internal void SetupNode()
{
if(FContext != null)
{
if( FContext[0].Configured &&
(FContext[0].sm != null) &&
FContext[0].sm.IsConnected()
)
{
if(FContext[0].Streams.ContainsKey(PXCMCapture.StreamType.STREAM_TYPE_IR))
{
Image = FContext[0].Streams[PXCMCapture.StreamType.STREAM_TYPE_IR];
FIR.SliceCount = 1;
FIR[0] = Image;
FFormatOut.SliceCount = 1;
FFormatOut[0] = Image.Format.ToString();
} else FLogger.Log(LogType.Debug,"IR: No STREAM_TYPE_IR found");
}
else
{
Image = null;
FIR.SliceCount = 0;
FFormatOut.SliceCount = 0;
}
}
else
{
Image = null;
FIR.SliceCount = 0;
FFormatOut.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
if( (FContext.SliceCount > 0) && (FContext[0].Configured) )
{
processConfig();
// Iterate over blobs from right to left
try
{
Int32 iBlobsNum = FContext[0].blobData.QueryNumberOfBlobs();
FCenter.SliceCount = iBlobsNum;
FOuterPoints.SliceCount = iBlobsNum;
FInnerPoints.SliceCount = iBlobsNum;
FClosest.SliceCount = iBlobsNum;
FBlobsCount[0] = iBlobsNum;
var ImageSize = FContext[0].DepthImageSize;
FImage.SliceCount = iBlobsNum;
PXCMBlobData.IBlob[] blobList = new PXCMBlobData.IBlob[iBlobsNum];
for (int i = 0; i < iBlobsNum; i++)
{
FContext[0].blobData.QueryBlob(i,
PXCMBlobData.SegmentationImageType.SEGMENTATION_IMAGE_DEPTH,
PXCMBlobData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR,
out blobList[i]);
// handle extracted blob data
Int32 nContours = blobList[i].QueryNumberOfContours();
if (nContours > 0)
{
//contourPts
for (int k = 0; k < nContours; ++k)
{
PXCMBlobData.IContour ContourData;
blobList[i].QueryContour(k, out ContourData);
int contourSize = ContourData.QuerySize();
PXCMPointI32[] ContourPoints = new PXCMPointI32[contourSize];
ContourData.QueryPoints(out ContourPoints);
if(ContourPoints.Length > 0)
{
if( (ContourData.IsOuter() == true) )
{
FOuterPoints[i].SliceCount = ContourPoints.Length;
for(int index = 0; index < ContourPoints.Length; index++) FOuterPoints[i][index] = new Vector2D(ContourPoints[index].x / (float)ImageSize.x * 2.0f - 1.0f, 1.0f - ContourPoints[index].y / (float)ImageSize.y * 2.0f);
//Parallel.For (0, ContourPoints.Length, index => { FOuterPoints[i][index] = new Vector2D(ContourPoints[index].x / (float)ImageSize.x * 2.0f - 1.0f, 1.0f - ContourPoints[index].y / (float)ImageSize.y * 2.0f); );
}
/*
else
{
FInnerPoints[i].SliceCount = ContourPoints.Length;
for (int p = 0; p < ContourPoints.Length; p++)
{
Parallel.For (0, ContourPoints.Length,
index => { FInnerPoints[i][index] = new Vector2D(ContourPoints[index].x / (float)ImageSize.x * 2.0f - 1.0f, 1.0f - ContourPoints[index].y / (float)ImageSize.y * 2.0f); }
);
}
}
*/
}
}
PXCMImage BlobImage;
if (FContext[0].blobConfig.IsSegmentationImageEnabled() && blobList[i].QuerySegmentationImage(out BlobImage) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMImage.ImageData BlobImageData;
if (BlobImage.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_Y8, out BlobImageData) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
FImage[i] = new RSSDKImage();
FImage[i].Source = BlobImage;
FImage[i].Data = BlobImage.GetY8Pixels();
FImage[i].Source = BlobImage;
FImage[i].Width = BlobImage.info.width;
FImage[i].Height = BlobImage.info.height;
FImage[i].Format = PXCMImage.PixelFormat.PIXEL_FORMAT_Y8;
BlobImage.ReleaseAccess(BlobImageData);
}
}
}
FCenter[i] = blobList[i].QueryExtremityPoint(PXCMBlobData.ExtremityType.EXTREMITY_CENTER).ToVector3D();
FClosest[i] = blobList[i].QueryExtremityPoint(PXCMBlobData.ExtremityType.EXTREMITY_CLOSEST).ToVector3D();
}
}
catch (Exception)
{
//Flogger.Log();
}
}
}
public void DisconnectPin(IPluginIO pin)
{
if (pin == FContext.PluginIO) {
Image = null;
FContextChanged = true;
FLogger.Log(LogType.Debug, pin.Name + " got disconnected");
}
}
internal void SetupNode()
{
if(
(FContext != null) &&
(FContext.SliceCount > 0) &&
FContext[0].Configured &&
(FContext[0].sm != null) &&
FContext[0].sm.IsConnected() &&
(FContext[0].Streams.Count > 0) &&
FContext[0].Streams.ContainsKey(PXCMCapture.StreamType.STREAM_TYPE_DEPTH)
)
{
Image = FContext[0].Streams[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
FFocalLengthOut[0] = FContext[0].device.QueryDepthFocalLength().ToVector2D();
FFOVOut[0] = FContext[0].device.QueryDepthFieldOfView().ToVector2D();
FPrincipalPointOut[0] = FContext[0].device.QueryDepthPrincipalPoint().ToVector2D();
FSensorRangeOut[0] = FContext[0].device.QueryDepthSensorRange().ToVector2D(); //mm
FDepthUnitOut[0] = FContext[0].device.QueryDepthUnit(); //uint
FLowConfidenceValueOut[0] = FContext[0].device.QueryDepthLowConfidenceValue();
FConfidenceThresholdOut[0] = FContext[0].device.QueryDepthConfidenceThreshold();
FFormatOut[0] = FContext[0].Streams[PXCMCapture.StreamType.STREAM_TYPE_DEPTH].Format.ToString();
}
else
{
Image = null;
FDepth.SliceCount = 0;
}
}
internal void SetupNode()
{
if((FContext != null) &&
(FContext.SliceCount > 0) &&
FContext[0].Configured &&
(FContext[0].sm != null) &&
FContext[0].sm.IsConnected() )
{
if(!FContext[0].Streams.ContainsKey(PXCMCapture.StreamType.STREAM_TYPE_COLOR) )
{
FContext[0].cm.CloseStreams();
FContext[0].Status = FContext[0].sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 0,0,0);
if(FContext[0].Status == pxcmStatus.PXCM_STATUS_NO_ERROR) FLogger.Log(LogType.Debug, "Enabled RGB stream\n\r");
RSSDKImage img = new RSSDKImage();
img.Type = PXCMCapture.StreamType.STREAM_TYPE_COLOR;
img.Format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
FContext[0].Streams.Add(PXCMCapture.StreamType.STREAM_TYPE_COLOR, img);
//FContext[0].sm.StreamFrames(false);
} //???
Image = FContext[0].Streams[PXCMCapture.StreamType.STREAM_TYPE_COLOR];
FFocalLengthOut[0] = FContext[0].device.QueryColorFocalLength().ToVector2D();
FFOVOut[0] = FContext[0].device.QueryColorFieldOfView().ToVector2D();
FPrincipalPointOut[0] = FContext[0].device.QueryColorPrincipalPoint().ToVector2D();
FFormatOut[0] = FContext[0].Streams[PXCMCapture.StreamType.STREAM_TYPE_COLOR].Format.ToString();
FExposureOut[0] = FContext[0].device.QueryColorExposure();
FWhiteBalanceOut[0] = FContext[0].device.QueryColorWhiteBalance();
FBackLightCompensationOut[0] = FContext[0].device.QueryColorBackLightCompensation();
FColorBrightnessOut[0] = FContext[0].device.QueryColorBrightness();
FContrastOut[0] = FContext[0].device.QueryColorContrast();
FColorGainOut[0] = FContext[0].device.QueryColorGain();
FGammaOut[0] = FContext[0].device.QueryColorGamma();
FHueOut[0] = FContext[0].device.QueryColorHue();
FPowerLineFrequencyOut[0] = FContext[0].device.QueryColorPowerLineFrequency();
FSaturationOut[0] = FContext[0].device.QueryColorSaturation();
FSharpnessOut[0] = FContext[0].device.QueryColorSharpness();
FFormatOut[0] = FContext[0].Streams[PXCMCapture.StreamType.STREAM_TYPE_COLOR].Format.ToString();
FAutoExposureOut[0] = FContext[0].device.QueryColorAutoExposure();
FAutoWhiteBalanceOut[0] = FContext[0].device.QueryColorAutoWhiteBalance();
//query properties info
var pInfoExposure = FContext[0].device.QueryColorExposureInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Exposure", pInfoExposure));
var pInfoWhiteBalance = FContext[0].device.QueryColorWhiteBalanceInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("WhiteBalance", pInfoWhiteBalance));
var pInfoBackLightCompensation = FContext[0].device.QueryColorBackLightCompensationInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("BackLightCompensation", pInfoBackLightCompensation));
var pInfoBrightness = FContext[0].device.QueryColorBrightnessInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Brightness", pInfoBrightness));
var pInfoContrast = FContext[0].device.QueryColorContrastInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Contrast", pInfoContrast));
var pInfoGain = FContext[0].device.QueryColorGainInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Gain", pInfoGain));
var pInfoGamma = FContext[0].device.QueryColorGammaInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Gamma", pInfoGamma));
var pInfoHue = FContext[0].device.QueryColorHueInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Hue", pInfoHue));
var pInfoSaturation = FContext[0].device.QueryColorSaturationInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Saturation", pInfoSaturation));
var pInfoSharpness = FContext[0].device.QueryColorSharpnessInfo();
FLogger.Log(LogType.Debug, PropertyInfoToString("Sharpness", pInfoSharpness));
}
}
internal bool EnableCaptureStream(PXCMCapture.StreamType st, PXCMCapture.Device.StreamProfile profileInfo)
{
Single fps = profileInfo.frameRate.max;
SenseSession.Status = SenseSession.sm.EnableStream(st, profileInfo.imageInfo.width, profileInfo.imageInfo.height, fps);
if(SenseSession.Status == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
RSSDKImage img = new RSSDKImage();
img.Type = st;
img.Format = profileInfo.imageInfo.format;
SenseSession.Streams.Add(st, img);
return true;
}
return false;
}
public void Evaluate(int SpreadMax)
{
if( (FContext.SliceCount > 0) && (FContext[0].Configured) && FContext[0].HandEnabled)
{
processConfig();
/*
if (FContext[0].handImage != null)
{
if (FContext[0].handImage.Source != null)
{
image = FContext[0].handImage.Source;
}
}
*/
try
{
FID.SliceCount = 0;
int numHands = FContext[0].handData.QueryNumberOfHands();
FNumHands[0] = numHands;
FJointsPositionImage.SliceCount = numHands;
FJointsPositionWorld.SliceCount = numHands;
FJointsOrientation.SliceCount = numHands;
FJointsConfidence.SliceCount = numHands;
FIsCalibrated.SliceCount = numHands;
FTracked.SliceCount = numHands;
FOutsideFOV.SliceCount = numHands;
FMovingTooFast.SliceCount = numHands;
FOutsideDepthRange.SliceCount = numHands;
FPointingFingers.SliceCount = numHands;
FOpen.SliceCount = numHands;
FSide.SliceCount = numHands;
FPalmOrientation.SliceCount = numHands;
FPalmRadiusImage.SliceCount = numHands;
FPalmRadiusWorld.SliceCount = numHands;
FBBox.SliceCount = numHands;
FMassCenterImage.SliceCount = numHands;
FMassCenterWorld.SliceCount = numHands;
FHasSegmentationImage.SliceCount = numHands; //!!!
PXCMRotation rotation;
FContext[0].Session.CreateImpl<PXCMRotation>(out rotation);
PXCMCapture.Sample HandSample = FContext[0].sm.QueryHandSample();
if (HandSample != null && HandSample.depth != null)
{
image = HandSample.depth;
if(FImage[0] == null)
{
FImage.SliceCount = 1;
FImage[0] = new RSSDKImage();
}
}
else image = null;
for (int j = 0; j < numHands; j++)
{
int id;
FContext[0].handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, j, out id);
FID.Add(id);
//Get hand by time of appearance
PXCMHandData.IHand handInfo;
FContext[0].handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, j, out handInfo);
if(handInfo != null)
{
if(FEnableContours[0])
{
//Extract Hand Contours
int nContours = handInfo.QueryNumberOfContours();
FContour.SliceCount = nContours;
for(int contourIndex = 0; contourIndex < nContours; contourIndex++)
{
PXCMHandData.IContour contourData;
handInfo.QueryContour(contourIndex, out contourData);
int contourSize = contourData.QuerySize();
if(contourData.IsOuter() && (contourSize>0))
{
PXCMPointI32[] ContourPoints = new PXCMPointI32[contourSize];
if(contourData.QueryPoints(out ContourPoints) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
FContour[contourIndex].ResizeAndDismiss(ContourPoints.Length);
for(int ContourPointIndex = 0; ContourPointIndex < ContourPoints.Length; ContourPointIndex++)
{
FContour[contourIndex][ContourPointIndex] = new Vector2D(ContourPoints[ContourPointIndex].x / (float)FContext[0].DepthImageSize.x * 2.0f - 1.0f, 1.0f - ContourPoints[ContourPointIndex].y / (float)FContext[0].DepthImageSize.y * 2.0f);
}
}
}
}
}
FIsCalibrated[j] = handInfo.IsCalibrated();
FHasSegmentationImage[j] = handInfo.HasSegmentationImage();
var HasTrackedJoints = handInfo.HasTrackedJoints();
FHasTrackedJoints[j] = HasTrackedJoints;
//check status
PXCMHandData.TrackingStatusType HandTrackingStatus = (PXCMHandData.TrackingStatusType)handInfo.QueryTrackingStatus();
FTracked[j] = HandTrackingStatus.HasFlag(PXCMHandData.TrackingStatusType.TRACKING_STATUS_GOOD);
FOutsideFOV[j] = HandTrackingStatus.HasFlag(PXCMHandData.TrackingStatusType.TRACKING_STATUS_OUT_OF_FOV);
FMovingTooFast[j] = HandTrackingStatus.HasFlag(PXCMHandData.TrackingStatusType.TRACKING_STATUS_HIGH_SPEED);
FOutsideDepthRange[j] = HandTrackingStatus.HasFlag(PXCMHandData.TrackingStatusType.TRACKING_STATUS_OUT_OF_RANGE);
FPointingFingers[j] = HandTrackingStatus.HasFlag(PXCMHandData.TrackingStatusType.TRACKING_STATUS_POINTING_FINGERS);
FOpen[j] = (float) handInfo.QueryOpenness() / 100.0;
FSide[j] = handInfo.QueryBodySide().ToString();
rotation.SetFromQuaternion(handInfo.QueryPalmOrientation());
FPalmOrientation[j] = rotation.QueryEulerAngles().ToVector3D();
FPalmRadiusImage[j] = handInfo.QueryPalmRadiusImage();
FPalmRadiusWorld[j] = handInfo.QueryPalmRadiusWorld();
FBBox[j] = handInfo.QueryBoundingBoxImage().BBox2DtoVVVV(FContext[0].DepthImageSize);
FMassCenterImage[j] = handInfo.QueryMassCenterImage().ToVector2D().Vector2DtoVVVV(FContext[0].DepthImageSize);
FMassCenterWorld[j] = handInfo.QueryMassCenterWorld().ToVector3D();
if( HasTrackedJoints)
{
FJointsPositionImage[j].SliceCount = 0x20;
FJointsPositionWorld[j].SliceCount = 0x20;
FJointsOrientation[j].SliceCount = 0x20;
FJointsConfidence[j].SliceCount = 0x20;
//Iterate Joints
for (int n = 0; n < 0x20; n++)
{
PXCMHandData.JointData jointData;
handInfo.QueryTrackedJoint((PXCMHandData.JointType)n, out jointData);
FJointsPositionImage[j][n] = jointData.positionImage.ToVector3D().Vector3DtoVVVV(FContext[0].DepthImageSize);
FJointsConfidence[j][n] = jointData.confidence / 100;
FJointsPositionWorld[j][n] = jointData.positionWorld.ToVector3D();
rotation.SetFromQuaternion(jointData.globalOrientation);
FJointsOrientation[j][n] = rotation.QueryEulerAngles().ToVector3D();
} // end iterating over joints
}
else
{
FJointsPositionImage[j].SliceCount = 0;
FJointsPositionWorld[j].SliceCount = 0;
FJointsOrientation[j].SliceCount = 0;
}
// blend images with different colors!!!
PXCMImage.ImageData data;
if ( (image != null) && (FHasSegmentationImage[j]) && (handInfo.QuerySegmentationImage(out image) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
//FImage.SliceCount++;
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_Y8, out data) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if(j == 0)
{
FImage[0].Source = image;
FImage[0].Data = image.GetY8Pixels();
FImage[0].Source = image;
FImage[0].Width = image.info.width;
FImage[0].Height = image.info.height;
FImage[0].Format = PXCMImage.PixelFormat.PIXEL_FORMAT_Y8;
}
else
{
var d = image.GetY8Pixels();
for(int e = 0; e < d.Length; e++) FImage[0].Data[e] += d[e];
}
image.ReleaseAccess(data);
}
}
}
}
// if (image != null)
// {
// image.Dispose();
//}
}
catch (Exception e)
{
FLogger.Log(LogType.Debug, "Hand Tracker: " + e.Message.ToString());
}
}
}
