public void InitializeStream(int resolutionWidth, int resolutionHeight, float framesPerSecond)
{
// Creating a SDK session
Session = PXCMSession.CreateInstance();
// Creating the SenseManager
SenseManager = Session.CreateSenseManager();
if (SenseManager == null)
{
Status_pipeline = "Failed to create an SDK pipeline object";
//Console.WriteLine("Failed to create the SenseManager object.");
return;
}
else
{
Status_pipeline = "Pipeline created";
}
foreach (var stream in StreamType)
{
// Enabling the stream
pxcmStatus enableStreamStatus = SenseManager.EnableStream(stream, resolutionWidth, resolutionHeight, framesPerSecond);
if (enableStreamStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidRealSenseStatusException(enableStreamStatus, string.Format("Failed to enable the {0} stream. Return code: {1}", StreamType, enableStreamStatus));
}
}
}
public FrameReader(ObjectPool <MemoryFrame> pool, SmithersLogger logger)
{
#if DSAPI
_dsAPI = new DSAPIManaged();
_dsAPI.initializeDevice();
#else
_pool = pool;
_logger = logger;
//Directory.SetCurrentDirectory("")
// TODO Inject this instead of creating it
_session = PXCMSession.CreateInstance();
if (_session == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("No valid plugged-in DS4 sensor found.");
}
_senseManager = PXCMSenseManager.CreateInstance();
if (_senseManager == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Failed to create an SDK pipeline object");
}
_session.SetCoordinateSystem(PXCMSession.CoordinateSystem.COORDINATE_SYSTEM_REAR_OPENCV);
#endif
this.Synced = true;
this.Mirrored = false;
this.Record = false;
this.Playback = false;
this.RealTime = true;
}
private static ToolStripMenuItem m_moduleMenuItem; // ModuleメニューのItemリスト
public MainForm(PXCMSession session)
{
InitializeComponent();
m_faceTextOrganizer = new FaceTextOrganizer(); // インスタンス生成
m_deviceMenuItem = new ToolStripMenuItem("Device"); // Deviceメニューのインスタンス生成
m_moduleMenuItem = new ToolStripMenuItem("Module"); // Moduleメニューのインスタンス生成
Session = session;
CreateResolutionMap();
PopulateDeviceMenu();
PopulateModuleMenu();
PopulateProfileMenu();
InitializeUserSettings();
InitializeCheckboxes();
DisableUnsupportedAlgos();
FormClosing += MainForm_FormClosing;
Panel.Paint += Panel_Paint;
// deviceが一つの時は自動スタート
if (m_deviceMenuItem.DropDownItems.Count == 1)
{
Start_Click(null, null); // 起動時にカメラをonにする
}// else if(m_deviceMenuItem.DropDownItems.Count == 0)
//{
// UpdateStatus("カメラを接続\nしてください。", Label.SmileLabel);
//} else
//{
// UpdateStatus("Deviceから\nカメラを選択\nしてください。", Label.SmileLabel);
//}
}
static void Main()
{
mouseDriven myMouse = new mouseDriven();
Webdriver selen = new Webdriver("http://www.reddit.com");
bool mode = true;
Camera cam = new Camera(myMouse, selen, mode, 1);
bool setup = true;
cam.aTimer = new System.Timers.Timer(Camera.timer);
cam.aTimer.Elapsed += cam.OnTimedEvent;
cam.aTimer.AutoReset = true;
Console.WriteLine("The timer should fire every {0} milliseconds.",
cam.aTimer.Interval);
cam.aTimer.Enabled = true;
if (setup) //for debugging/keyboard, set this to false before compiling
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
PXCMSession session;
pxcmStatus sts = PXCMSession.CreateInstance(out session);
if (sts >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Application.Run(new MainForm(session));
session.Dispose();
}
}
}
// Use this for initialization
void Start()
{
// テキストを渡すスクリプトの参照
textMesh = GameObject.Find("Word");
controller = textMesh.GetComponent <TextController>();
// 音声認識セッションの初期化
session = PXCMSession.CreateInstance();
source = session.CreateAudioSource();
PXCMAudioSource.DeviceInfo dinfo = null;
source.QueryDeviceInfo(1, out dinfo);
source.SetDevice(dinfo);
Debug.Log(dinfo.name);
session.CreateImpl <PXCMSpeechRecognition>(out sr);
PXCMSpeechRecognition.ProfileInfo pinfo;
sr.QueryProfile(out pinfo);
pinfo.language = PXCMSpeechRecognition.LanguageType.LANGUAGE_JP_JAPANESE;
sr.SetProfile(pinfo);
handler = new PXCMSpeechRecognition.Handler();
handler.onRecognition = (x) => controller.SetText(x.scores[0].sentence);
sr.SetDictation();
sr.StartRec(source, handler);
}
public void EnableRecognition(SupportedLanguage language)
{
_language = language;
_session = PXCMSession.CreateInstance();
var audioSource = FindAudioSource();
_session.CreateImpl(out _speechRecognition);
for (int i = 0; ; i++) {
PXCMSpeechRecognition.ProfileInfo profile;
if (_speechRecognition.QueryProfile(i, out profile) != RealSenseCamera.NoError) {
break;
}
var languageLabel = profile.language.ToString();
SupportedLanguage sdkLanguage = SupportedLanguageMapper.FromString(languageLabel);
if (sdkLanguage != SupportedLanguage.NotSpecified) {
_recognitionProfiles.Add(sdkLanguage, profile);
}
}
if (language == SupportedLanguage.NotSpecified) {
language = _recognitionProfiles.Keys.First();
}
if (!_recognitionProfiles.ContainsKey(language)) {
throw new LanguageNotSupportedException(language);
}
_speechRecognition.SetProfile(_recognitionProfiles[language]);
_speechRecognition.SetDictation();
_speechRecognition.StartRec(audioSource, _speechRecognitionHandler);
}
public void Start()
{
filePath = Application.dataPath + @"\LogData.txt";
File.CreateText(filePath);
//インスタンスの生成
session = PXCMSession.CreateInstance();
//音声データの入力
source = session.CreateAudioSource();
PXCMAudioSource.DeviceInfo dinfo = null;
//デバイスを検出して出力
source.QueryDeviceInfo(0, out dinfo);
source.SetDevice(dinfo);
Debug.Log(dinfo.name);
//音声認識
session.CreateImpl <PXCMSpeechRecognition>(out sr);
//音声認識の初期設定
PXCMSpeechRecognition.ProfileInfo pinfo;
sr.QueryProfile(out pinfo);
pinfo.language = PXCMSpeechRecognition.LanguageType.LANGUAGE_JP_JAPANESE;
sr.SetProfile(pinfo);
//handlerにメソッドを渡す工程
handler = new PXCMSpeechRecognition.Handler();
handler.onRecognition = (x) => Dataoutput(x.scores[0].sentence, x.duration);
sr.SetDictation();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
PXCMSession session = null;
session = PXCMSession.CreateInstance();
if (session != null)
{
// Optional steps to send feedback to Intel Corporation to understand how often each SDK sample is used.
PXCMMetadata md = session.QueryInstance <PXCMMetadata>();
if (md != null)
{
string sample_name = "Hands Viewer CS";
md.AttachBuffer(1297303632, System.Text.Encoding.Unicode.GetBytes(sample_name));
}
Form splash = new Form1();
splash.Show();
Thread.Sleep(3000);
splash.Close();
Application.Run(new MainForm(session));
session.Dispose();
}
}
protected virtual void Uninitialize()
{
if (this.initializing)
{
return;
}
if (this.image != null)
{
this.image.Dispose();
this.image = null;
}
if (this.device != null)
{
this.device.Dispose();
this.device = null;
}
if (this.session != null)
{
this.session.Dispose();
this.session = null;
}
if (this.senseManager != null)
{
this.senseManager.Close();
this.senseManager.Dispose();
this.senseManager = null;
}
this.initialized = false;
}
public MainForm(PXCMSession session)
{
InitializeComponent();
this.session = session;
PopulateDeviceMenu();
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
pictureBox1.Paint += new PaintEventHandler(pictureBitmap_Paint);
this.comboBoxQualityEstimator.Items.AddRange(
new object[] {"ColorClusters"
});
this.comboBoxColoringMethod.Items.AddRange(
new object[] {"None"
, "ByScore"
, "ByClusterMeanColor"
, "ByClusterMaxColor"
, "ByClusterDepth"
});
this.cameraSettingsTrackBars = new TrackBar[]
{
this.trackBarCamDepthCofidenceThreshold,
this.trackBarCamIvcamAccuracy,
this.trackBarCamIVCAMFilterOption,
this.trackBarCamIVCAMLaserPower,
this.trackBarCamIVCAMMotionRangeTradeOff
};
this.resetAllParams();
}
private void Uninitialize()
{
if (this.controller != null)
{
this.controller.UnsubscribeEvent(OnTouchlessControllerUXEvent);
this.controller.Dispose();
this.controller = null;
}
if (this.session != null)
{
this.session.Dispose();
this.session = null;
}
if (this.senseManager != null)
{
this.senseManager.Close();
this.senseManager.Dispose();
this.senseManager = null;
}
this.initialized = false;
}
/**
* Initialise View and start updater Thread
*/
public CameraView(Model model)
{
this.model = model;
session = PXCMSession.CreateInstance();
if (session == null) // Something went wrong, session could not be initialised
{
Console.WriteLine("F**k!");
Application.Exit();
return;
}
iv = session.QueryVersion();
String versionString = "v" + iv.major + "." + iv.minor;
Console.WriteLine(versionString);
Text = versionString;
pb = new PictureBox();
// Set size
pb.Bounds = new Rectangle(0, 0, model.Width, model.Height);
// init UI
this.Bounds = new Rectangle(0, 0, model.Width, model.Height);
this.Controls.Add(pb);
FormClosed += new FormClosedEventHandler(Quit);
this.Show();
// Start Updater Thread
updaterThread = new Thread(this.update);
updaterThread.Start();
}
void OnLoaded(object sender, RoutedEventArgs e)
{
// Create our 'session' with the camera.
this.session = PXCMSession.CreateInstance();
// The SenseManager is really our main object for all our config
// and functionality.
this.senseManager = this.session.CreateSenseManager();
// Switch on the COLOR stream.
var status = this.senseManager.EnableStream(
PXCMCapture.StreamType.STREAM_TYPE_COLOR, 0, 0);
// Switch on and configure face data.
this.ConfigureFace();
if (status == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// We can either poll for frames or we can have them pushed at
// us. Here we take the latter approach and have the frames
// delivered to us.
status = this.senseManager.Init(
new PXCMSenseManager.Handler()
{
onNewSample = this.OnNewSample,
onModuleProcessedFrame = this.OnModuleProcessedFrame
});
if (status == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Set it going - false here means "don't block"
this.senseManager.StreamFrames(false);
}
}
}
public Senz3DIntel()
{
UpdateAdaptiveSensingMaskCommand = new RelayCommand(OnUpdateAdaptiveSensingMask);
PXCMSession session;
var sts = PXCMSession.CreateInstance(out session);
Debug.Assert(sts >= pxcmStatus.PXCM_STATUS_NO_ERROR, "could not create session instance");
PropertyChanged += (s, e) =>
{
switch (e.PropertyName)
{
case DepthConfidenceThresholdPropertyName:
if (_device != null)
{
_device.SetProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, DepthConfidenceThreshold);
}
break;
case ColorImageProfilePropertyName:
//Stop();
_rgbInDepthROI = new Rectangle(0, 0, 0, 0);
//Thread.Sleep(2000);
//Start();
break;
}
};
}
public RealSenseEngine()
{
m_session = PXCMSession.CreateInstance();
if (m_session == null)
{
throw new RealSenseEngineException("Failed to create a Session");
}
m_senseManager = m_session.CreateSenseManager();
if (m_senseManager == null)
{
throw new RealSenseEngineException("Failed to create a SenseManager");
}
pxcmStatus res = m_senseManager.EnableTouchlessController();
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Enable Touchless Controller");
}
var handler = new PXCMSenseManager.Handler();
res = m_senseManager.Init(handler);
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Init Handler");
}
// getting touchless controller
m_touchlessController = m_senseManager.QueryTouchlessController();
if (m_touchlessController == null)
{
throw new RealSenseEngineException("Failed to Query Touchless Controller");
}
}
public override void OnImage(PXCMImage image)
{
#region 攝影機影像顯示
//Debug.WriteLine("收到影像,格式 : " + image.imageInfo.format);
PXCMSession session = QuerySession();
Bitmap bitmapimage;
image.QueryBitmap(session, out bitmapimage);
BitmapSource source = ToWpfBitmap(bitmapimage);
if (image.imageInfo.format == PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH)
{
MainWindow.mainwin.ProcessDepthImage(source);
}
else if (image.imageInfo.format == PXCMImage.ColorFormat.COLOR_FORMAT_RGB24)
{
MainWindow.mainwin.ProcessColorImage(source);
}
image.Dispose();
#endregion
PXCMGesture gesture = QueryGesture();
if (gesture != null)
{
PXCMGesture.GeoNode node;
//PXCMGesture.GeoNode[] nodes = new PXCMGesture.GeoNode[11];
gesture.QueryNodeData(0, NeedNode(), out node);
//gesture.QueryNodeData(0, NeedNodes(), nodes);
ProcessNode(node);
//ProcessNodes(nodes);
}
}
static void Main(string[] args)
{
// URLを受け取る
Console.WriteLine("args.length:" + args.Length);
if (args.Length > 0)
{
string arg1 = args[0]; // URL全体を取得
string param = Regex.Match(arg1, @"\+?:(.*)").Groups[1].Value; //パラメータの取り出し
if (Regex.IsMatch(arg1, "[&=]"))
{
arg1 = HttpUtility.UrlDecode(arg1); // URLデコードする
Console.WriteLine(arg1);
}
string[] argwork = arg1.Split(':');
argData = argwork[1];
}
//argData = "s1234"; // LocalTest用
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
PXCMSession session = PXCMSession.CreateInstance();
if (session != null)
{
Application.Run(new MainForm(session));
session.Dispose();
}
}
/// <summary>
/// コンストラクタ
///
/// カメラ画像表示用のWritableBitmapを準備してImageに割り当て
/// カメラ制御用のオブジェクトを取得して
/// Colorカメラストリームを有効にしてカメラのフレーム取得を開始する
/// カメラキャプチャーするためのTaskを準備して開始
/// </summary>
public MainWindow()
{
// 画面コンポーネントを初期化
InitializeComponent();
// カメラ画像書き込み用のWriteableBitmapを準備してImageコントローラーにセット
m_ColorWBitmap = new WriteableBitmap(1920, 1080, 96.0, 96.0, PixelFormats.Bgr32, null);
ColorCameraImage.Source = m_ColorWBitmap;
// カメラ制御のオブジェクトを取得
m_Session = PXCMSession.CreateInstance();
m_Cm = m_Session.CreateSenseManager();
// Colorカメラストリームを有効にする
m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 30);
// カメラのフレーム取得開始
pxcmStatus initState = m_Cm.Init();
if (initState < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// エラー発生
MessageBox.Show(initState + "\nカメラ初期化に失敗しました。");
return;
}
// カメラ取得画像をミラーモードにする
m_Cm.captureManager.device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// カメラキャプチャーをするためのタスクを準備して起動
m_CameraCaptureTask = new Task(() => CaptureCameraProcess());
m_CameraCaptureTask.Start();
}
public static void Start()
{
// Create an instance of the SenseManager
PXCMSession session = PXCMSession.CreateInstance();
if (session == null)
{
present = false;
return;
}
senseManager = session.CreateSenseManager();
if (senseManager == null)
{
present = false;
return;
}
//if (bodyTrackingEnabled)
// StartBodyTracking();
//if (handTrackingEnabled)
// StartHandTracking();
if (faceTrackingEnabled)
{
StartFace();
}
present = true;
thread = new System.Threading.Thread(Fetcher);
thread.Start();
}
public RealSenseEngine()
{
m_session = PXCMSession.CreateInstance();
if (m_session == null)
{
throw new RealSenseEngineException("Failed to create a Session");
}
m_senseManager = m_session.CreateSenseManager();
if (m_senseManager == null)
{
throw new RealSenseEngineException("Failed to create a SenseManager");
}
pxcmStatus res = m_senseManager.EnableTouchlessController();
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Enable Touchless Controller");
}
var handler = new PXCMSenseManager.Handler();
res = m_senseManager.Init(handler);
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Init Handler");
}
// getting touchless controller
m_touchlessController = m_senseManager.QueryTouchlessController();
if (m_touchlessController == null)
{
throw new RealSenseEngineException("Failed to Query Touchless Controller");
}
}
public void ConfigureRealSense()
{
// Create an instance of the SenseManager
sm = PXCMSenseManager.CreateInstance();
// Enable cursor tracking
sm.EnableHandCursor();
// Create a session of the RealSense
session = PXCMSession.CreateInstance();
// Get an instance of the hand cursor module
cursorModule = sm.QueryHandCursor();
// Get an instance of the cursor configuration
cursorConfig = cursorModule.CreateActiveConfiguration();
// Make configuration changes and apply them
cursorConfig.EnableEngagement(true);
cursorConfig.EnableAllGestures();
cursorConfig.EnableAllAlerts();
cursorConfig.ApplyChanges();
// Initialize the SenseManager pipeline
sm.Init();
}
public MainForm(PXCMSession session)
{
this.session = session;
PopulateSource();
PopulateModule();
PopulateLanguage();
}
public void EnableRecognition(SupportedLanguage language)
{
_session = PXCMSession.CreateInstance();
var audioSource = FindAudioSource();
_session.CreateImpl(out _speechRecognition);
for (int i = 0; ; i++)
{
PXCMSpeechRecognition.ProfileInfo profile;
if (_speechRecognition.QueryProfile(i, out profile) != Errors.NoError)
{
break;
}
var languageLabel = profile.language.ToString();
SupportedLanguage sdkLanguage = SupportedLanguageMapper.FromString(languageLabel);
if (sdkLanguage != SupportedLanguage.NotSpecified)
{
_recognitionProfiles.Add(sdkLanguage, profile);
}
}
if (language == SupportedLanguage.NotSpecified)
{
language = _recognitionProfiles.Keys.First();
}
if (!_recognitionProfiles.ContainsKey(language))
{
throw new LanguageNotSupportedException(language);
}
_speechRecognition.SetProfile(_recognitionProfiles[language]);
_speechRecognition.SetDictation();
_speechRecognition.StartRec(audioSource, _speechRecognitionHandler);
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
session = PXCMSession.CreateInstance();
if (session != null)
{
// Optional steps to send feedback to Intel Corporation to understand how often each SDK sample is used.
PXCMMetadata md = session.QueryInstance<PXCMMetadata>();
if (md != null)
{
string sample_name = "Hands Viewer CS";
md.AttachBuffer(1297303632, System.Text.Encoding.Unicode.GetBytes(sample_name));
}
Monitor first = new Monitor();
Console.WriteLine("Start monitor\n");
Console.WriteLine("Choose instrument:\n0 for piano\n1 for drum");
int mode = Int32.Parse(Console.ReadLine());
first.Start(mode);
session.Dispose();
}
}
public AudioRecorder(PXCMSession session, string timestamp)
{
this.session = session;
this.isRecording = false;
this.recordingThread = new Thread(recording);
this.timestamp = timestamp;
}
public MainForm(PXCMSession session)
{
InitializeComponent();
this.session = session;
PopulateDeviceMenu();
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
pictureBox1.Paint += new PaintEventHandler(pictureBitmap_Paint);
this.comboBoxQualityEstimator.Items.AddRange(
new object[] { "ColorClusters" });
this.comboBoxColoringMethod.Items.AddRange(
new object[] { "None"
, "ByScore"
, "ByClusterMeanColor"
, "ByClusterMaxColor"
, "ByClusterDepth" });
this.cameraSettingsTrackBars = new TrackBar[]
{
this.trackBarCamDepthCofidenceThreshold,
this.trackBarCamIvcamAccuracy,
this.trackBarCamIVCAMFilterOption,
this.trackBarCamIVCAMLaserPower,
this.trackBarCamIVCAMMotionRangeTradeOff
};
this.resetAllParams();
}
public MainFormGR(PXCMSession session, MainScreen mainScreen)
{
InitializeComponent();
this.mainScreen = mainScreen;
this.session = session;
PopulateDeviceMenu();
PopulateModuleMenu();
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
Panel2.Paint += new PaintEventHandler(Panel_Paint);
timer.Tick += new EventHandler(timer_Tick);
timer.Interval = 2000;
timer.Start();
pictures = new Hashtable();
pictures[PXCMGesture.Gesture.Label.LABEL_HAND_CIRCLE] = Properties.Resources.circle;
pictures[PXCMGesture.Gesture.Label.LABEL_HAND_WAVE] = Properties.Resources.wave;
pictures[PXCMGesture.Gesture.Label.LABEL_NAV_SWIPE_DOWN] = Properties.Resources.swipe_down;
pictures[PXCMGesture.Gesture.Label.LABEL_NAV_SWIPE_LEFT] = Properties.Resources.swipe_left;
pictures[PXCMGesture.Gesture.Label.LABEL_NAV_SWIPE_RIGHT] = Properties.Resources.swipe_right;
pictures[PXCMGesture.Gesture.Label.LABEL_NAV_SWIPE_UP] = Properties.Resources.swipe_up;
pictures[PXCMGesture.Gesture.Label.LABEL_POSE_BIG5] = Properties.Resources.big5;
pictures[PXCMGesture.Gesture.Label.LABEL_POSE_PEACE] = Properties.Resources.peace;
pictures[PXCMGesture.Gesture.Label.LABEL_POSE_THUMB_DOWN] = Properties.Resources.thumb_down;
pictures[PXCMGesture.Gesture.Label.LABEL_POSE_THUMB_UP] = Properties.Resources.thumb_up;
}
private void startCamera()
{
session = PXCMSession.CreateInstance();
manager = session.CreateSenseManager();
if (manager == null)
{
Console.WriteLine("Failed");
}
manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 30);
manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 60);
manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480, 60);
manager.EnableHand();
PXCMHandConfiguration config = manager.QueryHand().CreateActiveConfiguration();
config.EnableAllAlerts();
config.EnableSegmentationImage(true);
config.EnableTrackedJoints(true);
config.LoadGesturePack("navigation");
config.EnableAllGestures(true);
config.ApplyChanges();
config.Dispose();
manager.Init();
thread = new Thread(new ThreadStart(updateThread));
thread.Start();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
#region RealSense SDK Init
RealSenseObjects.Session = PXCMSession.CreateInstance();
if (RealSenseObjects.Session == null)
{
MessageBox.Show(
"RealSense Session初始化失敗，請確認您有安裝SDK。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return;
}
#endregion
MainForm form = new MainForm();
Application.Run(form);
if (!form.IsDisposed) //尚未釋放資源就關閉
{
form.realSenseProgram.moduleConfiguration.Dispose();
form.realSenseProgram.realSenseManager.Close();
form.realSenseProgram.realSenseManager.Dispose();
}
RealSenseObjects.Session.Dispose();//釋放資源
}
private bool ConfigureRealSense()
{
try
{
// Create a session instance
session = PXCMSession.CreateInstance();
// Create a SenseManager instance from the Session instance
senseManager = session.CreateSenseManager();
// Activate user segmentation
senseManager.Enable3DSeg();
// Specify image width and height of color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, WIDTH, HEIGHT, 30);
// Initialize the pipeline
senseManager.Init();
// Mirror the image horizontally
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
return(true);
}
catch (Exception)
{
return(false);
}
}
public MainForm(PXCMSession session)
{
InitializeComponent();
/* Put stream menu items to array */
streamMenus[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_COLOR)] = ColorMenu;
streamMenus[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_DEPTH)] = DepthMenu;
streamMenus[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_IR)] = IRMenu;
streamMenus[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_LEFT)] = LeftMenu;
streamMenus[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_RIGHT)] = RightMenu;
/* Put stream buttons to array */
streamButtons[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_COLOR)] = Color;
streamButtons[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_DEPTH)] = Depth;
streamButtons[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_IR)] = IR;
streamButtons[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_LEFT)] = IRLeft;
streamButtons[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_RIGHT)] = IRRight;
/* Put panels buttons to array */
streamPanels[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_COLOR)] = ColorPanel;
streamPanels[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_DEPTH)] = DepthPanel;
streamPanels[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_IR)] = IRPanel;
streamPanels[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_LEFT)] = IRLeftPanel;
streamPanels[PXCMCapture.StreamTypeToIndex(PXCMCapture.StreamType.STREAM_TYPE_RIGHT)] = IRRightPanel;
this.session = session;
streaming.UpdateStatus += new EventHandler <UpdateStatusEventArgs>(UpdateStatusHandler);
streaming.RenderFrame += new EventHandler <RenderFrameEventArgs>(RenderFrameHandler);
FormClosing += new FormClosingEventHandler(FormClosingHandler);
ColorPanel.Paint += new PaintEventHandler(PaintHandler);
DepthPanel.Paint += new PaintEventHandler(PaintHandler);
IRPanel.Paint += new PaintEventHandler(PaintHandler);
IRLeftPanel.Paint += new PaintEventHandler(PaintHandler);
IRRightPanel.Paint += new PaintEventHandler(PaintHandler);
ColorPanel.Resize += new EventHandler(ResizeHandler);
DepthPanel.Resize += new EventHandler(ResizeHandler);
IRPanel.Resize += new EventHandler(ResizeHandler);
IRLeftPanel.Resize += new EventHandler(ResizeHandler);
IRRightPanel.Resize += new EventHandler(ResizeHandler);
ResetStreamTypes();
PopulateDeviceMenu();
Scale2.CheckedChanged += new EventHandler(Scale_Checked);
Mirror.CheckedChanged += new EventHandler(Mirror_Checked);
foreach (RadioButton button in streamButtons)
{
if (button != null)
{
button.Click += new EventHandler(Stream_Click);
}
}
renders[0].SetHWND(ColorPanel);
renders[1].SetHWND(DepthPanel);
renders[2].SetHWND(IRPanel);
renders[3].SetHWND(IRLeftPanel);
renders[4].SetHWND(IRRightPanel);
}
public RealSenseCamera()
{
Session = PXCMSession.CreateInstance();
Manager = Session.CreateSenseManager();
ConfigurePoses();
Speech = new SpeechManager();
Debug.WriteLine("SDK Version {0}.{1}", Session.QueryVersion().major, Session.QueryVersion().minor);
}
public MainWindow()
{
InitializeComponent();
session = PXCMSession.CreateInstance();
var version = session.QueryVersion();
Console.WriteLine("SDK Version {0}.{1}", version.major, version.minor);
}
void Start()
{
gameController = AppUtis.Controller;
this.session = PXCMSession.CreateInstance();
this.AudioSourceCheck();
this.InitSession(session);
}
/// <summary>
/// コンストラクタ
///
/// カメラ画像表示用のWritableBitmapを準備してImageに割り当て
/// カメラ制御用のオブジェクトを取得して
/// Colorカメラストリームを有効にしてカメラのフレーム取得を開始する
/// カメラキャプチャーするためのTaskを準備して開始
/// </summary>
public MainWindow()
{
// 画面コンポーネントを初期化
InitializeComponent();
// ジェスチャー画像表示用Imageを非表示にする
HiddenGestureImage();
// カメラ画像書き込み用のWriteableBitmapを準備してImageコントローラーにセット
m_ColorWBitmap = new WriteableBitmap(1920, 1080, 96.0, 96.0, PixelFormats.Bgr32, null);
ColorCameraImage.Source = m_ColorWBitmap;
m_HandSegmentWBitmap = new WriteableBitmap(640, 480, 96.0, 96.0, PixelFormats.Gray8, null);
HandSegmentImage.Source = m_HandSegmentWBitmap;
m_HandJointWBitmap = new WriteableBitmap(640, 480, 96.0, 96.0, PixelFormats.Bgra32, null);
HandJointtImage.Source = m_HandJointWBitmap;
// カメラ制御のオブジェクトを取得
m_Session = PXCMSession.CreateInstance();
m_Cm = m_Session.CreateSenseManager();
// Color,Depth,Irストリームを有効にする
m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 30);
m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 30);
m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480, 30);
// Hand Trackingを有効化と設定
m_Cm.EnableHand();
PXCMHandModule handModule = m_Cm.QueryHand();
PXCMHandConfiguration handConfig = handModule.CreateActiveConfiguration();
handConfig.SetTrackingMode(PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND); // FULL_HANDモード
handConfig.EnableSegmentationImage(true); // SegmentationImageの有効化
handConfig.EnableAllGestures(); // すべてのジェスチャーを補足
handConfig.SubscribeGesture(OnFiredGesture); // ジェスチャー発生時のコールバック関数をセット
handConfig.ApplyChanges();
// HandDataのインスタンスを作成
m_HandData = handModule.CreateOutput();
// カメラのフレーム取得開始
pxcmStatus initState = m_Cm.Init();
if (initState < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// エラー発生
MessageBox.Show(initState + "\nカメラ初期化に失敗しました。");
return;
}
// カメラ取得画像をミラーモードにする
m_Cm.captureManager.device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// 座標変換のためのProjectionインスタンスを取得
m_Projection = m_Cm.QueryCaptureManager().QueryDevice().CreateProjection();
// カメラキャプチャーをするためのタスクを準備して起動
m_CameraCaptureTask = new Task(() => CaptureCameraProcess());
m_CameraCaptureTask.Start();
}
public HeadTracking()
{
UserHeadPose = new UserHeadPose();
UserExpressions = new UserExpressions();
//UserLandmarks = new UserLandmarks();
Session = PXCMSession.CreateInstance();
CameraService = new CameraService(Session);
}
private void Button_Click(object sender, RoutedEventArgs e)
{
// Get instance of SenseManager
PXCMSession session = PXCMSession.CreateInstance();
// Get RS version
PXCMSession.ImplVersion version = session.QueryVersion();
textBox1.Text = version.major.ToString() + "." + version.minor.ToString();
// setup Pipeline
PXCMSenseManager sm = session.CreateSenseManager();
// Get streams ready
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
// Init Pipeline
sm.Init();
// Get samples
pxcmStatus status = sm.AcquireFrame(true); // Synchronous capturing
PXCMCapture.Sample sample = sm.QuerySample();
// Convert samples to image
PXCMImage image = sample.color;
PXCMImage dimage = sample.depth;
PXCMImage.ImageData data;
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
WriteableBitmap wbm = data.ToWritableBitmap(0,
image.info.width,
image.info.height,
96.0, 96.0);
PXCMImage.ImageData data2;
dimage.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH_RAW, out data2);
WriteableBitmap wbm2 = data2.ToWritableBitmap(
0,
dimage.info.width,
dimage.info.height,
96.0, 96.0);
// Display image
imageRGB.Source = wbm;
imageDepth.Source = wbm2;
// Clean up
image.ReleaseAccess(data);
image.ReleaseAccess(data2);
sm.ReleaseFrame();
sm.Close();
session.Dispose();
}
public void Initialize()
{
pxcmStatus status = PXCMSession.CreateInstance(out session);
if (status < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
MessageBox.Show("Unable to create Session for VoiceTracking.");
}
}
public static string Speak(string sentence, int curr_volume, int curr_pitch, int curr_speech_rate)
{
string module = "";
int language = 0;
PXCMSession session = PXCMSession.CreateInstance();
if (session == null)
{
return("Failed to create an SDK session");
}
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.friendlyName = module;
desc.cuids[0] = PXCMSpeechSynthesis.CUID;
PXCMSpeechSynthesis vsynth;
pxcmStatus sts = session.CreateImpl <PXCMSpeechSynthesis>(desc, out vsynth);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
session.Dispose();
return("Failed to create the synthesis module");
}
PXCMSpeechSynthesis.ProfileInfo pinfo;
vsynth.QueryProfile(language, out pinfo);
pinfo.volume = curr_volume;
pinfo.rate = curr_speech_rate;
pinfo.pitch = curr_pitch;
sts = vsynth.SetProfile(pinfo);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
vsynth.Dispose();
session.Dispose();
return("Failed to initialize the synthesis module");
}
sts = vsynth.BuildSentence(1, sentence);
if (sts >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
VoiceOut vo = new VoiceOut(pinfo.outputs);
for (int i = 0;; i++)
{
PXCMAudio sample = vsynth.QueryBuffer(1, i);
if (sample == null)
{
break;
}
vo.RenderAudio(sample);
}
vo.Close();
}
vsynth.Dispose();
session.Dispose();
return(null);
}
public MainForm(PXCMSession session)
{
InitializeComponent();
this.g_session = session;
PopulateDeviceMenu();
// PopulateModuleMenu();
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
Panel2.Paint += new PaintEventHandler(Panel_Paint);
}
public Projection(PXCMSession session, PXCMCapture.Device device, PXCMImage.ImageInfo dinfo, PXCMImage.ImageInfo cinfo)
{
/* retrieve the invalid depth pixel values */
invalid_value = device.QueryDepthLowConfidenceValue();
/* Create the projection instance */
projection = device.CreateProjection();
uvmap = new PXCMPointF32[dinfo.width * dinfo.height];
invuvmap = new PXCMPointF32[cinfo.width * cinfo.height];
}
public MovementController(PXCMSenseManager.Handler handler,
PXCMHandConfiguration.OnFiredGestureDelegate handGestureHandler,
PXCMHandConfiguration.OnFiredAlertDelegate handAlertHandler)
{
// register event handlers
this._handler = handler;
_handGestureHandler = handGestureHandler;
_handAlertHandler = handAlertHandler;
Session = PXCMSession.CreateInstance();
}
public MainForm(Main main, PXCMSession session)
{
this.main = main;
InitializeComponent();
this.session = session;
PopulateDeviceMenu();
PopulateModuleMenu();
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
Panel2.Paint += new PaintEventHandler(Panel_Paint);
personListBox.SelectedIndex = 0;
}
public override void Dispose()
{
lock (this)
{
depthFrame.CloseAllOpenStreams();
colorFrame.CloseAllOpenStreams();
textureFrame.CloseAllOpenStreams();
capture.Dispose();
session.Dispose();
capture = null;
session = null;
}
}
public MainForm(PXCMSession session)
{
InitializeComponent();
this.g_session = session;
PopulateDeviceMenu();
PopulateModuleMenu();
cmbGesturesList.Enabled = false;
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
Panel2.Paint += new PaintEventHandler(Panel_Paint);
timer.Tick += new EventHandler(timer_Tick);
timer.Interval = 2000;
timer.Start();
}
public MainForm(PXCMSession session)
{
InitializeComponent();
m_faceTextOrganizer = new FaceTextOrganizer();
m_deviceMenuItem = new ToolStripMenuItem("Device");
m_moduleMenuItem = new ToolStripMenuItem("Module");
Session = session;
CreateResolutionMap();
PopulateDeviceMenu();
PopulateModuleMenu();
PopulateProfileMenu();
PopulateUnitMenu();
FormClosing += MainForm_FormClosing;
Panel2.Paint += Panel_Paint;
yawningTimer = new System.Timers.Timer();
yawningTimer.Elapsed += new ElapsedEventHandler(OnYawnTimedEvent);
yawningTimer.Interval = 3000;
yawningTimer.Enabled = true;
speakTimer = new System.Timers.Timer();
speakTimer.Elapsed += new ElapsedEventHandler(OnSpeakEvent);
speakTimer.Interval = 2500;
speakTimer.Enabled = true;
var thread = new Thread(DoTracking);
thread.Start();
eyeCloseTimer = new System.Timers.Timer();
eyeCloseTimer.Elapsed += new ElapsedEventHandler(OnEyeCloseTimedEvent);
eyeCloseTimer.Interval = 1000;
eyeCloseTimer.Enabled = true;
currentPort = new SerialPort();
currentPort.PortName = "COM16"; //Serial port Edison is connected to
currentPort.BaudRate = 9600;
currentPort.ReadTimeout = 500;
currentPort.WriteTimeout = 500;
try
{
currentPort.Open();
}
catch(System.IO.IOException ex)
{
MessageBox.Show("Edison Unit not detected, please set it to COM16.");
}
}
public RealSenseSensor()
{
session = PXCMSession.CreateInstance();
this.manager = session.CreateSenseManager(); ;
this.isColorStreamEnabled = false;
this.isDepthStreamEnabled = false;
this.isGestureRecognitionEnabled = false;
this.isHandsStreamEnabled = false;
this.is3DSegEnabled = false;
this.isEmotionEnabled = false;
parentContext = SynchronizationContext.Current;
}
public Projection(PXCMSession session, PXCMCapture.Device device, PXCMImage.ImageInfo dinfo)
{
//: start ros serial node:
// rosPublisher.start("192.168.0.10");
/* Create the projection instance */
projection = device.CreateProjection();
height = dinfo.height;
width = dinfo.width;
numOfPixels = dinfo.width * dinfo.height;
UInt16 invalid_value = device.QueryDepthLowConfidenceValue();
obj_detector = new managed_obj_detector.ObjDetector(dinfo.width, dinfo.height, invalid_value);
coords = new PXCMPoint3DF32[numOfPixels];
rgb_ir_d_xyz_points = new managed_obj_detector.RgbIrDXyzPoint[numOfPixels];
}
public HandsRecognition(int mod)
{
try
{
session = PXCMSession.CreateInstance();
mode = mod;
if (mod == 0)
{
rightcp = new checkPiano();
leftcp = new checkPiano();
}
else if (mod == 1)
{
rightcp = new checkDrum();
leftcp = new checkDrum();
}
_disconnected = false;
instance = session.CreateSenseManager();
if (instance == null)
{
MessageBox.Show("Failed creating SenseManager", "OnAlert");
return;
}
/* Set Module */
pxcmStatus status = instance.EnableHand();//form.GetCheckedModule());
handAnalysis = instance.QueryHand();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null)
{
MessageBox.Show("Failed Loading Module", "OnAlert");
return;
}
handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
handData = handAnalysis.CreateOutput();
}
catch
{
MessageBox.Show("Init Failed.");
Environment.Exit(0);
}
}
public Camera(params PXCMHandConfiguration.OnFiredGestureDelegate[] dlgts)
{
// Create the manager
this._session = PXCMSession.CreateInstance();
this._mngr = this._session.CreateSenseManager();
// streammmm
PXCMVideoModule.DataDesc desc = new PXCMVideoModule.DataDesc();
desc.deviceInfo.streams = PXCMCapture.StreamType.STREAM_TYPE_COLOR | PXCMCapture.StreamType.STREAM_TYPE_DEPTH;
this._mngr.EnableStreams(desc);
//this._mngr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, Camera.WIDTH, Camera.HEIGHT, 30);
//this._mngr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, Camera.WIDTH, Camera.HEIGHT, 30);
// Hands
this._mngr.EnableHand();
this._hand = this._mngr.QueryHand();
this._handData = this._hand.CreateOutput();
// Hands config
PXCMHandConfiguration conf = this._hand.CreateActiveConfiguration();
conf.EnableGesture("spreadfingers", false);
conf.EnableGesture("thumb_up", false);
// Subscribe hands alerts
conf.EnableAllAlerts();
conf.SubscribeAlert(this.onFiredAlert);
// Subscribe all gestures
foreach (PXCMHandConfiguration.OnFiredGestureDelegate subscriber in dlgts)
{
conf.SubscribeGesture(subscriber);
}
// and the private one for debug
conf.SubscribeGesture(this.onFiredGesture);
// Apply it all
conf.ApplyChanges();
// Set events
this._handler = new PXCMSenseManager.Handler();
this._handler.onModuleProcessedFrame = this.onModuleProcessedFrame;
this._mngr.Init(this._handler);
}
public MainForm(PXCMSession session)
{
InitializeComponent();
InitializeCheckboxes();
InitializeTextBoxes();
m_faceTextOrganizer = new FaceTextOrganizer();
m_deviceMenuItem = new ToolStripMenuItem("Device");
m_moduleMenuItem = new ToolStripMenuItem("Module");
Session = session;
CreateResolutionMap();
PopulateDeviceMenu();
PopulateModuleMenu();
PopulateProfileMenu();
FormClosing += MainForm_FormClosing;
Panel2.Paint += Panel_Paint;
}
public MainForm(PXCMSession session)
{
InitializeComponent();
this.g_session = session;
PopulateDeviceMenu();
PopulateModuleMenu();
cmbGesturesList.Enabled = false;
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
Panel2.Paint += new PaintEventHandler(Panel_Paint);
timer.Tick += new EventHandler(timer_Tick);
timer.Interval = 2000;
timer.Start();
labelSolved.BackColor = Color.Transparent;
NextKaraoke();
this.Start_Click(this, null);
}
public Form1(PXCMSession session)
{
InitializeComponent();
//_timer = null;
thread = new MyBeautifulThread(DoRecognition);
flagThread = 0;
LightState = 0;
flagLight = 0;
WindState = 0;
flagWind = 0;
SendState = 0;
sm = PXCMSenseManager.CreateInstance();
sm.EnableHand();
PXCMHandModule hand = sm.QueryHand();
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 320, 240, 60);
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler
{
onModuleProcessedFrame = OnModuleProcessedFrame
};
sm.Init(handler);
PXCMHandConfiguration handConfiguration = sm.QueryHand().CreateActiveConfiguration();
handConfiguration.EnableGesture("wave");
handConfiguration.EnableGesture("swipe_up");
handConfiguration.EnableGesture("thumb_up");
handConfiguration.EnableGesture("tap");
handConfiguration.ApplyChanges();
if (handConfiguration == null)
{
Console.WriteLine("Failed Create Configuration");
Console.WriteLine("That`s all...");
Console.ReadKey();
}
logTextBox.Text = DateTime.Now.ToString("hh:mm:ss") + " Started" + "\n" + logTextBox.Text;
}
/* */
public MainForm(PXCMSession session)
{
InitializeComponent();
InitializeTextBoxes();
m_faceTextOrganizer = new FaceTextOrganizer();
m_deviceMenuItem = new ToolStripMenuItem("Device");
m_moduleMenuItem = new ToolStripMenuItem("Module");
Session = session;
CreateResolutionMap();
PopulateDeviceMenu();
PopulateModuleMenu();
PopulateProfileMenu();
InitializeUserSettings();
InitializeCheckboxes();
DisableUnsupportedAlgos();
RestoreUserSettings();
FormClosing += MainForm_FormClosing;
Panel2.Paint += Panel_Paint;
m_Util = Util.Instance;
fetchOperations();
m_Arduino = new Arduino(new ArduinoManager());
m_CurrentFaceExpression = new Dictionary<PXCMFaceData.ExpressionsData.FaceExpression, int>();
m_FaceExpressions = new List<ExpressionOperation>();
morseInterpeter = new MorseInterpeter(m_Arduino);
eyeState = new EyeState(m_Arduino);
// eyeState.EyesClosed += EyeState.eyeState_Closed;
// eyeState.EyesClosed += EyeState.eyeState_Closed;
// eyeState.Closed += new EyeState.MyDelegate(EyeState.eyeState_Closed);
// eyeState.Open += new EyeState.MyDelegate(EyeState.eyeState_Open);
}
public MainFormVR(PXCMSession session, MainScreen mainScreen)
{
InitializeComponent();
this.mainScreen = mainScreen;
this.session = session;
try
{
PopulateSource();
PopulateModule();
PopulateLanguage();
dictationToolStripMenuItem_Click(null, null);
}
catch (Exception e)
{
//MessageBox.Show("VR INIT NOT SUCCESSFUL");
}
Console2.AfterLabelEdit += new NodeLabelEditEventHandler(Console2_AfterLabelEdit);
Console2.KeyDown += new KeyEventHandler(Console2_KeyDown);
FormClosing += new FormClosingEventHandler(MainForm_FormClosing);
}
void Start()
{
session = PXCMSession.CreateInstance();
audioSourceCheck();
initSession(session);
}
void initSession(PXCMSession session)
{
if (source == null)
{
Debug.Log("Source was null! No audio device?");
return;
}
// Set audio volume to 0.2
source.SetVolume(setVolume);
// Set Audio Source
Debug.Log("Using device: " + device.name);
source.SetDevice(device);
// Set Module
PXCMSession.ImplDesc mdesc = new PXCMSession.ImplDesc();
mdesc.iuid = 0;
pxcmStatus sts = session.CreateImpl<PXCMSpeechRecognition>(out sr);
if (sts >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Configure
PXCMSpeechRecognition.ProfileInfo pinfo;
// Language
sr.QueryProfile(0, out pinfo);
Debug.Log(pinfo.language);
sr.SetProfile(pinfo);
// Set Command/Control or Dictation
sr.SetDictation();
// Initialization
Debug.Log("Init Started");
PXCMSpeechRecognition.Handler handler = new PXCMSpeechRecognition.Handler();
handler.onRecognition = OnRecognition;
handler.onAlert = OnAlert;
sts = sr.StartRec(source, handler);
if (sts >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.Log("Voice Rec Started");
}
else
{
Debug.Log("Voice Rec Start Failed");
}
}
else
{
Debug.Log("Voice Rec Session Failed");
}
}
public FrameReader(ObjectPool<MemoryFrame> pool, SmithersLogger logger)
{
#if DSAPI
_dsAPI = new DSAPIManaged();
_dsAPI.initializeDevice();
#else
_pool = pool;
_logger = logger;
//Directory.SetCurrentDirectory("")
// TODO Inject this instead of creating it
_session = PXCMSession.CreateInstance();
if (_session == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("No valid plugged-in DS4 sensor found.");
}
_senseManager = PXCMSenseManager.CreateInstance();
if (_senseManager == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Failed to create an SDK pipeline object");
}
_session.SetCoordinateSystem(PXCMSession.CoordinateSystem.COORDINATE_SYSTEM_REAR_OPENCV);
#endif
this.Synced = true;
this.Mirrored = false;
this.Record = false;
this.Playback = false;
this.RealTime = true;
}
public MainWindow()
{
InitializeComponent();
#region Hand
nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
xValues = new float[arraySize];
yValues = new float[arraySize];
zValues = new float[arraySize];
#endregion Hand
// Setto la modalita' test per la guida del drone ON/OFF
TestModeCheck.IsChecked = true;
genericItems = new ObservableCollection<GenericItem>();
se = PXCMSession.CreateInstance();
if (se != null)
{
//processingThread = new Thread(new ThreadStart(ProcessingHandThread));
//senseManager = PXCMSenseManager.CreateInstance();
//senseManager.EnableHand();
//senseManager.Init();
//ConfigureHandModule();
//processingThread.Start();
// session is a PXCMSession instance.
audiosource = se.CreateAudioSource();
// Scan and Enumerate audio devices
audiosource.ScanDevices();
PXCMAudioSource.DeviceInfo dinfo = null;
for (int d = audiosource.QueryDeviceNum() - 1; d >= 0; d--)
{
audiosource.QueryDeviceInfo(d, out dinfo);
}
audiosource.SetDevice(dinfo);
se.CreateImpl<PXCMSpeechRecognition>(out sr);
PXCMSpeechRecognition.ProfileInfo pinfo;
sr.QueryProfile(0, out pinfo);
sr.SetProfile(pinfo);
// sr is a PXCMSpeechRecognition instance.
String[] cmds = new String[] { "Takeoff", "Land", "Rotate Left", "Rotate Right", "Advance",
"Back", "Up", "Down", "Left", "Right", "Stop" , "Dance"};
int[] labels = new int[] { 1, 2, 4, 5, 8, 16, 32, 64, 128, 256, 512, 1024 };
// Build the grammar.
sr.BuildGrammarFromStringList(1, cmds, labels);
// Set the active grammar.
sr.SetGrammar(1);
// Set handler
RecognitionHandler = new PXCMSpeechRecognition.Handler();
RecognitionHandler.onRecognition = OnRecognition;
Legenda.Items.Add("------ Available Commands ------");
foreach (var cmd in cmds)
{
Legenda.Items.Add(cmd);
}
}
}
public void DoIt(MainForm form1, PXCMSession session, PXCMAudioSource s)
{
Debug.Log("DoIt");
form = form1;
Debug.Log("DoIt:01");
/* Create the AudioSource instance */
//source = s;
source =session.CreateAudioSource();
Debug.Log("DoIt:02");
if (source == null) {
CleanUp();
form.PrintStatus("Stopped");
return;
}
Debug.Log("DoIt:03");
/* Set audio volume to 0.2 */
source.SetVolume(0.2f);
Debug.Log("DoIt:04");
/* Set Audio Source */
source.SetDevice(form.GetCheckedSource());
Debug.Log("DoIt:05");
/* Set Module */
PXCMSession.ImplDesc mdesc = new PXCMSession.ImplDesc();
mdesc.iuid = form.GetCheckedModule();
Debug.Log("DoIt:06");
pxcmStatus sts = session.CreateImpl<PXCMSpeechRecognition>(out sr);
Debug.Log("DoIt:07");
if (sts >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.Log("DoIt:10");
PXCMSpeechRecognition.ProfileInfo pinfo;
sr.QueryProfile(form.GetCheckedLanguage(), out pinfo);
sr.SetProfile(pinfo);
if (form.IsCommandControl())
{
Debug.Log("DoIt:20");
string[] cmds = form.GetCommands();
if (form.g_file != null && form.g_file.Length != 0)
{
Debug.Log("DoIt:30");
if (form.g_file.EndsWith(".list")){
Debug.Log("DoIt:40");
form.FillCommandListConsole(form.g_file);
cmds = form.GetCommands();
if (cmds.GetLength(0) == 0)
form.PrintStatus("Command List Load Errors");
}
// input Command/Control grammar file available, use it
if (!SetGrammarFromFile(form.g_file))
{
Debug.Log("DoIt:41");
form.PrintStatus("Can not set Grammar From File.");
CleanUp();
return;
};
}
else if (cmds != null && cmds.GetLength(0) != 0)
{
Debug.Log("DoIt:31");
// voice commands available, use them
sts = sr.BuildGrammarFromStringList(1, cmds, null);
sts = sr.SetGrammar(1);
} else {
Debug.Log("DoIt:32");
form.PrintStatus("No Command List. Dictation instead.");
if (form.v_file != null && form.v_file.Length != 0) SetVocabularyFromFile(form.v_file);
sts = sr.SetDictation();
}
}
else
{
Debug.Log("DoIt:21");
if (form.v_file != null && form.v_file.Length != 0) SetVocabularyFromFile(form.v_file);
sts = sr.SetDictation();
}
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
form.PrintStatus("Can't start recognition.");
CleanUp();
return;
}
form.PrintStatus("Init Started");
PXCMSpeechRecognition.Handler handler = new PXCMSpeechRecognition.Handler();
handler.onRecognition=OnRecognition;
handler.onAlert=OnAlert;
sts=sr.StartRec(source, handler);
if (sts>=pxcmStatus.PXCM_STATUS_NO_ERROR) {
form.PrintStatus("Init OK");
// Wait until the stop button is clicked
while (!form.IsStop()) {
System.Threading.Thread.Sleep(5);
}
sr.StopRec();
} else {
form.PrintStatus("Failed to initialize");
}
} else {
form.PrintStatus("Init Failed");
}
Debug.Log("DoIt:98");
CleanUp();
form.PrintStatus("Stopped");
Debug.Log("DoIt:99");
}