Ejemplo n.º 1
0
 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;
     }
 }
Ejemplo n.º 2
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();
                }
            }
        }
Ejemplo n.º 3
0
 public void DisconnectPin(IPluginIO pin)
 {
     if (pin == FContext.PluginIO) {
         Image = null;
         FContextChanged = true;
         FLogger.Log(LogType.Debug, pin.Name + " got disconnected");
     }
 }
Ejemplo n.º 4
0
        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;
            }
        }
Ejemplo n.º 5
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));
               	}
        }
Ejemplo n.º 6
0
        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;
        }
Ejemplo n.º 7
0
        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());
                }

            }
        }