private void ConfigureRealSense()
{
try
{
// Create the SenseManager instance
sm = PXCMSenseManager.CreateInstance();
// Enable the color stream
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, ImageWidth, ImageHeight, 30);
// Enable person tracking
sm.EnablePersonTracking();
personModule = sm.QueryPersonTracking();
PXCMPersonTrackingConfiguration personConfig = personModule.QueryConfiguration();
personConfig.SetTrackedAngles(PXCMPersonTrackingConfiguration.TrackingAngles.TRACKING_ANGLES_ALL);
// Enable skeleton tracking - not supported on r200?
//PXCMPersonTrackingConfiguration.SkeletonJointsConfiguration skeletonConfig = personConfig.QuerySkeletonJoints();
//skeletonConfig.Enable();
// Enable the face module
sm.EnableFace();
PXCMFaceModule faceModule = sm.QueryFace();
PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
faceConfig.detection.maxTrackedFaces = 1;
faceConfig.ApplyChanges();
sm.EnableBlob();
PXCMBlobModule blobModule = sm.QueryBlob();
PXCMBlobConfiguration blobConfig = blobModule.CreateActiveConfiguration();
blobConfig.SetMaxBlobs(4); // 4 is the max
blobConfig.SetMaxDistance(2000); // in mm's
blobConfig.ApplyChanges();
//initialize the SenseManager
sm.Init();
faceData = faceModule.CreateOutput();
blobData = blobModule.CreateOutput();
// Mirror the image
sm.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
personConfig.Dispose();
faceConfig.Dispose();
faceModule.Dispose();
blobConfig.Dispose();
blobModule.Dispose();
}
catch (Exception)
{
MessageBox.Show("Unable to configure the RealSense camera. Please make sure a R200 camera is connected.", "System Error");
throw;
}
}
private void ConfigureRealSense()
{
my.init();
child.Start();
try
{
// Create the SenseManager instance
sm = PXCMSenseManager.CreateInstance();
// Enable the color stream
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, ImageWidth, ImageHeight, 30);
// Enable person tracking
sm.EnablePersonTracking();
personModule = sm.QueryPersonTracking();
PXCMPersonTrackingConfiguration personConfig = personModule.QueryConfiguration();
personConfig.SetTrackedAngles(PXCMPersonTrackingConfiguration.TrackingAngles.TRACKING_ANGLES_ALL);
// Enable the face module
sm.EnableFace();
PXCMFaceModule faceModule = sm.QueryFace();
PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
faceConfig.detection.maxTrackedFaces = 1;
// Apply changes and initialize the SenseManager
faceConfig.ApplyChanges();
sm.Init();
faceData = faceModule.CreateOutput();
// Mirror the image
sm.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
personConfig.Dispose();
faceConfig.Dispose();
faceModule.Dispose();
}
catch (Exception)
{
// For the sake of brevity we're not doing extensive exception handling in this code sample,
// simply give a hint that the camera is not connected, and then throw the exception
MessageBox.Show("Unable to configure the RealSense camera. Please make sure a R200 camera is connected.", "System Error");
throw;
}
}
