode = MCTTypes.RunModes.LiveStream;
}
else
{
PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
cManager.SetFileName(FilePath, true);
Debug.Log("SenseToolkitManager: Recording to file: " + FilePath);
}
}
/* Enable modalities according to the set options*/
if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
{
SenseManager.EnableFace();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Enabled = true;
SetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
{
_sts = SenseManager.EnableHand();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
{
_sts = SenseManager.EnableTracker();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
{
if (!SpeechManager.IsInitialized)
{
if (SpeechManager.InitalizeSpeech())
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled = true;
numberOfEnabledModalities++;
}
else
{
UnsetSenseOption(SenseOption.SenseOptionID.Speech);
}
}
else
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled = true;
numberOfEnabledModalities++;
}
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoDepthStream, true))
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, 0, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoIRStream, true))
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 0, 0, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoColorStream, true))
{
//SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Enabled = true;
numberOfEnabledModalities++;
}
/* Initialize the execution */
_sts = SenseManager.Init();
if (_sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (numberOfEnabledModalities > 0)
{
print("Unable to initialize all modalities");
}
return;
}
//Set different configurations:
//SenseManager.QueryCaptureManager().device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
// Face
if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
{
var faceModule = SenseManager.QueryFace();
var faceConfiguration = faceModule.CreateActiveConfiguration();
if (faceConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
faceConfiguration.Update();
faceConfiguration.detection.isEnabled = true;
faceConfiguration.detection.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.landmarks.isEnabled = true;
faceConfiguration.landmarks.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.pose.isEnabled = true;
faceConfiguration.pose.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.DisableAllAlerts();
faceConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
faceConfiguration.detection.maxTrackedFaces = NumberOfDetectedFaces;
faceConfiguration.landmarks.maxTrackedFaces = NumberOfDetectedFaces;
faceConfiguration.pose.maxTrackedFaces = NumberOfDetectedFaces;
PXCMFaceConfiguration.ExpressionsConfiguration expressionConfig = faceConfiguration.QueryExpressions();
expressionConfig.Enable();
expressionConfig.EnableAllExpressions();
faceConfiguration.ApplyChanges();
faceConfiguration.Dispose();
FaceModuleOutput = faceModule.CreateOutput();
UnsetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
}
// Hand
if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
{
PXCMHandModule handAnalysis = SenseManager.QueryHand();
PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
handConfiguration.Update();
handConfiguration.EnableAllGestures();
handConfiguration.EnableAllAlerts();
handConfiguration.EnableSegmentationImage(true);
handConfiguration.ApplyChanges();
handConfiguration.Dispose();
HandDataOutput = handAnalysis.CreateOutput();
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
{
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled != true)
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
OnDisable();
OnEnable();
Start();
}
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
{
UpdateSpeechCommands();
SpeechManager.Start();
}
// Create an instance for the projection
if (_projection == null)
{
_projection = SenseManager.QueryCaptureManager().QueryDevice().CreateProjection();
}
// Set initialization flag
Initialized = true;
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true).IsSuccessful())
{
PXCMCapture.Sample sample = senseManager.QuerySample();
#region face
// Retrieve gesture data
face = senseManager.QueryFace();
if (face != null)
{
// Retrieve the most recent processed data
faceData = face.CreateOutput();
faceData.Update();
if (faceData.QueryNumberOfDetectedFaces() > 0)
{
var face = faceData.QueryFaceByIndex(0);
var pose = face.QueryPose();
if (pose != null)
{
PXCMFaceData.PoseEulerAngles angles;
pose.QueryPoseAngles(out angles);
if (angles != null)
{
double correctedYaw = (angles.yaw + 20) / 40;
correctedYaw = correctedYaw < 1 ? correctedYaw : 1;
correctedYaw = correctedYaw > 0 ? correctedYaw : 0;
correctedYaw = Math.Round(correctedYaw, 2);
correctedYaw = correctedYaw - correctedYaw % .02;
double correctedPitch = (-angles.pitch - 9) / 8;
correctedPitch = correctedPitch < 1 ? correctedPitch : 1;
correctedPitch = correctedPitch > 0 ? correctedPitch : 0;
correctedPitch = Math.Round(correctedPitch, 2);
correctedPitch = correctedPitch - correctedPitch % .02;
Nullable <PXCMPointF32> point = new PXCMPointF32();
Dispatcher.Invoke(() =>
{
double maxX = App.Current.MainWindow.RenderSize.Width;
float currentX = Convert.ToSingle(maxX * correctedYaw);
double maxY = App.Current.MainWindow.RenderSize.Height;
float currentY = Convert.ToSingle(maxY * correctedPitch);
point = new PXCMPointF32(currentX, currentY);
});
point = smoother2D.SmoothValue(point.Value);
point = smoother2D2.SmoothValue(point.Value);
SetCursorPosition(Convert.ToInt32(point.Value.x), Convert.ToInt32(point.Value.y));
}
}
var expressions = face.QueryExpressions();
if (expressions != null)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult result;
expressions.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN, out result);
if (result != null && result.intensity > 35)
{
Click();
}
}
}
}
#endregion
#region hand
hand = senseManager.QueryHand();
if (hand != null)
{
using (var handData = hand.CreateOutput())
{
handData.Update();
var handCount = handData.QueryNumberOfHands();
for (int i = 0; i < handCount; i++)
{
PXCMHandData.IHand handInfo;
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, i, out handInfo);
if (handInfo != null && handInfo.HasTrackedJoints())
{
if (handInfo.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
PXCMHandData.FingerData finger;
handInfo.QueryFingerData(PXCMHandData.FingerType.FINGER_INDEX, out finger);
Nullable <PXCMPointF32> mouseLocation = null;
if (finger.foldedness > 85)
{
PXCMHandData.JointData joint;
handInfo.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out joint);
double appX = 0;
double appY = 0;
Dispatcher.Invoke(() =>
{
appX = App.Current.MainWindow.RenderSize.Width;
appY = App.Current.MainWindow.RenderSize.Height;
});
var xScaled = (joint.positionImage.x - 580) * -1 * (appX / 640) * 1.2;
var yScaled = (joint.positionImage.y - 60) * (appY / 480) * 1.6;
mouseLocation = smoother2D.SmoothValue(new PXCMPointF32(Convert.ToSingle(xScaled), Convert.ToSingle(yScaled)));
SetCursorPosition(Convert.ToInt32(mouseLocation.Value.x), Convert.ToInt32(mouseLocation.Value.y));
}
handInfo.QueryFingerData(PXCMHandData.FingerType.FINGER_PINKY, out finger);
if (finger.foldedness > 85)
{
if (DateTime.Now - lastClick > new TimeSpan(0, 0, 2))
{
Click();
}
}
}
}
}
}
}
#endregion
// Update the user interface
//UpdateUI(colorBitmap);
// Release the frame
if (faceData != null)
{
faceData.Dispose();
}
senseManager.ReleaseFrame();
}
}
// Update is called once per frame
void Update()
{
if (session == null)
{
return;
}
// For accessing hand data
handAnalyzer = session.QueryHand();
faceAnalyzer = session.QueryFace();
if (handAnalyzer != null)
{
PXCMHandData handData = handAnalyzer.CreateOutput();
if (handData != null)
{
handData.Update();
PXCMHandData.IHand IHAND; // Ihand instance for accessing future data
// Int32 IhandData; // for QueryOpenness Value
// PXCMPoint3DF32 location; // Stores hand tracking position
//Fills IHAND with information to later be grabbed and used for tracking + openness
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, 0, out IHAND);
// If there is data in Ihand
if (IHAND != null)
{
// Debug.DrawLine(transform.position, hit.point, Color.red);
// Inits hand tracking from the center of the hand.
// location = IHAND.QueryMassCenterWorld();
// if (mCurrentDart != null)
// {
// Vector3 locationUnity = new Vector3(location.x, location.y, location.z);
// mCurrentDart.transform.localPosition = locationUnity * RSScale;
// }
}
}
handAnalyzer.Dispose();
session.ReleaseFrame();
}
if (faceAnalyzer != null)
{
PXCMFaceData facedata = faceAnalyzer.CreateOutput();
if (facedata != null)
{
Int32 nfaces = facedata.QueryNumberOfDetectedFaces();
for (Int32 i = 0; i < nfaces; i++)
{
// Retrieve the face landmark data instance
PXCMFaceData.Face face = facedata.QueryFaceByIndex(i);
PXCMFaceData.PoseData pdata = face.QueryPose();
// retrieve the pose information
PXCMFaceData.PoseEulerAngles angles;
pdata.QueryPoseAngles(out angles);
Debug.Log("Eular Angles yaw : " + angles.yaw);
Debug.Log("Eular Angles pitch: " + angles.pitch);
Debug.Log("Eular Angles Roll: " + angles.roll);
angles.pitch = gameObject.transform.rotation.z;
angles.yaw = gameObject.transform.rotation.y;
}
// device is a PXCMCapture.Device instance
}
}
}
// Update is called once per frame
void Update()
{
/* Make sure SenseManager Instance is valid */
if (sm == null)
{
return;
}
/* Wait until any frame data is available */
if (sm.AcquireFrame(false) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
/* Retrieve hand tracking Module Instance */
handAnalyzer = sm.QueryHand();
if (handAnalyzer != null)
{
/* Retrieve hand tracking Data */
PXCMHandData _handData = handAnalyzer.CreateOutput();
if (_handData != null)
{
_handData.Update();
/* Retrieve Gesture Data to manipulate GUIText */
PXCMHandData.GestureData gestureData;
for (int i = 0; i < _handData.QueryFiredGesturesNumber(); i++)
{
if (_handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
DisplayGestures(gestureData);
}
}
/* Retrieve Alert Data to manipulate GUIText */
PXCMHandData.AlertData alertData;
for (int i = 0; i < _handData.QueryFiredAlertsNumber(); i++)
{
if (_handData.QueryFiredAlertData(i, out alertData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
ProcessAlerts(alertData);
}
}
/* Retrieve all joint Data */
for (int i = 0; i < _handData.QueryNumberOfHands(); i++)
{
PXCMHandData.IHand _iHand;
if (_handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, i, out _iHand) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
for (int j = 0; j < MaxJoints; j++)
{
if (_iHand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData[i][j]) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
jointData[i][j] = null;
}
}
if (!handList.ContainsKey(_iHand.QueryUniqueId()))
{
handList.Add(_iHand.QueryUniqueId(), _iHand.QueryBodySide());
}
}
}
/* Smoothen and Display the Data - Joints and Bones*/
DisplayJoints();
}
handAnalyzer.Dispose();
}
sm.ReleaseFrame();
RotateCam();
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop - MAIN PROCESSING LOOP
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (firstFrame == true)
{
firstFrame = false;
//pipeClient.SendMessage(CAMERA_CONNECTED_MESSAGE);
}
//Get sample from the sensemanager to convert to bitmap and show
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData = null;
// Get color/ir image data
if (cameraMode == "Color")
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
else if (cameraMode == "IR")
sample.ir.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
else if (cameraMode == "Depth")
;// -> broken! // sample.depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH, out colorData);
else
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
//convert it to bitmap
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Retrieve hand and face data AND EMOTION DATA
hand = senseManager.QueryHand();
face = senseManager.QueryFace();
emotion = senseManager.QueryEmotion();
//Process hand data
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
handWaving = handData.IsGestureFired("wave", out gestureData);
}
//Process face data
if (face != null)
{
// Retrieve the most recent processed data
faceData = face.CreateOutput();
faceData.Update();
numFacesDetected = faceData.QueryNumberOfDetectedFaces();
if (numFacesDetected > 0)
{
// for (Int32 i = 0; i < numFacesDetected; i++) --> MULTIPLE FACE DETECTION DISABLED, UNCOMMENT TO INCLUDE
// {
// PXCMFaceData.Face singleFace = faceData.QueryFaceByIndex(i); --> FOR MULTIPLE FACE DETECTION
//get all possible data from frame
PXCMFaceData.Face singleFaceData = faceData.QueryFaceByIndex(0); //only getting first face!
PXCMFaceData.ExpressionsData singleExprData = singleFaceData.QueryExpressions();
PXCMFaceData.DetectionData detectionData = singleFaceData.QueryDetection();
PXCMFaceData.LandmarksData landmarksData = singleFaceData.QueryLandmarks();
PXCMFaceData.PoseData poseData = singleFaceData.QueryPose();
//Work on face location data from detectionData
if (detectionData != null)
{
// vars are defined globally
detectionData.QueryBoundingRect(out boundingRect);
detectionData.QueryFaceAverageDepth(out averageDepth);
}
//Work on getting landmark data
if (landmarksData != null)
{
//var is defined globally
landmarksData.QueryPoints(out landmarkPoints);
}
//Work on getting euler angles for face pose data
if (poseData != null)
{
//var is defined globally
poseData.QueryPoseAngles(out eulerAngles);
poseData.QueryPoseQuaternion(out quaternionAngles);
}
//Do work on all face location data from singleExprData
if (singleExprData != null)
{
//get scores and intensities for right and left eye closing - 22 possible expressions --> put into hashtable
PXCMFaceData.ExpressionsData.FaceExpressionResult score;
//this gets a list of enum names as strings
var enumNames = Enum.GetNames(typeof(PXCMFaceData.ExpressionsData.FaceExpression));
//for all enumnames, calculate the
for (int j = 0; j < enumNames.Length; j++)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult innerScore;
singleExprData.QueryExpression((PXCMFaceData.ExpressionsData.FaceExpression)(j), out innerScore);
//Console.WriteLine((PXCMFaceData.ExpressionsData.FaceExpression)(j));
exprTable[enumNames[j]] = innerScore.intensity;
}
//Attempt to write to file if there are any significant events
/* //check if everything is 0
bool significantEntry = false;
foreach (DictionaryEntry entry in exprTable)
{
if (Convert.ToInt32(entry.Value.ToString()) != 0)
{
significantEntry = true;
break;
}
}
if (significantEntry) */
writeSignificantToFile(exprTable, boundingRect, averageDepth, landmarkPoints, eulerAngles, quaternionAngles);
singleExprData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_CLOSED_LEFT, out score);
lEyeClosedIntensity = score.intensity;
singleExprData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_CLOSED_RIGHT, out score);
rEyeClosedIntensity = score.intensity;
//eye closed logic -> will be reset in UI thread after some number of frames
if (lEyeClosedIntensity >= EYE_CLOSED_DETECT_THRESHOLD)
lEyeClosed = true;
if (rEyeClosedIntensity >= EYE_CLOSED_DETECT_THRESHOLD)
rEyeClosed = true;
}
// }
}
}
if (emotion != null)
{
int numFaces = emotion.QueryNumFaces();
for (int fid = 0; fid < numFaces; fid++)
{
//TODO - MULTIPLE FACE IMPLEMENTATION?
//retrieve all est data
PXCMEmotion.EmotionData[] arrData = new PXCMEmotion.EmotionData[10];
emotion.QueryAllEmotionData(fid, out arrData);
//find emotion with maximum evidence
int idx_outstanding_emotion = 0;
int max_evidence = arrData[0].evidence;
for (int k = 1; k < 7; k++)
{
if (arrData[k].evidence < max_evidence)
{
}
else
{
max_evidence = arrData[k].evidence;
idx_outstanding_emotion = k;
}
}
currentEmotion = arrData[idx_outstanding_emotion].eid;
//Console.WriteLine(currentEmotion.ToString());
emotionEvidence = max_evidence;
// Console.WriteLine(currentEmotion.ToString() + ":" + emotionEvidence.ToString());
}
}
// Update the user interface
UpdateUI(colorBitmap);
// Release the frame
if (handData != null) handData.Dispose();
// colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
senseManager.ReleaseFrame();
}
}
void OnEnable()
{
Initialized = false;
/* Create a SenseManager instance */
SenseManager = PXCMSenseManager.CreateInstance();
if (SenseManager == null)
{
print("Unable to create the pipeline instance");
return;
}
if (_speechCommandsRef.Count != 0)
{
SetSenseOption(SenseOption.SenseOptionID.Speech);
}
int numberOfEnabledModalities = 0;
//Set mode according to RunMode - play from file / record / live stream
if (RunMode == MCTTypes.RunModes.PlayFromFile)
{
//CHECK IF FILE EXISTS
if (!System.IO.File.Exists(FilePath))
{
Debug.LogWarning("No Filepath Set Or File Doesn't Exist, Run Mode Will Be Changed to Live Stream");
RunMode = MCTTypes.RunModes.LiveStream;
}
else
{
PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
cManager.SetFileName(FilePath, false);
Debug.Log("SenseToolkitManager: Playing from file: " + FilePath);
}
}
if (RunMode == MCTTypes.RunModes.RecordToFile)
{
//CHECK IF PATH
string PathOnly = FilePath;
while (!PathOnly[PathOnly.Length - 1].Equals('\\'))
{
PathOnly = PathOnly.Remove(PathOnly.Length - 1, 1);
}
if (!System.IO.Directory.Exists(PathOnly))
{
Debug.LogWarning("No Filepath Set Or Path Doesn't Exist, Run Mode Will Be Changed to Live Stream");
RunMode = MCTTypes.RunModes.LiveStream;
}
else
{
PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
cManager.SetFileName(FilePath, true);
Debug.Log("SenseToolkitManager: Recording to file: " + FilePath);
}
}
/* Enable modalities according to the set options*/
if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
{
SenseManager.EnableFace();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Enabled = true;
SetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
{
_sts = SenseManager.EnableHand();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Blob, true))
{
_sts = SenseManager.EnableBlob();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Blob).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Blob).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
{
_sts = SenseManager.EnableTracker();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
{
if (!SpeechManager.IsInitialized)
{
if (SpeechManager.InitalizeSpeech())
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled = true;
numberOfEnabledModalities++;
}
else
{
UnsetSenseOption(SenseOption.SenseOptionID.Speech);
}
}
else
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled = true;
numberOfEnabledModalities++;
}
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoDepthStream, true) ||
IsSenseOptionSet(SenseOption.SenseOptionID.PointCloud, true))
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, 0, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoIRStream, true))
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 0, 0, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoColorStream, true))
{
if (ColorImageQuality == MCTTypes.RGBQuality.FullHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HalfHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
}
else
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
}
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoSegmentation, true))
{
if (ColorImageQuality == MCTTypes.RGBQuality.FullHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HalfHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
}
else
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
}
SenseManager.Enable3DSeg();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Enabled = true;
numberOfEnabledModalities++;
}
/* Initialize the execution */
_sts = SenseManager.Init();
if (_sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
//Set different configurations:
// Face
if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
{
var faceModule = SenseManager.QueryFace();
if (faceModule == null)
{
throw new UnityException("QueryFace returned null");
}
var faceConfiguration = faceModule.CreateActiveConfiguration();
if (faceConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
faceConfiguration.Update();
faceConfiguration.detection.isEnabled = true;
faceConfiguration.detection.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.landmarks.isEnabled = true;
faceConfiguration.landmarks.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.pose.isEnabled = true;
faceConfiguration.pose.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.DisableAllAlerts();
faceConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
if ((NumberOfDetectedFaces < 1) || (NumberOfDetectedFaces > 15))
{
Debug.Log("Ilegal value for Number Of Detected Faces, value is set to 1");
NumberOfDetectedFaces = 1;
}
faceConfiguration.detection.maxTrackedFaces = NumberOfDetectedFaces;
faceConfiguration.landmarks.maxTrackedFaces = NumberOfDetectedFaces;
faceConfiguration.pose.maxTrackedFaces = NumberOfDetectedFaces;
PXCMFaceConfiguration.ExpressionsConfiguration expressionConfig = faceConfiguration.QueryExpressions();
if (expressionConfig == null)
{
throw new UnityException("QueryExpressions returned null");
}
expressionConfig.Enable();
expressionConfig.EnableAllExpressions();
faceConfiguration.ApplyChanges();
faceConfiguration.Dispose();
FaceModuleOutput = faceModule.CreateOutput();
UnsetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
}
// Hand
if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
{
PXCMHandModule handAnalysis = SenseManager.QueryHand();
if (handAnalysis == null)
{
throw new UnityException("QueryHand returned null");
}
PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
handConfiguration.Update();
handConfiguration.EnableAllGestures();
handConfiguration.EnableStabilizer(true);
handConfiguration.DisableAllAlerts();
handConfiguration.EnableSegmentationImage(false);
handConfiguration.ApplyChanges();
handConfiguration.Dispose();
HandDataOutput = handAnalysis.CreateOutput();
}
// Blob
if (IsSenseOptionSet(SenseOption.SenseOptionID.Blob, true))
{
PXCMBlobModule blobAnalysis = SenseManager.QueryBlob();
if (blobAnalysis == null)
{
throw new UnityException("QueryBlob returned null");
}
PXCMBlobConfiguration blobConfiguration = blobAnalysis.CreateActiveConfiguration();
if (blobConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
blobConfiguration.Update();
blobConfiguration.EnableContourExtraction(true);
blobConfiguration.EnableSegmentationImage(true);
blobConfiguration.EnableStabilizer(true);
blobConfiguration.SetMaxDistance(50 * 10);
blobConfiguration.ApplyChanges();
blobConfiguration.Dispose();
BlobDataOutput = blobAnalysis.CreateOutput();
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
{
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled != true)
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
OnDisable();
OnEnable();
}
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
{
UpdateSpeechCommands();
SpeechManager.Start();
}
// Create an instance for the projection & blob extractor
if (Projection == null)
{
Projection = SenseManager.QueryCaptureManager().QueryDevice().CreateProjection();
}
/* GZ
* if (BlobExtractor == null)
* {
* SenseManager.session.CreateImpl<PXCMBlobExtractor>(out BlobExtractor);
* }*/
// Set initialization flag
Initialized = true;
}
pxcmStatus newHandFrame(PXCMHandModule hand)
{
if (hand != null)
{
PXCMHandData handData = hand.CreateOutput();
handData.Update();
PXCMHandData.IHand iHandDataLeft = null, iHandDataRight = null;
PXCMHandData.JointData jointData = null;
PXCMImage image = null;
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_LEFT_HANDS, 0, out iHandDataLeft);
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, 0, out iHandDataRight);
if (handForm != null && !handForm.IsDisposed)
{
this.handForm.HandCount = handData.QueryNumberOfHands();
if (iHandDataLeft != null)
{
iHandDataLeft.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.LeftHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
if (iHandDataRight != null)
{
iHandDataRight.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.RightHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
}
if (iHandDataLeft != null)
{
if (jointData == null)
{
iHandDataLeft.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (iHandDataRight != null)
{
if (jointData == null)
{
iHandDataRight.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (jointData != null && canTrack.Checked)
{
Cursor.Position = new System.Drawing.Point(
(int)((640.0f - jointData.positionImage.x) * Screen.PrimaryScreen.Bounds.Width / 640.0f),
(int)(jointData.positionImage.y * Screen.PrimaryScreen.Bounds.Height / 480.0f));
PXCMHandData.GestureData gestureData = null;
if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
Program.DoMouseClick();
}
Console.WriteLine("Z Position: " + jointData.positionWorld.z);
}
handData.Dispose();
}
return(pxcmStatus.PXCM_STATUS_NO_ERROR);
}
public HandsRecognition(int mod)
{
try
{
session = PXCMSession.CreateInstance();
mode = mod;
if (mod == 0)
{
rightcp = new checkPiano();
leftcp = new checkPiano();
}
else if (mod == 1)
{
rightcp = new checkDrum();
leftcp = new checkDrum();
}
_disconnected = false;
instance = session.CreateSenseManager();
if (instance == null)
{
MessageBox.Show("Failed creating SenseManager", "OnAlert");
return;
}
/* Set Module */
pxcmStatus status = instance.EnableHand();//form.GetCheckedModule());
handAnalysis = instance.QueryHand();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null)
{
MessageBox.Show("Failed Loading Module", "OnAlert");
return;
}
handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
handData = handAnalysis.CreateOutput();
}
catch
{
MessageBox.Show("Init Failed.");
Environment.Exit(0);
}
}
public void InitializeGestureRecognition(List<String> gestures = null)
{
manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 30);
var s = manager.EnableHand();
this.handAnalyzer = manager.QueryHand();
var re = manager.Init();
this.outputData = handAnalyzer.CreateOutput();
this.config = handAnalyzer.CreateActiveConfiguration();
if (gestures == null)
this.config.EnableAllGestures();
else
foreach (var g in gestures) this.config.EnableGesture(g);
this.config.ApplyChanges();
if (re != pxcmStatus.PXCM_STATUS_NO_ERROR)
throw new RealSenseException("error: " + re, re);
this.isGestureRecognitionEnabled = true;
}
// Update is called once per frame
void Update()
{
if (session == null)
return;
// For accessing hand data
handAnalyzer = session.QueryHand();
faceAnalyzer = session.QueryFace();
if (handAnalyzer != null)
{
PXCMHandData handData = handAnalyzer.CreateOutput();
if (handData != null)
{
handData.Update();
PXCMHandData.IHand IHAND; // Ihand instance for accessing future data
// Int32 IhandData; // for QueryOpenness Value
// PXCMPoint3DF32 location; // Stores hand tracking position
//Fills IHAND with information to later be grabbed and used for tracking + openness
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, 0, out IHAND);
// If there is data in Ihand
if (IHAND != null)
{
// Debug.DrawLine(transform.position, hit.point, Color.red);
// Inits hand tracking from the center of the hand.
// location = IHAND.QueryMassCenterWorld();
// if (mCurrentDart != null)
// {
// Vector3 locationUnity = new Vector3(location.x, location.y, location.z);
// mCurrentDart.transform.localPosition = locationUnity * RSScale;
// }
}
}
handAnalyzer.Dispose();
session.ReleaseFrame();
}
if (faceAnalyzer != null)
{
PXCMFaceData facedata = faceAnalyzer.CreateOutput();
if (facedata != null)
{
Int32 nfaces = facedata.QueryNumberOfDetectedFaces();
for (Int32 i = 0; i < nfaces; i++)
{
// Retrieve the face landmark data instance
PXCMFaceData.Face face = facedata.QueryFaceByIndex(i);
PXCMFaceData.PoseData pdata = face.QueryPose();
// retrieve the pose information
PXCMFaceData.PoseEulerAngles angles;
pdata.QueryPoseAngles(out angles);
Debug.Log("Eular Angles yaw : " + angles.yaw);
Debug.Log("Eular Angles pitch: " + angles.pitch);
Debug.Log("Eular Angles Roll: " + angles.roll);
angles.pitch = gameObject.transform.rotation.z;
angles.yaw = gameObject.transform.rotation.y;
}
// device is a PXCMCapture.Device instance
}
}
}
// Update is called once per frame
void Update()
{
/* Make sure SenseManager Instance is valid */
if (sm == null)
return;
/* Wait until any frame data is available */
if (sm.AcquireFrame (false) != pxcmStatus.PXCM_STATUS_NO_ERROR)
return;
/* Retrieve hand tracking Module Instance */
handAnalyzer = sm.QueryHand ();
if (handAnalyzer != null) {
/* Retrieve hand tracking Data */
PXCMHandData _handData = handAnalyzer.CreateOutput ();
if (_handData != null) {
_handData.Update ();
/* Retrieve Gesture Data to manipulate GUIText */
PXCMHandData.GestureData gestureData;
for (int i = 0; i < _handData.QueryFiredGesturesNumber(); i++)
if (_handData.QueryFiredGestureData (i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
DisplayGestures (gestureData);
/* Retrieve Alert Data to manipulate GUIText */
PXCMHandData.AlertData alertData;
for (int i=0; i<_handData.QueryFiredAlertsNumber(); i++)
if (_handData.QueryFiredAlertData (i, out alertData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
ProcessAlerts (alertData);
/* Retrieve all joint Data */
for (int i = 0; i < _handData.QueryNumberOfHands (); i++) {
PXCMHandData.IHand _iHand;
if (_handData.QueryHandData (PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, i, out _iHand) == pxcmStatus.PXCM_STATUS_NO_ERROR) {
for (int j = 0; j < MaxJoints; j++) {
if (_iHand.QueryTrackedJoint ((PXCMHandData.JointType)j, out jointData [i] [j]) != pxcmStatus.PXCM_STATUS_NO_ERROR)
jointData [i] [j] = null;
}
if (!handList.ContainsKey (_iHand.QueryUniqueId ()))
handList.Add (_iHand.QueryUniqueId (), _iHand.QueryBodySide ());
}
}
/* Smoothen and Display the Data - Joints and Bones*/
DisplayJoints ();
}
_handData.Dispose ();
}
handAnalyzer.Dispose ();
sm.ReleaseFrame ();
RotateCam ();
}
/* 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");
}
}
public static void start(IoT_RealSense_Surfing frm)
{
keepLooping = true;
iot_form = frm;
InitializeMqqtClient();
PXCMSession session = PXCMSession.CreateInstance();
// Querying the SDK version
Console.WriteLine(frm.comboTarget.SelectedText);
if (session != null)
{
// Optional steps to send feedback to Intel Corporation to understand how often each SDK sample is used.
PXCMMetadata md = session.QueryInstance <PXCMMetadata>();
if (md != null)
{
string sample_name = "Emotion Viewer CS";
md.AttachBuffer(1297303632, System.Text.Encoding.Unicode.GetBytes(sample_name));
}
//Application.Run(new MainForm(session));
//session.Dispose();
}
//PXCMSession.ImplVersion version = session.QueryVersion();
//Console.WriteLine("RealSense SDK Version {0}.{1}", version.major, version.minor);
session.CreateImpl <PXCMRotation>(out rotationHelper);
// Creating the SenseManager
PXCMSenseManager senseManager = session.CreateSenseManager();
if (senseManager == null)
{
Console.WriteLine("Failed to create the SenseManager object.");
return;
}
// Enabling Emotion Module
pxcmStatus enablingModuleStatus = senseManager.EnableEmotion();
if (enablingModuleStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to enable the Emotion Module");
return;
}
// Getting the instance of the Emotion Module
PXCMEmotion emotionModule = senseManager.QueryEmotion();
if (emotionModule == null)
{
Console.WriteLine("Failed to query the emotion module");
return;
}
// Initializing the camera
if (senseManager.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to initialize the SenseManager");
return;
}
// Enabling the Hand module
pxcmStatus enablingModuleStatus1 = senseManager.EnableHand("Hand Module");
if (enablingModuleStatus1 != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to enable the Hand Module");
return;
}
// Getting the instance of the Hand Module
PXCMHandModule handModule = senseManager.QueryHand();
if (handModule == null)
{
Console.WriteLine("Failed to get the HandModule object.");
return;
}
// Creating an active configuration
PXCMHandConfiguration handConfiguration = handModule.CreateActiveConfiguration();
if (handConfiguration == null)
{
Console.WriteLine("Failed to create the HandConfiguration object.");
return;
}
// Listing the available gestures
int supportedGesturesCount = handConfiguration.QueryGesturesTotalNumber();
if (supportedGesturesCount > 0)
{
Console.WriteLine("Supported gestures:");
for (int i = 0; i < supportedGesturesCount; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("\t" + gestureName);
}
}
}
// Enabling some gestures
String[] enabledGestures = { GESTURE_CLICK, GESTURE_VSIGN, GESTURE_FIST, GESTURE_SPREADFINGERS };
foreach (String gesture in enabledGestures)
{
if (!handConfiguration.IsGestureEnabled(gesture))
{
handConfiguration.EnableGesture(gesture);
}
}
handConfiguration.ApplyChanges();
// Creating a data output object
PXCMHandData handData = handModule.CreateOutput();
if (handData == null)
{
Console.WriteLine("Failed to create the HandData object.");
return;
}
// Initializing the SenseManager
if (senseManager.Init() != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine(senseManager.Init());
return;
}
// Looping to query the hands information
while (keepLooping)
{
// Acquiring a frame
if (senseManager.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
// Updating the hand data
if (handData != null)
{
handData.Update();
}
//ProcessHands(handData);
ProcessGestures(handData);
ProcessEmotions(emotionModule);
// Releasing the acquired frame
senseManager.ReleaseFrame();
/* using another frame to process different stuff? may be...
* // Acquiring a frame
* if (senseManager.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
* {
* break;
* }
*
* // Processing Emotions
* ProcessEmotions(emotionModule);
*
* // Releasing the acquired frame
* senseManager.ReleaseFrame();*/
}
// Releasing resources
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
rotationHelper.Dispose();
senseManager.Close();
senseManager.Dispose();
session.Dispose();
client.Disconnect();
}
//Called every frame when in manual mode
private void UpdateFreeMovementState()
{
if (!manualEnabled)
return;
if (gesture.Equals("fist"))
{
GetComponent<Rigidbody>().AddForce(1 * transform.forward * forceMultiplier);
}
else if (gesture.Equals("v_sign"))
{
GetComponent<Rigidbody>().AddTorque(-1 * transform.up * forceMultiplier * rotateFactor);
gesture = "";
}
else if (gesture.Equals("thumb_down"))
{
GetComponent<Rigidbody>().AddTorque(1 * transform.up * forceMultiplier * rotateFactor);
gesture = "";
}
/* Retrieve hand tracking Module Instance */
handAnalyzer = sm.QueryHand();
/* Retrieve hand tracking Data */
PXCMHandData _handData = handAnalyzer.CreateOutput();
if (_handData != null)
{
_handData.Update();
}
handAnalyzer.Dispose();
sm.ReleaseFrame();
}
// 手の検出の初期化
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if ( handAnalyzer == null ) {
throw new Exception( "手の検出器の取得に失敗しました" );
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if ( handData == null ) {
throw new Exception( "手の検出器の作成に失敗しました" );
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo( out dinfo );
if ( dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM ) {
device.SetDepthConfidenceThreshold( 1 );
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption( 6 );
}
// 手の検出の設定
handConfig = handAnalyzer.CreateActiveConfiguration();
// 登録されているジェスチャーを列挙する
var num = handConfig.QueryGesturesTotalNumber();
for ( int i = 0; i < num; i++ ){
string gestureName;
var sts = handConfig.QueryGestureNameByIndex( i, out gestureName );
if ( sts == pxcmStatus.PXCM_STATUS_NO_ERROR ){
ComboGesture.Items.Add( gestureName );
}
}
handConfig.ApplyChanges();
handConfig.Update();
}