private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
for (;;)
{
if (terminate)
{
System.Diagnostics.Debug.WriteLine("Application window closed, shutting down");
break;
}
Status status = senseManager.AcquireFrame(true);
if (status.IsError())
{
System.Diagnostics.Debug.WriteLine("Failed to Acquire Frame: " + status.ToString());
break;
}
//process face
ProcessLandmarks();
CreateLandmarkBoundingBoxes();
//process image streams
ProcessImages();
//Release the frame
senseManager.ReleaseFrame();
}
senseManager.Close();
session.Dispose();
}
public DeviceInfo GetDeviceFromFileMenu(string fileName)
{
ImplDesc desc = new ImplDesc()
{
group = ImplGroup.IMPL_GROUP_SENSOR,
subgroup = ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE
};
ImplDesc desc1;
DeviceInfo dinfo;
SenseManager pp = SenseManager.CreateInstance();
if (pp == null)
{
return(null);
}
try {
desc1 = session.QueryImpl(desc, 0);
if (desc1 == null)
{
throw null;
}
if (pp.CaptureManager == null)
{
throw null;
}
if (pp.CaptureManager.SetFileName(fileName, false) < Status.STATUS_NO_ERROR)
{
throw null;
}
if (pp.CaptureManager.LocateStreams() < Status.STATUS_NO_ERROR)
{
throw null;
}
if (pp.CaptureManager.Device != null)
{
pp.CaptureManager.Device.QueryDeviceInfo(out dinfo);
}
else
{
throw null;
}
} catch {
pp.Dispose();
return(null);
}
pp.Close();
pp.Dispose();
StatusLabel.Text = "Ok";
return(dinfo);
}
public static void Dispose()
{
if (SenseManager != null)
{
SenseManager.Close();
SenseManager.Dispose();
SenseManager = null;
}
if (Session != null)
{
Session.Dispose();
Session = null;
}
}
/* Using SenseManager to handle data */
public void SimplePipeline()
{
_form.UpdateInfo(String.Empty, System.Drawing.Color.Black);
bool liveCamera = false;
bool flag = true;
SenseManager instance = null;
_disconnected = false;
instance = _form.session.CreateSenseManager();
if (instance == null)
{
_form.UpdateStatus("Failed creating SenseManager");
_form.EnableTrackingMode(true);
return;
}
CaptureManager captureManager = instance.CaptureManager;
DeviceInfo info = null;
if (captureManager != null)
{
if (_form.GetPlaybackState())
{
captureManager.SetFileName(_form.GetFileName(), false);
info = _form.GetDeviceFromFileMenu(_form.GetFileName());
}
else
{
if (_form.Devices.Count == 0)
{
_form.UpdateStatus("No device were found");
return;
}
_form.Devices.TryGetValue(_form.GetCheckedDevice(), out info);
if (_form.GetRecordState())
{
captureManager.SetFileName(_form.GetFileName(), true);
if (_form.Devices.TryGetValue(_form.GetCheckedDevice(), out info))
{
captureManager.FilterByDeviceInfo(_form.GetCheckedDeviceInfo());
}
}
else
{
captureManager.FilterByDeviceInfo(_form.GetCheckedDeviceInfo());
liveCamera = true;
}
if (info == null)
{
_form.UpdateStatus("Device Failure");
return;
}
}
}
/* Set Module */
HandModule handAnalysis;
// SenseManager.Handler handler = new SenseManager Handler();
// handler.onModuleProcessedFrame = new SenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
HandConfiguration handConfiguration = null;
HandData handData = null;
handAnalysis = HandModule.Activate(instance);
if (handAnalysis == null)
{
_form.UpdateStatus("Failed Loading Module");
_form.EnableTrackingMode(true);
return;
}
handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
_form.UpdateStatus("Failed Create Configuration");
_form.EnableTrackingMode(true);
instance.Close();
instance.Dispose();
return;
}
handData = handAnalysis.CreateOutput();
if (handData == null)
{
_form.UpdateStatus("Failed Create Output");
_form.EnableTrackingMode(true);
handConfiguration.Dispose();
instance.Close();
instance.Dispose();
return;
}
FPSTimer timer = new FPSTimer(_form);
_form.UpdateStatus("Init Started");
if (instance.Init() == Status.STATUS_NO_ERROR)
{
DeviceInfo dinfo;
DeviceModel dModel = DeviceModel.DEVICE_MODEL_F200;
Device device = instance.CaptureManager.Device;
if (device != null)
{
device.QueryDeviceInfo(out dinfo);
dModel = dinfo.model;
_maxRange = device.DepthSensorRange.max;
}
if (handConfiguration != null)
{
TrackingModeType trackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
if (_form.GetFullHandModeState())
{
trackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
}
handConfiguration.TrackingMode = trackingMode;
handConfiguration.EnableAllAlerts();
handConfiguration.SegmentationImageEnabled = true;
bool isEnabled = handConfiguration.SegmentationImageEnabled;
handConfiguration.ApplyChanges();
_form.resetGesturesList();
int totalNumOfGestures = handConfiguration.NumberOfGestures;
if (totalNumOfGestures > 0)
{
this._form.UpdateGesturesToList("", 0);
for (int i = 0; i < totalNumOfGestures; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) ==
Status.STATUS_NO_ERROR)
{
this._form.UpdateGesturesToList(gestureName, i + 1);
}
}
_form.UpdateGesturesListSize();
}
}
_form.UpdateStatus("Streaming");
int frameCounter = 0;
int frameNumber = 0;
while (!_form.stop)
{
string gestureName = _form.GetGestureName();
if (handConfiguration != null)
{
if (string.IsNullOrEmpty(gestureName) == false)
{
if (handConfiguration.IsGestureEnabled(gestureName) == false)
{
handConfiguration.DisableAllGestures();
handConfiguration.EnableGesture(gestureName, true);
handConfiguration.ApplyChanges();
}
}
else
{
handConfiguration.DisableAllGestures();
handConfiguration.ApplyChanges();
}
}
if (instance.AcquireFrame(true) < Status.STATUS_NO_ERROR)
{
break;
}
frameCounter++;
if (!DisplayDeviceConnection(!instance.IsConnected()))
{
Sample sample = instance.Sample;
if (sample != null && sample.Depth != null)
{
frameNumber = liveCamera ? frameCounter : instance.CaptureManager.FrameIndex;
if (handData != null)
{
handData.Update();
DisplayPicture(sample.Depth, handData);
DisplayGesture(handData, frameNumber);
DisplayJoints(handData);
DisplayAlerts(handData, frameNumber);
}
_form.UpdatePanel();
}
timer.Tick();
}
instance.ReleaseFrame();
}
}
else
{
_form.UpdateStatus("Init Failed");
flag = false;
}
foreach (Image Image in _mImages)
{
Image.Dispose();
}
// Clean Up
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
instance.Close();
instance.Dispose();
if (flag)
{
_form.UpdateStatus("Stopped");
}
}
// Call when exit application
void OnApplicationQuit()
{
senseManager.Close();
}
private void StartTrackingLoop()
{
PXCMFaceData FaceData = FaceModule.CreateOutput();
while (!_shouldStop)
{
pxcmStatus acquireFrameStatus = SenseManager.AcquireFrame(true);
if (acquireFrameStatus < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
ResetTrackData();
Console.WriteLine("SenseManager.AcquireFrame(true) error: " + acquireFrameStatus.ToString());
continue;
}
PXCMCapture.Sample captureSample = SenseManager.QueryFaceSample();
if (captureSample == null)
{
ResetTrackData();
SenseManager.ReleaseFrame();
continue;
}
//TODO: Image Daten holen
TrackImageData(captureSample);
FaceData.Update();
int numberOfDetectedFaces = FaceData.QueryNumberOfDetectedFaces();
if (numberOfDetectedFaces != 1)
{
ResetTrackData();
SenseManager.ReleaseFrame();
continue;
}
PXCMFaceData.Face faceDataFace = FaceData.QueryFaceByIndex(0);
TrackPose(faceDataFace);
TrackExpressions(faceDataFace);
//TrackLandmarks(faceDataFace);
//TrackGaze();
//FaceData.QueryRecognitionModule();
//im nächsten object steckt boundingrectangle und avarageDepth drin
//PXCMFaceData.DetectionData faceDataDetectionData = faceDataFace.QueryDetection();
//faceDataDetectionData.QueryFaceAverageDepth();
//faceDataDetectionData.QueryBoundingRect();
SenseManager.ReleaseFrame();
Thread.Sleep(250);
}
if (FaceData != null)
{
FaceData.Dispose();
}
FaceConfiguration.Dispose();
SenseManager.Close();
SenseManager.Dispose();
}