void saliencySecondsTimer_Tick()//(object sender, EventArgs e)
{
uint sumX = 0, sumY = 0;
for (int i = 0; i < saliency.ToArray().Length; i++)
{
sumX += saliency[i].x;
sumY += saliency[i].y;
}
avgPoint.x = (uint)(sumX / saliency.Length);
avgPoint.y = (uint)(sumY / saliency.Length);
//List<float> pos = new List<float>() { avgPoint.x, avgPoint.y };
lblpoint.Invoke(new Action(() =>
{
lblpoint.Text = "X = " + avgPoint.x + " ; Y = " + avgPoint.y;
}));
sa.position = new List <float>()
{
avgPoint.x, avgPoint.y
};
if (sa != null)
{
sceneData = ComUtils.XmlUtils.Serialize <Saliency>(sa);
//Console.WriteLine(sceneData);
yarpPort.sendData(sceneData);
sceneData = null;// se non cancello col tempo mi occupa tutta la memoria
}
}
public void ThreadPoolCallback(Object outputYarpPort)
{
YarpPort outYarpPort = (YarpPort)outputYarpPort;
byte[] serializedFrameByte = _frame.Serialize;
string serialiedFrameString = Convert.ToBase64String(serializedFrameByte);
outYarpPort.sendData(serialiedFrameString);
_doneEvent.Set();
}
private void SendData()
{
while (true)
{
if (StringYarp == null)
{
continue;
}
yarpPortScene.sendData(StringYarp);
}
}
private void ProcessData(Object data)
{
string receivedData = (string)data;
byte[] serialiedFrame = Convert.FromBase64String(receivedData);
frame.Deserialize(serialiedFrame);
// frame contains at least one hand
bool right = false;
bool left = false;
handsValues.Time = frame.Timestamp;
handsValues.LeftValues = new float[9] {
-1f, -1f, -1f, -1f, -1f, -1f, -1f, -1f, -1f
};
handsValues.RightValues = new float[9] {
-1f, -1f, -1f, -1f, -1f, -1f, -1f, -1f, -1f
};
foreach (Leap.Hand hand in frame.Hands)
{
if (hand.IsValid)
{
float[] anglesArray = new float[9];
for (int finger = 0; finger < ftype.Length; finger++)
{
Leap.Matrix[] basis = new Leap.Matrix[3];
Leap.Vector[] positions = new Leap.Vector[4];
for (int bone = 0; bone < btype.Length; bone++)
{
if (bone < 3)
{
basis[bone] = hand.Fingers.FingerType(ftype[finger])[0].Bone(btype[bone]).Basis.RigidInverse();
}
positions[bone] = hand.Fingers.FingerType(ftype[finger])[0].Bone(btype[bone]).NextJoint;
}
// angleFlex sums 3 flexion angles per finger (metacarpal to proximal - proximal to intermediate - intermediate to distal)
float angleFlex = 0;
for (int joint = 0; joint < 3; joint++)
{
angleFlex -= basis[joint].TransformPoint(positions[joint + 1] - positions[joint]).Pitch;
}
angleFlex = angleFlex * DEG_TO_RAD;
anglesArray[finger] = angleFlex;
if (ftype[finger] == Finger.FingerType.TYPE_INDEX || ftype[finger] == Finger.FingerType.TYPE_MIDDLE || ftype[finger] == Finger.FingerType.TYPE_THUMB)
{
float angleAbd = basis[0].TransformPoint(positions[1] - positions[0]).Yaw *DEG_TO_RAD;
anglesArray[finger + 5] = angleAbd;
}
}
anglesArray[8] = -1; // wrist angle
float[] vettoreAngoliNorm = normalize(anglesArray);
#region leftHand
if (hand.IsLeft && !left)
{
handsValues.LeftValues = vettoreAngoliNorm;
left = true;
for (int i = 1; i < 10; i++)
{
string labelName = String.Format("lblLH{0:D1}", i);
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Background,
new Action(() => ((Label)this.FindName(labelName)).Content = String.Format("{0:F2}", anglesArray[i - 1])));
string sliderName = String.Format("sldLH{0:D1}", i);
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Background,
new Action(() => ((Slider)this.FindName(sliderName)).Value = vettoreAngoliNorm[i - 1]));
}
LHSent += 1;
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Background,
new Action(() => lblLHSent.Content = LHSent));
}
#endregion
#region rightHand
if (hand.IsRight && !right)
{
handsValues.RightValues = vettoreAngoliNorm;
right = true;
for (int i = 1; i < 10; i++)
{
string labelName = String.Format("lblRH{0:D1}", i);
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Background,
new Action(() => ((Label)this.FindName(labelName)).Content = String.Format("{0:F2}", anglesArray[i - 1])));
string sliderName = String.Format("sldRH{0:D1}", i);
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Background,
new Action(() => ((Slider)this.FindName(sliderName)).Value = vettoreAngoliNorm[i - 1]));
}
RHSent += 1;
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Background,
new Action(() => lblRHSent.Content = RHSent));
}
#endregion
#region send to yarp
string toSend = ComUtils.XmlUtils.Serialize <LRValues>(handsValues) + " ";
yarpPortSend.sendData(toSend);
#endregion
}
}
}
// The engineLoop thread executes RunEngine() function. This thread waits until a signal is received
// (frameReady.WaitOne()). In this case, the signal means that the copy of frame bytes is ready.
// Since the engineLoop thread is not the UI thread (the thread which manages the interface),
// it cannot modify objects belonging to the interface. A Dispatcher object (the last line of the function)
// is necessary for updating the interface.
void RunEngine(object state)
{
// Acquire frame for specific reference
//if (kinect.camera.frameReady.WaitOne())
//{
lock (lockThis)
{
ColorFrame frame = colorRef.AcquireFrame();
// It's possible that we skipped a frame or it is already gone
if (frame == null)
{
return;
}
uint size = Convert.ToUInt32(frame.FrameDescription.Height * frame.FrameDescription.Width * 4);
frame.CopyConvertedFrameDataToIntPtr(kinect.Camera.PinnedImageBuffer, size, ColorImageFormat.Bgra);
frame.Dispose();
content = engine.Process(kinect.Camera.PinnedImageBuffer + 1, 1920, 1080, 1U, 4, 1920 * 4, 0, "GRAYSCALE");
if (content == null)
{
return;
}
ShoreList.Clear();
for (uint i = 0; i < content.GetObjectCount(); i++)
{
try
{
ShoreNetObject sObj = content.GetObject(i);
if (sObj.GetShoreType() == "Face")
{
Shore shore = new Shore();
shore.Eyes.Left.X = sObj.GetMarkerOf("LeftEye").GetX();
shore.Eyes.Left.Y = sObj.GetMarkerOf("LeftEye").GetY();
shore.Eyes.Right.X = sObj.GetMarkerOf("RightEye").GetX();
shore.Eyes.Right.Y = sObj.GetMarkerOf("RightEye").GetY();
shore.Gender = (sObj.GetAttributeOf("Gender") == "Female") ? "Female" : "Male";
shore.Age = (int)sObj.GetRatingOf("Age");
shore.Happiness_ratio = sObj.GetRatingOf("Happy");
shore.Surprise_ratio = sObj.GetRatingOf("Surprised");
shore.Anger_ratio = sObj.GetRatingOf("Angry");
shore.Sadness_ratio = sObj.GetRatingOf("Sad");
shore.Uptime = sObj.GetRatingOf("Uptime");
shore.Age_deviation = sObj.GetRatingOf("AgeDeviation");
shore.Region_face.Left = sObj.GetRegion().GetLeft();
shore.Region_face.Top = sObj.GetRegion().GetTop();
shore.Region_face.Bottom = sObj.GetRegion().GetBottom();
shore.Region_face.Right = sObj.GetRegion().GetRight();
ShoreList.Add(shore);
}
}
catch (Exception e)
{
Console.WriteLine("error shore" + e.Message);
}
}
lblFaceDet.Invoke(new Action(() =>
{
lblFaceDet.Text = ShoreList.Count().ToString();
}));
}
if (ShoreList.Count() != 0)
{
ShoreData = ComUtils.XmlUtils.Serialize <List <Shore> >(ShoreList);
//Console.WriteLine(sceneData);
yarpPort.sendData(ShoreData);
ShoreData = null; // se non cancello col tempo mi occupa tutta la memoria
}
//}
}
RecognizedQRCode getInformationDB(Dictionary <string, ZXing.ResultPoint[]> dict)
{
RecognizedQRCode rec = new RecognizedQRCode();
rec.ResolutionCam = new ResolutionCam();
rec.ResolutionCam.Width = w.ToString();
rec.ResolutionCam.Height = h.ToString();
foreach (var s in dict)
{
//preparo l'informazione del soggetto con la posizione centrale del QRCode
InfoQRCode inf = new InfoQRCode();
inf.Positions = new List <Pos>();
foreach (var v in s.Value)
{
Pos p = new Pos();
p.X = v.X.ToString();
p.Y = v.Y.ToString();
inf.Positions.Add(p);
}
// verifico se già conosco il soggetto altrimenti interogo il database
List <InfoQRCode> sub = SubjRecognition.InfoQRCode.FindAll(a => a.Message.Split('|')[1].Trim() == s.Key);
if (sub.Count() == 0)
{
//leggo lo status del database se è occupato attendo
string state = "";
do
{
yarpPortStatusDB.receivedData(out state);
}while (state != "Activo");
//apro le connessioni con il db
yarpPortCommandDB.openConnectionToDb(dataBaseCommand_OUT, dataBaseCommand_IN);
yarpPortReplyDB.openReceiverReplyDb(dataBaseReply_OUT, dataBaseReply_IN);
yarpPortCommandDB.sendData("SELECT * FROM subjects WHERE IdSubject=" + s.Key);
System.Threading.Thread.Sleep(400);
//attendo risposta
string reply = "";
do
{
yarpPortReplyDB.receivedData(out reply);
}while (reply == "");
//se non trovo nulla parte evento che gestire l'inserimento del nuovo soggetto
if (reply.Replace("\"", "") == "|")
{
InputDialog.InputDialog dialog2 = new InputDialog.InputDialog("Assign ID and Name to ", "", "");
if (dialog2.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
if (dialog2.ResultText != "unknown")
{
yarpPortCommandDB.sendData("INSERT INTO subjects (IdSubject,Name,FirstTime) VALUE ('" + s.Key + "','" + dialog2.ResultText + "','" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "')");
System.Threading.Thread.Sleep(400);
reply = "";
do
{
yarpPortReplyDB.receivedData(out reply);
}while (reply == "" || reply == "\"|\"");
inf.Message = "unknown";
}
else
{
inf.Message = dialog2.ResultText;
}
}
else
{
inf.Message = dialog2.ResultText;
}
}
else
{
inf.Message = reply.Replace("\"", "");
}
yarpPortCommandDB.Close();
yarpPortReplyDB.Close();
if (inf.Message != "unknown")
{
SubjRecognition.InfoQRCode.Add(inf);
}
}
else
{
foreach (InfoQRCode info in sub)
{
if (info.Message[1] == s.Key[0])
{
inf.Message = info.Message;
}
}
}
Sub.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new Action(delegate()
{
Sub.Content = inf.Message;
}));
rec.InfoQRCode.Add(inf);
}
return(rec);
}
