public Coord[] handLocation(PXCMImage.ImageData data, int size, int width)
{
Coord[] locations = new Coord[size];
IntPtr ptr = data.buffer.planes[0];
byte[] rgbValues = new byte[size];
Marshal.Copy(ptr, rgbValues, 0, size);
int counter = 0;
int i;
for (i = 0; i < size; i++)
{
if (rgbValues[i] == 0)
{
locations[counter++] = new Coord(i, width);
}
}
//locations[counter] = -1;
Array.Resize(ref locations, counter - 1);
return(locations);
}
private void UpdateColorImage(PXCMImage colorFrame)
{
if (colorFrame != null)
{
PXCMImage.ImageData data = null;
var ret = colorFrame.AcquireAccess(
PXCMImage.Access.ACCESS_READ,
PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24,
out data);
if (ret >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
var info = colorFrame.QueryInfo();
var length = data.pitches[0] * info.height;
var buffer = data.ToByteArray(0, length);
this.ColorImageElement = BitmapSource.Create(
info.width,
info.height,
96,
96,
PixelFormats.Bgr24,
null,
buffer,
data.pitches[0]);
colorFrame.ReleaseAccess(data);
}
}
}
/* Given a full frame, this isolates the pixels that actually
* contain the hand in question. It then returns the pixel locations
* for this hand.
* */
public void handLocation(ref Coord[] locations, PXCMImage.ImageData data, int width)
{
//Load the depth data from the frame.
IntPtr ptr = data.buffer.planes[0];
//Initilize the byte array for the bitmap.
byte[] rgbValues = new byte[locations.Length];
//Copy the passed in image data into byte array.
Marshal.Copy(ptr, rgbValues, 0, locations.Length);
//Loop through the values indetifying the hand values.
int counter = 0;
int i;
for (i = 0; i < locations.Length; i++)
{
if (rgbValues[i] == 0)
{
locations[counter++] = new Coord(i, width);
}
}
//Resize the array to the smaller size.
if (counter > 1)
{
Array.Resize(ref locations, counter - 1);
}
return;
}
void RSCapture()
{
//----------------------RS---------------------
/* Make sure PXCMSenseManager Instance is Initialized */
if (psm == null)
{
LogText.text = "PXCMSM Failed";
return;
}
/* Wait until any frame data is available true(aligned) false(unaligned) */
if (psm.AcquireFrame(true) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
LogText.text = "Waiting...";
return;
}
/* Retrieve a sample from the camera */
PXCMCapture.Sample sample = psm.QuerySample();
if (sample != null)
{
LogText.text = "Capturing...";
}
//-----UVMap-----//
PXCMImage.ImageData imageData = new PXCMImage.ImageData();
sample.depth.AcquireAccess(PXCMImage.Access.ACCESS_READ_WRITE, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH, PXCMImage.Option.OPTION_ANY, out imageData);
bool found = false;
unsafe
{
UInt16 *ptr = (UInt16 *)imageData.planes[0].ToPointer();
ulong length = (ulong)(sample.depth.info.width * sample.depth.info.height);
for (ulong i = 0; ((i < length) && !found); i++, ptr++)
{
found = (*ptr > 0) && (*ptr < minimumDistanceMm);
}
a = ptr[120 * sample.depth.info.width + 320];
b = ptr[360 * sample.depth.info.width + 320];
c = ptr[240 * sample.depth.info.width + 160];
d = ptr[240 * sample.depth.info.width + 480];
// indexer = row*width + column;
}
if (found)
{
Output.text = "Pass";
}
else
{
Output.text = "Fail";
}
//-----EOUVM-----//
/* Release the frame to process the next frame */
depthImage = sample.depth;
psm.ReleaseFrame();
//---------------------EORS--------------------
}
pxcmStatus newIRFrame(int mid, PXCMCapture.Sample sample)
{
if (sample.ir != null && irImageForm != null && !irImageForm.IsDisposed)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
sample.ir.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
irImageForm.Image = data.ToBitmap(0, sample.ir.info.width, sample.ir.info.height);
sample.ir.ReleaseAccess(data);
}
return(pxcmStatus.PXCM_STATUS_NO_ERROR);
}
private unsafe void CopyImageWithStride(int width, int height, int scale, PXCMImage.ImageData data, IntPtr destination)
{
int length = width * scale;
byte *dest = (byte *)destination;
// one memcpy per line
for (int y = 0; y < height; ++y)
{
byte *src = (byte *)data.planes[0] + y * data.pitches[0];
memcpy(new IntPtr(dest), new IntPtr(src), new UIntPtr((uint)length));
dest += length;
}
}
public static WriteableBitmap GetImage(this PXCMImage image)
{
PXCMImage.ImageData imageData = null;
WriteableBitmap returnImage = null;
int width = 0;
int height = 0;
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ,
PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32,
out imageData).IsSuccessful())
{
width = Convert.ToInt32(imageData.pitches[0] / 4);
height = image.info.height;
returnImage = imageData.ToWritableBitmap(width, height, 96, 96);
image.ReleaseAccess(imageData);
}
return(returnImage);
}
pxcmStatus newHandFrame(PXCMHandModule hand)
{
if (hand != null)
{
PXCMHandData handData = hand.CreateOutput();
handData.Update();
PXCMHandData.IHand iHandDataLeft = null, iHandDataRight = null;
PXCMHandData.JointData jointData = null;
PXCMImage image = null;
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_LEFT_HANDS, 0, out iHandDataLeft);
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, 0, out iHandDataRight);
if (handForm != null && !handForm.IsDisposed)
{
this.handForm.HandCount = handData.QueryNumberOfHands();
if (iHandDataLeft != null)
{
iHandDataLeft.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.LeftHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
if (iHandDataRight != null)
{
iHandDataRight.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.RightHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
}
if (iHandDataLeft != null)
{
if (jointData == null)
{
iHandDataLeft.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (iHandDataRight != null)
{
if (jointData == null)
{
iHandDataRight.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (jointData != null && canTrack.Checked)
{
Cursor.Position = new System.Drawing.Point(
(int)((640.0f - jointData.positionImage.x) * Screen.PrimaryScreen.Bounds.Width / 640.0f),
(int)(jointData.positionImage.y * Screen.PrimaryScreen.Bounds.Height / 480.0f));
PXCMHandData.GestureData gestureData = null;
if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
Program.DoMouseClick();
}
Console.WriteLine("Z Position: " + jointData.positionWorld.z);
}
handData.Dispose();
}
return(pxcmStatus.PXCM_STATUS_NO_ERROR);
}
public RealSenseEventArgs(PXCMImage.ImageData source, PXCMImage.ImageInfo info)
: this()
{
this.source = source;
this.info = info;
}
private Bitmap ConvertDepthToBitmap(PXCMImage.ImageData depthData, PXCMCapture.Sample sample)
{
Bitmap bmp = new Bitmap(sample.depth.info.width, sample.depth.info.height);
var size = sample.depth.info.width * sample.depth.info.height;
Int16[] values = new Int16[size];
var depthValues = depthData.ToShortArray(0, values);
var minDistance = 500; // mm
var maxDistance = 2000; // mm
float scale = 255.0f / (maxDistance - minDistance);
var dataPoint = new DataPoint
{
nearest = new Coordinate {
x = -1, y = -1, z = short.MaxValue
},
farthest = new Coordinate {
x = -1, y = -1, z = short.MinValue
}
};
var i = 0;
var sum = 0.0;
var width = sample.depth.info.width;
var height = sample.depth.info.height;
for (var y = 0; y < height; y++)
{
for (var x = 0; x < width; x++)
{
var distance = depthValues[i++]; // mm
var brightness = 0;
if (distance > 0 && distance < dataPoint.nearest.z)
{
dataPoint.nearest = new Coordinate {
x = (double)x / width, y = (double)y / height, z = distance
}
}
;
if (distance > dataPoint.farthest.z)
{
dataPoint.farthest = new Coordinate {
x = (double)x / width, y = (double)y / height, z = distance
}
}
;
sum += distance;
if (distance > minDistance && distance < maxDistance)
{
brightness = 255 - (int)((distance - minDistance) * scale);
}
System.Drawing.Color color = System.Drawing.Color.FromArgb(brightness, brightness, brightness);
bmp.SetPixel(x, y, color);
}
}
if (dataPoint.nearest.z == short.MaxValue)
{
dataPoint.nearest = null;
}
if (dataPoint.farthest.z == short.MinValue)
{
dataPoint.farthest = null;
}
dataPoint.averageDepth = sum / size;
dataPoint.outOfBed = OutOfBed;
dataPoint.timeStamp = DateTime.UtcNow;
SendDataPoint(dataPoint);
return(bmp);
}
private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
//deregister event handlers
if(_movementController != null) _movementController.Dispose();
colorData = null;
if(colourBitMap != null) colourBitMap.Dispose();
Environment.Exit(0);
}
