private void SelectHardwareAndStreamProfile()
{
SelectedIntelRealSenseCamera = CameraService.GetIntelRealSenseSR300();
if (SelectedIntelRealSenseCamera == null)
{
throw new Exception("Intel RealSense Camera not connected!");
}
SelectedResolution_ColorDepth_FrameRateCombination = CameraService.GetResolution_ColorDepth_FrameRateCombination(SelectedIntelRealSenseCamera);
if (SelectedResolution_ColorDepth_FrameRateCombination == null)
{
throw new Exception("Resolution_ColorDepth_FrameRateCombination not supported");
}
SenseManager = Session.CreateSenseManager();
CaptureManager = SenseManager.captureManager;
CaptureManager.FilterByDeviceInfo(SelectedIntelRealSenseCamera.Device.deviceInfo);
var streamFrofileSet = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = SelectedResolution_ColorDepth_FrameRateCombination.FrameRate,
imageInfo =
{
format = SelectedResolution_ColorDepth_FrameRateCombination.PixelFormat,
height = SelectedResolution_ColorDepth_FrameRateCombination.Height,
width = SelectedResolution_ColorDepth_FrameRateCombination.Width
}
}
};
CaptureManager.FilterByStreamProfiles(streamFrofileSet);
}
//private void DisplayDeviceConnection(bool isConnected)
//{
// if (isConnected && !m_wasConnected) m_form.UpdateStatus("Device Reconnected", MainForm.Label.StatusLabel);
// else if (!isConnected && m_wasConnected)
// m_form.UpdateStatus("Device Disconnected", MainForm.Label.StatusLabel);
// m_wasConnected = isConnected;
//}
//private void DisplayPicture(PXCMImage image)
//{
// PXCMImage.ImageData data;
// if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data) <
// pxcmStatus.PXCM_STATUS_NO_ERROR) return;
// m_form.DrawBitmap(data.ToBitmap(0, image.info.width, image.info.height));
// m_timer.Tick("");
// image.ReleaseAccess(data);
//}
private void CheckForDepthStream(PXCMCapture.Device.StreamProfileSet profiles, PXCMFaceModule faceModule)
{
PXCMFaceConfiguration faceConfiguration = faceModule.CreateActiveConfiguration();
if (faceConfiguration == null)
{
Debug.Assert(faceConfiguration != null);
return;
}
PXCMFaceConfiguration.TrackingModeType trackingMode = faceConfiguration.GetTrackingMode();
faceConfiguration.Dispose();
if (trackingMode != PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH)
{
return;
}
if (profiles.depth.imageInfo.format == PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH)
{
return;
}
PXCMCapture.DeviceInfo dinfo;
m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out dinfo);
if (dinfo != null)
{
MessageBox.Show(
String.Format("Depth stream is not supported for device: {0}. \nUsing 2D tracking", dinfo.name),
@"Face Tracking",
MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
/// <summary>
/// Device-specific implementation of Connect.
/// Connects the camera.
/// </summary>
/// <remarks>This method is implicitely called by <see cref="Camera.Connect"/> inside a camera lock.</remarks>
/// <seealso cref="Camera.Connect"/>
protected override void ConnectImpl()
{
if (deviceInfo.Count == 0)
{
ScanForCameras();
}
if (deviceInfo.Count == 0)
{
log.Error(Name + "No device found.");
return;
}
int deviceIndex = 0;
ScanForProfiles(deviceIndex);
/* Create an instance of the PXCSenseManager interface */
pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
log.Error(Name + "Failed to create an SDK pipeline object");
return;
}
pp.captureManager.FilterByDeviceInfo(deviceInfo[deviceIndex]);
//TODO: change this to work with properties
currentColorProfile = "YUY2 1920x1080x30";
currentDepthProfile = "DEPTH 640x480x60";
currentIRProfile = "Y8 640x480x60";
PXCMCapture.Device.StreamProfileSet currentProfileSet = new PXCMCapture.Device.StreamProfileSet();
currentProfileSet[PXCMCapture.StreamType.STREAM_TYPE_COLOR] = profiles[currentColorProfile];
currentProfileSet[PXCMCapture.StreamType.STREAM_TYPE_DEPTH] = profiles[currentDepthProfile];
currentProfileSet[PXCMCapture.StreamType.STREAM_TYPE_IR] = profiles[currentIRProfile];
/* Set Color & Depth Resolution */
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
PXCMCapture.Device.StreamProfile info = currentProfileSet[st];
if (info.imageInfo.format != 0)
{
Single fps = info.frameRate.max;
pp.EnableStream(st, info.imageInfo.width, info.imageInfo.height, fps);
}
}
if (pp.Init() >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
}
else
{
log.Error(Name + "An error occured.");
}
ActivateChannel(ChannelNames.Intensity);
ActivateChannel(ChannelNames.ZImage);
}
private static bool IsProfileSupported(PXCMCapture.Device.StreamProfileSet profileSet, PXCMCapture.DeviceInfo dinfo)
{
return
((profileSet.color.frameRate.min < 30) ||
(dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_DS4 &&
(profileSet.color.imageInfo.width == 1920 || profileSet.color.frameRate.min > 30 || profileSet.color.imageInfo.format == PXCMImage.PixelFormat.PIXEL_FORMAT_YUY2)) ||
(profileSet.color.options == PXCMCapture.Device.StreamOption.STREAM_OPTION_UNRECTIFIED));
}
/**
* @brief The functinon adds the specified StreamProfile to the StreamProfile filter list.
* @param[in] type The stream type.
* @param[in] width The optional image width.
* @param[in] height The optional image height.
* @param[in] fps The optional frame rate.
*/
public void FilterByStreamProfiles(PXCMCapture.StreamType type, Int32 width, Int32 height, Single fps)
{
PXCMCapture.Device.StreamProfileSet profiles = new PXCMCapture.Device.StreamProfileSet();
profiles[type].frameRate.min = fps;
profiles[type].frameRate.max = fps;
profiles[type].imageInfo.width = width;
profiles[type].imageInfo.height = height;
FilterByStreamProfiles(profiles);
}
private PXCMCapture.Device.StreamProfileSet GetStreamSetConfiguration()
{
PXCMCapture.Device.StreamProfileSet profiles = new PXCMCapture.Device.StreamProfileSet();
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
profiles[st] = GetStreamConfiguration(st);
}
return(profiles);
}
private void CheckSelection()
{
PXCMCapture.Device.StreamProfile dprofile = GetDepthConfiguration();
//?DepthNone.Enabled = (cprofile.imageInfo.format != 0 || irprofile.imageInfo.format != 0);
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = current_device_iuid;
desc.cuids[0] = PXCMCapture.CUID;
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
using (capture)
{
using (PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx))
{
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
PXCMCapture.Device.StreamProfileSet test = new PXCMCapture.Device.StreamProfileSet();
/* Loop over all stream types and profiles and enable only compatible in menu */
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_COLOR) != 0)
{
//?test[PXCMCapture.StreamType.STREAM_TYPE_COLOR] = cprofile;
test[PXCMCapture.StreamType.STREAM_TYPE_DEPTH] = dprofile;
//?test[PXCMCapture.StreamType.STREAM_TYPE_IR] = irprofile;
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[st];
ToolStripMenuItem sm1 = GetMenuItem(sprofile);
if (sm1 != null)
{
test[st] = sprofile;
sm1.Enabled = device.IsStreamProfileSetValid(test);
}
}
}
}
}
}
}
}
}
private void PopulateDepthMenu(ToolStripMenuItem device_item)
{
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
current_device_iuid = desc.iuid;
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
DepthMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
using (capture)
{
using (PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx))
{
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
if (((int)dinfo2.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
int num = device.QueryStreamProfileSetNum(PXCMCapture.StreamType.STREAM_TYPE_DEPTH);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
}
}
}
}
DepthNone = new ToolStripMenuItem("None", null, new EventHandler(Depth_Item_Click));
profiles[DepthNone] = new PXCMCapture.Device.StreamProfile();
DepthMenu.DropDownItems.Add(DepthNone);
(DepthMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
CheckSelection();
}
private void GetDeviceInfo()
{
// デバイスを取得する
var device = senseManager.QueryCaptureManager().QueryDevice();
// ミラー表示にする
// リア側は見たままを表示するのでミラーにしないほうがよい
//senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL );
// 画面の情報を取得する
PXCMCapture.Device.StreamProfileSet profiles = null;
device.QueryStreamProfileSet(out profiles);
DepthWidth = profiles.depth.imageInfo.width;
DepthHeight = profiles.depth.imageInfo.height;
// RealSense カメラの情報を取得する
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_F200)
{
// DEVICE_MODEL_IVCAMも同じ値
TextModel.Text = dinfo.model.ToString() + "(F200)";
}
else if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_R200)
{
// DEVICE_MODEL_DS4も同じ値
TextModel.Text = dinfo.model.ToString() + "(R200)";
}
// カメラの情報を表示する
TextWidth.Text = "幅 : " + DepthWidth.ToString();
TextHeight.Text = "高さ : " + DepthHeight.ToString();
// 画面の中心座標
point = new Point(DepthWidth / 2, DepthHeight / 2);
}
private void PopulateColorDepthMenus(ToolStripMenuItem device_item)
{
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
current_device_iuid = desc.iuid;
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
foreach (ToolStripMenuItem menu in streamMenus)
{
if (menu != null)
{
menu.DropDownItems.Clear();
}
}
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)st) != 0 && streamMenus[s] != null)
{
streamMenus[s].Visible = true;
streamButtons[s].Visible = true;
streamPanels[s].Visible = true;
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[st];
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Stream_Item_Click));
profiles[sm1] = sprofile;
streamMenus[s].DropDownItems.Add(sm1);
if (sm1.Text.Contains(default_config[s]))
{
default_menu[s] = p;
Debug.WriteLine(s + " : " + p + " : " + ProfileToString(sprofile));
}
}
}
else if (((int)dinfo2.streams & (int)st) == 0 && streamMenus[s] != null)
{
streamMenus[s].Visible = false;
streamButtons[s].Visible = false;
streamPanels[s].Visible = false;
}
}
device.Dispose();
}
capture.Dispose();
}
for (int i = 0; i < PXCMCapture.STREAM_LIMIT; i++)
{
ToolStripMenuItem menu = streamMenus[i];
if (menu != null)
{
streamNone[i] = new ToolStripMenuItem("None", null, new EventHandler(Stream_Item_Click));
profiles[streamNone[i]] = new PXCMCapture.Device.StreamProfile();
menu.DropDownItems.Add(streamNone[i]);
if (default_menu[i] != 0)
{
(menu.DropDownItems[default_menu[i]] as ToolStripMenuItem).Checked = true;
}
else
{
streamNone[i].Checked = true;
}
}
}
CheckSelection();
}
private bool PopulateDeviceFromFileMenu()
{
devices.Clear();
devices_iuid.Clear();
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCMSession.ImplDesc desc1;
PXCMCapture.DeviceInfo dinfo;
PXCMSenseManager pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
SetStatus("Init Failed");
return(false);
}
try
{
if (session.QueryImpl(desc, 0, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.SetFileName(streaming.File, false) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.LocateStreams() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
pp.captureManager.device.QueryDeviceInfo(out dinfo);
}
catch
{
pp.Dispose();
SetStatus("Init Failed");
return(false);
}
DeviceMenu.DropDownItems.Clear();
ToolStripMenuItem sm1 = new ToolStripMenuItem(dinfo.name, null, new EventHandler(Device_Item_Click));
devices[sm1] = dinfo;
devices_iuid[sm1] = desc1.iuid;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem("playback from the file : ", null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem(streaming.File, null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
if (DeviceMenu.DropDownItems.Count > 0)
{
(DeviceMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
/* populate profile menus from the file */
profiles.Clear();
foreach (ToolStripMenuItem menu in streamMenus)
{
if (menu != null)
{
menu.DropDownItems.Clear();
}
}
PXCMCapture.Device device = pp.captureManager.device;
if (device == null)
{
pp.Dispose();
SetStatus("Init Failed");
return(false);
}
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
if (((int)dinfo.streams & (int)st) != 0 && streamMenus[s] != null)
{
streamMenus[s].Visible = true;
streamButtons[s].Visible = true;
streamPanels[s].Visible = true;
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[st];
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Stream_Item_Click));
profiles[sm1] = sprofile;
streamMenus[s].DropDownItems.Add(sm1);
Debug.WriteLine("1: " + ProfileToString(sprofile));
}
}
else if (((int)dinfo.streams & (int)st) == 0 && streamMenus[s] != null)
{
streamMenus[s].Visible = false;
streamButtons[s].Visible = false;
streamPanels[s].Visible = false;
}
}
for (int i = 0; i < PXCMCapture.STREAM_LIMIT; i++)
{
ToolStripMenuItem menu = streamMenus[i];
if (menu != null)
{
streamNone[i] = new ToolStripMenuItem("None", null, new EventHandler(Stream_Item_Click));
profiles[streamNone[i]] = new PXCMCapture.Device.StreamProfile();
menu.DropDownItems.Add(streamNone[i]);
(menu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
}
Start.Enabled = true;
CheckSelection();
pp.Close();
pp.Dispose();
StatusLabel.Text = "Ok";
return(true);
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
// Set Resolution
var selectedRes = m_form.GetCheckedColorResolution();
PXCMCaptureManager captureMgr = pp.captureManager;
if (captureMgr == null)
{
throw new Exception("PXCMCaptureManager null");
}
if (selectedRes != null && !m_form.GetPlaybackState())
{
// activate filter only live/record mode , no need in playback mode
var set = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = selectedRes.Item2,
imageInfo =
{
format = selectedRes.Item1.format,
height = selectedRes.Item1.height,
width = selectedRes.Item1.width
}
}
/* ir =
{
frameRate = {min = 30, max = 30},
imageInfo =
{
format = PXCMImage.PixelFormat.PIXEL_FORMAT_Y8,
height = 480,
width = 640
}
}*/
/* ir =
{
frameRate = { min = 30, max = 30 },
imageInfo =
{
format = PXCMImage.PixelFormat.PIXEL_FORMAT_Y8,
height = 480,
width = 640
}
}*/
};
if (m_form.IsPulseEnabled() && (set.color.imageInfo.width < 1280 || set.color.imageInfo.height < 720))
{
//change
captureMgr.FilterByStreamProfiles(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
captureMgr.FilterByStreamProfiles(set);
}
// Set Source & Landmark Profile Index
if (m_form.GetPlaybackState())
{
//pp.captureManager.FilterByStreamProfiles(null);
captureMgr.SetFileName(m_form.GetFileName(), false);
captureMgr.SetRealtime(false);
}
else if (m_form.GetRecordState())
{
captureMgr.SetFileName(m_form.GetFileName(), true);
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
//change
PXCMFaceConfiguration.TrackingModeType mode = m_form.GetCheckedProfile().Contains("3D")
? PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH
: PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.PulseConfiguration pulseConfiguration = moduleConfiguration.QueryPulse();
if (pulseConfiguration == null)
{
throw new Exception("pulseConfiguration null");
}
pulseConfiguration.properties.maxTrackedFaces = m_form.NumPulse;
if (m_form.IsPulseEnabled())
{
pulseConfiguration.Enable();
}
PXCMFaceConfiguration.RecognitionConfiguration qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
var init = pp.Init();
bool errInit = init < pxcmStatus.PXCM_STATUS_NO_ERROR;
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || errInit)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureMgr.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR) break;
var isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
DisplayPicture(sample.color);
moduleOutput.Update();
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
pp.ReleaseFrame();
continue;
}
if (recognition.properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
}
// moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
// moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
/**
* @brief The functinon adds the specified StreamProfile to the StreamProfile filter list.
* @param[in] dinfo The stream configuration to be added to the filter list, or NULL to clean up the filter list.
*/
public void FilterByStreamProfiles(PXCMCapture.Device.StreamProfileSet profiles)
{
PXCMCaptureManager_FilterByStreamProfiles(instance, profiles);
}
internal string SetupStreams()
{
PXCMCapture.Device.StreamProfileSet profiles = new PXCMCapture.Device.StreamProfileSet();
string Status = ""; //"Setup streams...\n\r";
//COLOR
if( (FStreamColorMode != null) && (FStreamColorMode[0].Index > 0)&& (FStreamColorMode[0].Name != "Disabled"))
{
var profileInfo = getProfile(PXCMCapture.StreamType.STREAM_TYPE_COLOR, FStreamColorMode[0].Name);
if(EnableCaptureStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, profileInfo))
{
profiles[PXCMCapture.StreamType.STREAM_TYPE_COLOR] = profileInfo;
Status += "RSSDK: Enabled stream " + FStreamColorMode[0].Name + "\n\r";
}
}
//DEPTH
if( (FStreamDepthMode != null) && (FStreamDepthMode[0].Index > 0) && (FStreamDepthMode[0].Name != "Disabled"))
{
var profileInfo = getProfile(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, FStreamDepthMode[0].Name);
if(EnableCaptureStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, profileInfo))
{
profiles[PXCMCapture.StreamType.STREAM_TYPE_DEPTH] = profileInfo;
Status += "RSSDK: Enabled stream " + FStreamDepthMode[0].Name + "\n\r";
}
}
//IR
if( (FStreamIRMode != null) && (FStreamIRMode[0].Index > 0) && (FStreamIRMode[0].Name != "Disabled") )
{
var profileInfo = getProfile(PXCMCapture.StreamType.STREAM_TYPE_IR, FStreamIRMode[0].Name);
if(EnableCaptureStream(PXCMCapture.StreamType.STREAM_TYPE_IR, profileInfo))
{
profiles[PXCMCapture.StreamType.STREAM_TYPE_IR] = profileInfo;
Status += "RSSDK: Enabled stream " + FStreamIRMode[0].Name + "\n\r";
}
}
SenseSession.cm.FilterByStreamProfiles(profiles);
//validate profileSet
if(SenseSession.device.IsStreamProfileSetValid(profiles))
{
if(SenseSession.device.SetStreamProfileSet(profiles) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Status += "RSSDK: Profileset is valid\n\r";
SenseSession.Status = pxcmStatus.PXCM_STATUS_NO_ERROR;
FLogger.Log(LogType.Debug, "RSSDK: Profileset is valid");
} //SenseSession.Configured
else
{
Status += "RSSDK: Profileset can not be set\n\r";
FLogger.Log(LogType.Debug, "RSSDK: Profileset can not be set");
}
}
else
{
Status += "RSSDK: Profileset is not valid\n\r";
FLogger.Log(LogType.Debug, "RSSDK: Profileset is not valid");
}
//setup sync streams
if (FSync[0])
{
SenseSession.IsSynchronized = true;
PXCMVideoModule.DataDesc ddesc=new PXCMVideoModule.DataDesc();
if(FStreamColorMode[0].Name != "Disabled") ddesc.deviceInfo.streams|= PXCMCapture.StreamType.STREAM_TYPE_COLOR;
if(FStreamDepthMode[0].Name != "Disabled") ddesc.deviceInfo.streams|= PXCMCapture.StreamType.STREAM_TYPE_DEPTH;
if(FStreamIRMode[0].Name != "Disabled") ddesc.deviceInfo.streams|= PXCMCapture.StreamType.STREAM_TYPE_IR;
SenseSession.Status = SenseSession.sm.EnableStreams(ddesc);
}
return Status;
}
private void PopulateColorMenus(ToolStripMenuItem device_item)
{
OperatingSystem os_version = Environment.OSVersion;
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
ColorMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
PXCMSenseManager pp = session.CreateSenseManager();
if (pp == null)
{
return;
}
if (pp.Enable3DScan() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
PXCM3DScan s = pp.Query3DScan();
if (s == null)
{
return;
}
PXCMVideoModule m = s.QueryInstance <PXCMVideoModule>();
if (m == null)
{
return;
}
int count = 0;
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();;
if (dinfo2.streams.HasFlag(PXCMCapture.StreamType.STREAM_TYPE_COLOR))
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_COLOR];
// Only populate profiles which are supported by the module
bool bFound = false;
int i = 0;
PXCMVideoModule.DataDesc inputs;
PXCMImage.PixelFormat format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
if (dinfo2.orientation != PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING)
{
format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24;
}
while ((m.QueryCaptureProfile(i++, out inputs) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if ((sprofile.imageInfo.height == inputs.streams.color.sizeMax.height) &&
(sprofile.imageInfo.width == inputs.streams.color.sizeMax.width) &&
(sprofile.frameRate.max == inputs.streams.color.frameRate.max) &&
(sprofile.imageInfo.format == format) &&
(0 == (sprofile.options & PXCMCapture.Device.StreamOption.STREAM_OPTION_UNRECTIFIED)))
{
bFound = true;
if (dinfo2.orientation != PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING)
{ // Hide rear facing resolutions when the front facing camera is connected...
if (sprofile.imageInfo.width == 640)
{
bFound = false;
}
}
// On Windows 7, filter non-functional 30 fps modes
if (Environment.OSVersion.Version.Major == 6 && Environment.OSVersion.Version.Minor == 1)
{
if (sprofile.frameRate.max == 30)
{
bFound = false;
}
}
}
}
if (bFound)
{
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Color_Item_Click));
profiles[sm1] = sprofile;
ColorMenu.DropDownItems.Add(sm1);
count++;
}
}
}
device.Dispose();
}
capture.Dispose();
}
m.Dispose();
pp.Dispose();
if (count > 0)
{
(ColorMenu.DropDownItems[ColorMenu.DropDownItems.Count - 1] as ToolStripMenuItem).Checked = true;
}
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
PXCMCaptureManager captureMgr = pp.captureManager;
if (captureMgr == null)
{
throw new Exception("PXCMCaptureManager null");
}
var selectedRes = m_form.GetCheckedColorResolution();
if (selectedRes != null && !m_form.IsInPlaybackState())
{
// Set active camera
PXCMCapture.DeviceInfo deviceInfo;
m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out deviceInfo);
captureMgr.FilterByDeviceInfo(m_form.GetCheckedDeviceInfo());
// activate filter only live/record mode , no need in playback mode
var set = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = selectedRes.Item2,
imageInfo =
{
format = selectedRes.Item1.format,
height = selectedRes.Item1.height,
width = selectedRes.Item1.width
}
}
};
if (m_form.IsPulseEnabled() && (set.color.imageInfo.width < 1280 || set.color.imageInfo.height < 720))
{
captureMgr.FilterByStreamProfiles(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else
{
captureMgr.FilterByStreamProfiles(set);
}
}
// Set Source & Landmark Profile Index
if (m_form.IsInPlaybackState())
{
//pp.captureManager.FilterByStreamProfiles(null);
captureMgr.SetFileName(m_form.GetFileName(), false);
captureMgr.SetRealtime(false);
}
else if (m_form.GetRecordState())
{
captureMgr.SetFileName(m_form.GetFileName(), true);
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
var checkedProfile = m_form.GetCheckedProfile();
var mode = m_form.FaceModesMap.First(x => x.Value == checkedProfile).Key;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.PulseConfiguration pulseConfiguration = moduleConfiguration.QueryPulse();
if (pulseConfiguration == null)
{
throw new Exception("pulseConfiguration null");
}
pulseConfiguration.properties.maxTrackedFaces = m_form.NumPulse;
if (m_form.IsPulseEnabled())
{
pulseConfiguration.Enable();
}
qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
#region 臉部辨識資料庫讀取
if (File.Exists(DatabasePath))
{
m_form.UpdateStatus("正在讀取資料庫", MainForm.Label.StatusLabel);
List <RecognitionFaceData> faceData = null;
FaceDatabaseFile.Load(DatabasePath, ref faceData, ref NameMapping);
FaceData = faceData.ToArray();
qrecognition.SetDatabase(FaceData);
}
#endregion
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureMgr.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
#region loop
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
var isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
switch (mode)
{
case PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR:
if (sample.ir != null)
{
DisplayPicture(sample.ir);
}
break;
default:
DisplayPicture(sample.color);
break;
}
moduleOutput.Update();
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
pp.ReleaseFrame();
continue;
}
if (recognition.properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
#endregion
}
// moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
// moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
#region 儲存臉部辨識資訊檔案
if (DatabaseChanged)
{
FaceDatabaseFile.Save(DatabasePath, FaceData.ToList(), NameMapping);
}
#endregion
var dbm = new FaceDatabaseManager(pp);
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
private void CheckSelection()
{
if (!ModePlayback.Checked)
{
PXCMCapture.Device.StreamProfileSet allProfile = new PXCMCapture.Device.StreamProfileSet();
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
allProfile[st] = GetStreamConfiguration(st);
}
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = current_device_iuid;
desc.cuids[0] = PXCMCapture.CUID;
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
PXCMCapture.Device.StreamProfileSet test = new PXCMCapture.Device.StreamProfileSet();
/* Loop over all stream types and profiles and enable only compatible in menu */
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)st) != 0)
{
for (int s1 = 0; s1 < PXCMCapture.STREAM_LIMIT; s1++)
{
test[PXCMCapture.StreamTypeFromIndex(s1)] = allProfile[PXCMCapture.StreamTypeFromIndex(s1)];
}
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[st];
ToolStripMenuItem sm1 = GetMenuItem(st, sprofile);
if (sm1 != null)
{
test[st] = sprofile;
sm1.Enabled = device.IsStreamProfileSetValid(test);
}
}
}
}
Start.Enabled = device.IsStreamProfileSetValid(allProfile);
device.Dispose();
}
capture.Dispose();
}
}
int sumEnabled = 0;
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
if (streamButtons[s] != null && streamNone[s] != null)
{
streamButtons[s].Enabled = !streamNone[s].Checked;
sumEnabled += streamButtons[s].Enabled?1:0;
}
}
PIP.Enabled = (sumEnabled >= 2);
Mirror.Enabled = !ModePlayback.Checked;
PXCMCapture.StreamType selectedStream = GetSelectedStream();
if (selectedStream != PXCMCapture.StreamType.STREAM_TYPE_ANY && !streamButtons[PXCMCapture.StreamTypeToIndex(selectedStream)].Enabled)
{
PXCMCapture.StreamType st = GetUnselectedStream();
streamButtons[PXCMCapture.StreamTypeToIndex(st)].Checked = true;
streaming.ColorPanel = st;
}
//if (PIP.Enabled && streaming.DepthPanel == PXCMCapture.StreamType.STREAM_TYPE_ANY)
//{
// streaming.DepthPanel = GetUnselectedStream();
//}
}
private bool PopulateDeviceFromFileMenu()
{
devices.Clear();
devices_iuid.Clear();
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCMSession.ImplDesc desc1;
PXCMCapture.DeviceInfo dinfo;
PXCMSenseManager pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
UpdateStatus("Init Failed");
return(false);
}
try
{
if (session.QueryImpl(desc, 0, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.SetFileName(filename, false) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.QueryCaptureManager().LocateStreams() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
pp.QueryCaptureManager().QueryDevice().QueryDeviceInfo(out dinfo);
}
catch
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
DeviceMenu.DropDownItems.Clear();
ToolStripMenuItem sm1 = new ToolStripMenuItem(dinfo.name, null, new EventHandler(Device_Item_Click));
devices[sm1] = dinfo;
devices_iuid[sm1] = desc1.iuid;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem("playback from the file : ", null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem(filename, null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
if (DeviceMenu.DropDownItems.Count > 0)
{
(DeviceMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
// populate depth menu from the file
profiles.Clear();
DepthMenu.DropDownItems.Clear();
PXCMCapture.Device device = pp.QueryCaptureManager().QueryDevice();
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
if (((int)dinfo.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
int num = device.QueryStreamProfileSetNum(PXCMCapture.StreamType.STREAM_TYPE_DEPTH);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
DepthNone = new ToolStripMenuItem("None", null, new EventHandler(Depth_Item_Click));
profiles[DepthNone] = new PXCMCapture.Device.StreamProfile();
DepthMenu.DropDownItems.Add(DepthNone);
(DepthMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
CheckSelection();
pp.Close();
pp.Dispose();
StatusLabel.Text = "Ok";
return(true);
}
private bool InitStreamProfiles(PXCMCapture.Device device)
{
uint ProfileCount = 0;
if (device !=null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (((int)dinfo.streams & (int)st) != 0)
{
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR) break;
PXCMCapture.Device.StreamProfile sprofile = profile[st];
//filter out all Color non RGB32 stream modes out
if((st == PXCMCapture.StreamType.STREAM_TYPE_COLOR) && (sprofile.imageInfo.format != PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32 ))
continue;
if(!SenseSession.StreamProfiles.ContainsKey(st))
{
SenseSession.StreamProfiles.Add(st, new Dictionary<string, PXCMCapture.Device.StreamProfile>());
}
var StreamTypeProfileSet = SenseSession.StreamProfiles[st];
var ProfileDescr = ProfileToString(st, sprofile);
if(!StreamTypeProfileSet.ContainsKey(ProfileDescr))
{
StreamTypeProfileSet.Add(ProfileDescr, sprofile);
ProfileCount++;
}
}
//add to enums
string[] defaultMode = {"Disabled"};
string[] streamModes = defaultMode.Concat(SenseSession.StreamProfiles[st].Keys.ToArray()).ToArray();
EnumManager.UpdateEnum("RealSenseStreamMode_" + st.ToString().Substring(12), "Disabled", streamModes);
}
else if (((int)dinfo.streams & (int)st) == 0)
{
}
}
}
else FLogger.Log(LogType.Debug,"Device is null");
return ProfileCount > 0;
}
internal static extern void PXCMCaptureManager_FilterByStreamProfiles(IntPtr cutil, PXCMCapture.Device.StreamProfileSet profiles);
private bool PopulateDeviceFromFileMenu()
{
devices.Clear();
devices_iuid.Clear();
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCMSession.ImplDesc desc1;
PXCMCapture.DeviceInfo dinfo;
PXCMSenseManager pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
UpdateStatus("Init Failed");
return false;
}
try
{
if (session.QueryImpl(desc, 0, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
throw null;
if (pp.captureManager.SetFileName(filename, false) < pxcmStatus.PXCM_STATUS_NO_ERROR)
throw null;
if (pp.QueryCaptureManager().LocateStreams() < pxcmStatus.PXCM_STATUS_NO_ERROR)
throw null;
pp.QueryCaptureManager().QueryDevice().QueryDeviceInfo(out dinfo);
}
catch
{
pp.Dispose();
UpdateStatus("Init Failed");
return false;
}
DeviceMenu.DropDownItems.Clear();
ToolStripMenuItem sm1 = new ToolStripMenuItem(dinfo.name, null, new EventHandler(Device_Item_Click));
devices[sm1] = dinfo;
devices_iuid[sm1] = desc1.iuid;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem("playback from the file : ", null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem(filename, null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
if (DeviceMenu.DropDownItems.Count > 0)
(DeviceMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
// populate depth menu from the file
profiles.Clear();
DepthMenu.DropDownItems.Clear();
PXCMCapture.Device device = pp.QueryCaptureManager().QueryDevice();
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
if (((int)dinfo.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
int num = device.QueryStreamProfileSetNum(PXCMCapture.StreamType.STREAM_TYPE_DEPTH);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
break;
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
DepthNone = new ToolStripMenuItem("None", null, new EventHandler(Depth_Item_Click));
profiles[DepthNone] = new PXCMCapture.Device.StreamProfile();
DepthMenu.DropDownItems.Add(DepthNone);
(DepthMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
CheckSelection();
pp.Close();
pp.Dispose();
StatusLabel.Text = "Ok";
return true;
}
private bool PopulateDeviceFromFileMenu()
{
devices.Clear();
devices_iuid.Clear();
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCMSession.ImplDesc desc1;
PXCMCapture.Device device = null;
PXCMCapture.DeviceInfo dinfo;
PXCMSenseManager pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
UpdateStatus("Init Failed");
return(false);
}
if (pp.captureManager == null)
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
try
{
if (session.QueryImpl(desc, 0, out desc1) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.SetFileName(filename, false) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
if (pp.captureManager.LocateStreams() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw null;
}
device = pp.captureManager.QueryDevice();
if (device != null)
{
device.QueryDeviceInfo(out dinfo);
}
else
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
}
catch
{
pp.Dispose();
UpdateStatus("Init Failed");
return(false);
}
DeviceMenu.DropDownItems.Clear();
ToolStripMenuItem sm1 = new ToolStripMenuItem(dinfo.name, null, new EventHandler(Device_Item_Click));
devices[sm1] = dinfo;
devices_iuid[sm1] = desc1.iuid;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem("Playback from the file : ", null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
sm1 = new ToolStripMenuItem(filename, null);
sm1.Enabled = false;
DeviceMenu.DropDownItems.Add(sm1);
if (DeviceMenu.DropDownItems.Count > 0)
{
(DeviceMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
// populate color depth menu from the file
profiles.Clear();
ColorMenu.DropDownItems.Clear();
DepthMenu.DropDownItems.Clear();
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
if (dinfo.streams.HasFlag(PXCMCapture.StreamType.STREAM_TYPE_COLOR))
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_COLOR];
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Color_Item_Click));
profiles[sm1] = sprofile;
ColorMenu.DropDownItems.Add(sm1);
}
}
if (((int)dinfo.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
if (sprofile.options != (PXCMCapture.Device.StreamOption) 0x20000) // do not show Depth Confidence
{
sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
}
GetCheckedDevice();
pp.Close();
pp.Dispose();
return(true);
}
private void PopulateDepthMenu(ToolStripMenuItem device_item)
{
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
current_device_iuid = desc.iuid;
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
DepthMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
if (session.CreateImpl<PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
using (capture)
{
using (PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx))
{
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
if (((int)dinfo2.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
int num = device.QueryStreamProfileSetNum(PXCMCapture.StreamType.STREAM_TYPE_DEPTH);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
break;
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
}
}
}
}
DepthNone = new ToolStripMenuItem("None", null, new EventHandler(Depth_Item_Click));
profiles[DepthNone] = new PXCMCapture.Device.StreamProfile();
DepthMenu.DropDownItems.Add(DepthNone);
(DepthMenu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
CheckSelection();
}
private void PopulateDepthMenus(ToolStripMenuItem device_item)
{
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
desc.cuids[0] = PXCMCapture.CUID;
DepthMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
PXCMSenseManager pp = session.CreateSenseManager();
if (pp == null)
{
return;
}
if (pp.Enable3DScan() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
PXCM3DScan s = pp.Query3DScan();
if (s == null)
{
return;
}
PXCMVideoModule m = s.QueryInstance <PXCMVideoModule>();
if (m == null)
{
return;
}
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();;
PXCMCapture.Device.StreamProfile color_profile = GetColorConfiguration();
if (((int)dinfo2.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
bool bFound = false;
int i = 0;
PXCMVideoModule.DataDesc inputs;
while ((m.QueryCaptureProfile(i++, out inputs) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if ((sprofile.imageInfo.height == inputs.streams.depth.sizeMax.height) &&
(sprofile.imageInfo.width == inputs.streams.depth.sizeMax.width) &&
(sprofile.frameRate.max == inputs.streams.depth.frameRate.max) &&
(color_profile.frameRate.max == inputs.streams.depth.frameRate.max))
{
bFound = true;
}
}
if (bFound)
{
if (sprofile.options != (PXCMCapture.Device.StreamOption) 0x20000) // do not show Depth Confidence
{
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
}
}
device.Dispose();
}
capture.Dispose();
}
m.Dispose();
pp.Dispose();
if (DepthMenu.DropDownItems.Count > 0)
{
(DepthMenu.DropDownItems[DepthMenu.DropDownItems.Count - 1] as ToolStripMenuItem).Checked = true;
}
}
private void CheckSelection()
{
PXCMCapture.Device.StreamProfile dprofile = GetDepthConfiguration();
//?DepthNone.Enabled = (cprofile.imageInfo.format != 0 || irprofile.imageInfo.format != 0);
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = current_device_iuid;
desc.cuids[0] = PXCMCapture.CUID;
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
if (session.CreateImpl<PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
using (capture)
{
using (PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx))
{
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
PXCMCapture.Device.StreamProfileSet test = new PXCMCapture.Device.StreamProfileSet();
/* Loop over all stream types and profiles and enable only compatible in menu */
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_COLOR) != 0)
{
//?test[PXCMCapture.StreamType.STREAM_TYPE_COLOR] = cprofile;
test[PXCMCapture.StreamType.STREAM_TYPE_DEPTH] = dprofile;
//?test[PXCMCapture.StreamType.STREAM_TYPE_IR] = irprofile;
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
break;
PXCMCapture.Device.StreamProfile sprofile = profile[st];
ToolStripMenuItem sm1 = GetMenuItem(sprofile);
if (sm1 != null)
{
test[st] = sprofile;
sm1.Enabled = device.IsStreamProfileSetValid(test);
}
}
}
}
}
}
}
}
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
// Set Source & Landmark Profile Index
PXCMCapture.DeviceInfo info;
if (m_form.GetRecordState())
{
pp.captureManager.SetFileName(m_form.GetFileName(), true);
if (m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out info))
{
pp.captureManager.FilterByDeviceInfo(info);
}
}
else if (m_form.GetPlaybackState())
{
pp.captureManager.SetFileName(m_form.GetFileName(), false);
PXCMCaptureManager cmanager = pp.QueryCaptureManager();
if (cmanager == null)
{
throw new Exception("PXCMCaptureManager null");
}
cmanager.SetRealtime(false);
}
else
{
if (m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out info))
{
pp.captureManager.FilterByDeviceInfo(info);
Tuple <PXCMImage.ImageInfo, PXCMRangeF32> selectedRes = m_form.GetCheckedColorResolution();
var set = new PXCMCapture.Device.StreamProfileSet();
set.color.frameRate = selectedRes.Item2;
set.color.imageInfo.format = selectedRes.Item1.format;
set.color.imageInfo.width = selectedRes.Item1.width;
set.color.imageInfo.height = selectedRes.Item1.height;
pp.captureManager.FilterByStreamProfiles(set);
}
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
PXCMFaceConfiguration.TrackingModeType mode = m_form.GetCheckedProfile().Contains("3D")
? PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH
: PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.RecognitionConfiguration qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCaptureManager cmanager = pp.QueryCaptureManager();
if (cmanager == null)
{
throw new Exception("capture manager null");
}
PXCMCapture.Device device = cmanager.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
ushort threshold = device.QueryDepthConfidenceThreshold();
int filter_option = device.QueryIVCAMFilterOption();
int range_tradeoff = device.QueryIVCAMMotionRangeTradeOff();
device.SetDepthConfidenceThreshold(1);
device.SetIVCAMFilterOption(6);
device.SetIVCAMMotionRangeTradeOff(21);
if (m_form.IsMirrored())
{
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
}
else
{
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
}
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
bool isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
PXCMCapture.Sample sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
DisplayPicture(sample.color);
moduleOutput.Update();
if (moduleConfiguration.QueryRecognition().properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
device.SetDepthConfidenceThreshold(threshold);
device.SetIVCAMFilterOption(filter_option);
device.SetIVCAMMotionRangeTradeOff(range_tradeoff);
}
moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
/// <summary>
/// Constructor.
/// </summary>
/// <param name="streamProfileSet">The stream profile set.</param>
/// <param name="streamType">The stream type.</param>
public StreamProfileModel(PXCMCapture.Device.StreamProfileSet streamProfileSet, PXCMCapture.StreamType streamType)
{
this.streamProfileSet = streamProfileSet;
this.streamType = streamType;
}
private void ScanForProfiles(int deviceIndex)
{
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devicesUIDs[deviceIndex];
int current_device_iuid = desc.iuid;
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
List <string> colorStrings = new List <string>();
List <string> depthStrings = new List <string>();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = deviceInfo[deviceIndex];
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)st) != 0)
{
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[st];
string profileText = ProfileToString(sprofile);
try
{
profiles.Add(profileText, sprofile);
}
catch
{
}
switch (st)
{
case PXCMCapture.StreamType.STREAM_TYPE_COLOR:
colorStrings.Add(profileText);
break;
case PXCMCapture.StreamType.STREAM_TYPE_DEPTH:
depthStrings.Add(profileText);
break;
}
}
}
}
device.Dispose();
}
capture.Dispose();
}
colorProfiles = new ListParamDesc <string>(colorStrings)
{
Description = "Color Profiles",
ReadableWhen = ParamDesc.ConnectionStates.Connected,
};
depthProfiles = new ListParamDesc <string>(depthStrings)
{
Description = "Depth Profiles",
ReadableWhen = ParamDesc.ConnectionStates.Connected,
};
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
PXCMCaptureManager captureMgr = pp.captureManager;
if (captureMgr == null)
{
throw new Exception("PXCMCaptureManager null");
}
var selectedRes = m_form.GetCheckedColorResolution();
if (selectedRes != null)
{
// Set active camera
PXCMCapture.DeviceInfo deviceInfo;
m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out deviceInfo);
captureMgr.FilterByDeviceInfo(m_form.GetCheckedDeviceInfo());
// activate filter only live/record mode , no need in playback mode
var set = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = selectedRes.Item2,
imageInfo =
{
format = selectedRes.Item1.format,
height = selectedRes.Item1.height,
width = selectedRes.Item1.width
}
}
};
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
var checkedProfile = m_form.GetCheckedProfile();
var mode = m_form.FaceModesMap.First(x => x.Value == checkedProfile).Key;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = 4; //Expressionの最大認識量
econfiguration.EnableAllExpressions();
//if (m_form.IsExpressionsEnabled())
//{
econfiguration.Enable(); //Expressionsの強制有効化
//}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
m_form.UpdateStatus("カメラ起動中", MainForm.Label.ReportLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
m_form.UpdateStatus("設定エラー：メニューから適切な設定をしてください。", MainForm.Label.ReportLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureMgr.QueryDevice();
if (device == null)
{
m_form.UpdateStatus("カメラを接続してください。", MainForm.Label.ReportLabel);
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
var isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
switch (mode)
{
case PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR:
if (sample.ir != null)
{
DisplayPicture(sample.ir);
}
break;
default:
DisplayPicture(sample.color);
break;
}
moduleOutput.Update();
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
pp.ReleaseFrame();
continue;
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
}
// moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
// moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
