public static MeshGeometry3D ToMeshGeometry3D(this DMesh3 mesh)
{
var vertices = mesh.Vertices();
var uiPoints = new Point3DCollection(mesh.VertexCount);
var indexes = mesh.TriangleIndices();
var uiIndexes = new IntCollection();
foreach (var v in vertices)
{
uiPoints.Add(v.ToPoint3D());
}
foreach (var i in indexes)
{
uiIndexes.Add(i);
}
return(new MeshGeometry3D()
{
Positions = uiPoints.ToVector3Collection(),
TriangleIndices = uiIndexes
});
}
public static System.Windows.Media.Media3D.MeshGeometry3D GenerateMesh(this PointCloudTileSource source, Grid<float> grid, Extent3D distributionExtent, bool showBackFaces)
{
// subtract midpoint to center around (0,0,0)
Extent3D centeringExtent = source.Extent;
Point3D centerOfMass = source.CenterOfMass;
double centerOfMassMinusMin = centerOfMass.Z - centeringExtent.MinZ;
var positions = new System.Windows.Media.Media3D.Point3DCollection(grid.CellCount);
var indices = new System.Windows.Media.Int32Collection(2 * (grid.SizeX - 1) * (grid.SizeY - 1));
float fillVal = grid.FillVal;
for (int x = 0; x < grid.SizeX; x++)
{
for (int y = 0; y < grid.SizeY; y++)
{
double value = grid.Data[x, y] - centerOfMassMinusMin;
double xCoord = ((double)x / grid.SizeX) * distributionExtent.RangeX + distributionExtent.MinX - distributionExtent.MidpointX;
double yCoord = ((double)y / grid.SizeY) * distributionExtent.RangeY + distributionExtent.MinY - distributionExtent.MidpointY;
xCoord += (distributionExtent.MidpointX - centeringExtent.MidpointX);
yCoord += (distributionExtent.MidpointY - centeringExtent.MidpointY);
var point = new System.Windows.Media.Media3D.Point3D(xCoord, yCoord, value);
positions.Add(point);
if (x > 0 && y > 0)
{
// add two triangles
int currentPosition = x * grid.SizeY + y;
int topPosition = currentPosition - 1;
int leftPosition = currentPosition - grid.SizeY;
int topleftPosition = leftPosition - 1;
if (grid.Data[x - 1, y] != fillVal && grid.Data[x, y - 1] != fillVal)
{
if (grid.Data[x, y] != fillVal)
{
indices.Add(leftPosition);
indices.Add(topPosition);
indices.Add(currentPosition);
if (showBackFaces)
{
indices.Add(leftPosition);
indices.Add(currentPosition);
indices.Add(topPosition);
}
}
if (grid.Data[x - 1, y - 1] != fillVal)
{
indices.Add(topleftPosition);
indices.Add(topPosition);
indices.Add(leftPosition);
if (showBackFaces)
{
indices.Add(topleftPosition);
indices.Add(leftPosition);
indices.Add(topPosition);
}
}
}
}
}
}
var normals = new System.Windows.Media.Media3D.Vector3DCollection(positions.Count);
for (int i = 0; i < positions.Count; i++)
normals.Add(new System.Windows.Media.Media3D.Vector3D(0, 0, 0));
for (int i = 0; i < indices.Count; i += 3)
{
int index1 = indices[i];
int index2 = indices[i + 1];
int index3 = indices[i + 2];
System.Windows.Media.Media3D.Vector3D side1 = positions[index1] - positions[index3];
System.Windows.Media.Media3D.Vector3D side2 = positions[index1] - positions[index2];
System.Windows.Media.Media3D.Vector3D normal = System.Windows.Media.Media3D.Vector3D.CrossProduct(side1, side2);
normals[index1] += normal;
normals[index2] += normal;
normals[index3] += normal;
}
for (int i = 0; i < normals.Count; i++)
{
if (normals[i].Length > 0)
{
var normal = normals[i];
normal.Normalize();
// the fact that this is necessary means I am doing something wrong
if (normal.Z < 0)
normal.Negate();
normals[i] = normal;
}
}
var geometry = new System.Windows.Media.Media3D.MeshGeometry3D
{
Positions = positions,
TriangleIndices = indices,
Normals = normals
};
return geometry;
}
public static System.Windows.Media.Media3D.MeshGeometry3D GenerateMesh(this PointCloudTileSource source, Grid <float> grid, Extent3D distributionExtent, bool showBackFaces)
{
// subtract midpoint to center around (0,0,0)
Extent3D centeringExtent = source.Extent;
Point3D centerOfMass = source.CenterOfMass;
double centerOfMassMinusMin = centerOfMass.Z - centeringExtent.MinZ;
var positions = new System.Windows.Media.Media3D.Point3DCollection(grid.CellCount);
var indices = new System.Windows.Media.Int32Collection(2 * (grid.SizeX - 1) * (grid.SizeY - 1));
float fillVal = grid.FillVal;
for (int x = 0; x < grid.SizeX; x++)
{
for (int y = 0; y < grid.SizeY; y++)
{
double value = grid.Data[x, y] - centerOfMassMinusMin;
double xCoord = ((double)x / grid.SizeX) * distributionExtent.RangeX + distributionExtent.MinX - distributionExtent.MidpointX;
double yCoord = ((double)y / grid.SizeY) * distributionExtent.RangeY + distributionExtent.MinY - distributionExtent.MidpointY;
xCoord += (distributionExtent.MidpointX - centeringExtent.MidpointX);
yCoord += (distributionExtent.MidpointY - centeringExtent.MidpointY);
var point = new System.Windows.Media.Media3D.Point3D(xCoord, yCoord, value);
positions.Add(point);
if (x > 0 && y > 0)
{
// add two triangles
int currentPosition = x * grid.SizeY + y;
int topPosition = currentPosition - 1;
int leftPosition = currentPosition - grid.SizeY;
int topleftPosition = leftPosition - 1;
if (grid.Data[x - 1, y] != fillVal && grid.Data[x, y - 1] != fillVal)
{
if (grid.Data[x, y] != fillVal)
{
indices.Add(leftPosition);
indices.Add(topPosition);
indices.Add(currentPosition);
if (showBackFaces)
{
indices.Add(leftPosition);
indices.Add(currentPosition);
indices.Add(topPosition);
}
}
if (grid.Data[x - 1, y - 1] != fillVal)
{
indices.Add(topleftPosition);
indices.Add(topPosition);
indices.Add(leftPosition);
if (showBackFaces)
{
indices.Add(topleftPosition);
indices.Add(leftPosition);
indices.Add(topPosition);
}
}
}
}
}
}
var normals = new System.Windows.Media.Media3D.Vector3DCollection(positions.Count);
for (int i = 0; i < positions.Count; i++)
{
normals.Add(new System.Windows.Media.Media3D.Vector3D(0, 0, 0));
}
for (int i = 0; i < indices.Count; i += 3)
{
int index1 = indices[i];
int index2 = indices[i + 1];
int index3 = indices[i + 2];
System.Windows.Media.Media3D.Vector3D side1 = positions[index1] - positions[index3];
System.Windows.Media.Media3D.Vector3D side2 = positions[index1] - positions[index2];
System.Windows.Media.Media3D.Vector3D normal = System.Windows.Media.Media3D.Vector3D.CrossProduct(side1, side2);
normals[index1] += normal;
normals[index2] += normal;
normals[index3] += normal;
}
for (int i = 0; i < normals.Count; i++)
{
if (normals[i].Length > 0)
{
var normal = normals[i];
normal.Normalize();
// the fact that this is necessary means I am doing something wrong
if (normal.Z < 0)
{
normal.Negate();
}
normals[i] = normal;
}
}
var geometry = new System.Windows.Media.Media3D.MeshGeometry3D
{
Positions = positions,
TriangleIndices = indices,
Normals = normals
};
return(geometry);
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Acquire the color image data
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Get face data
if (faceData != null)
{
faceData.Update();
numFacesDetected = faceData.QueryNumberOfDetectedFaces();
if (numFacesDetected > 0)
{
// Get the first face detected (index 0)
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
face.QueryExpressions();
PXCMFaceData.PoseData poseData = face.QueryPose();
// PXCMPoint3DF32 outHeadPosition = new PXCMPoint3DF32(); //F200 has added confidence into struct
PXCMFaceData.HeadPosition outHeadPosition = new PXCMFaceData.HeadPosition();
//processing the head pose data to find the head center position
poseData.QueryHeadPosition(out outHeadPosition);
System.Windows.Media.Media3D.Point3DCollection points = new System.Windows.Media.Media3D.Point3DCollection();
points.Add(new System.Windows.Media.Media3D.Point3D(outHeadPosition.headCenter.x,
outHeadPosition.headCenter.y, outHeadPosition.headCenter.z));
Console.WriteLine("head center position: " + points);
// poseData.QueryHeadPosition(out outHeadPosition);
PXCMFaceData.PoseEulerAngles outPoseEulerAngles = new PXCMFaceData.PoseEulerAngles();
poseData.QueryPoseAngles(out outPoseEulerAngles);
roll = (int)outPoseEulerAngles.roll;
pitch = (int)outPoseEulerAngles.pitch;
yaw = (int)outPoseEulerAngles.yaw;
// PXCMFaceData.LandmarkType.LANDMARK_EYE_LEFT_CENTER what can I do with this?
if (pitch + 12 > 10)
{
headUp = true;
}
else
{
headUp = false;
}
if (pitch < -10)
{
headDown = true;
}
else
{
headDown = false;
}
if (roll > 5)
{
headTiltLeft = true;
}
else
{
headTiltLeft = false;
}
if (roll < -5)
{
headTiltRight = true;
}
else
{
headTiltRight = false;
}
if (yaw > 5)
{
headTurnLeft = true;
}
else
{
headTurnLeft = false;
}
if (yaw < -5)
{
headTurnRight = true;
}
else
{
headTurnRight = false;
}
//Console.WriteLine("Rotation: " + outPoseEulerAngles.roll + " " + outPoseEulerAngles.pitch + " " + outPoseEulerAngles.yaw);
PXCMFaceData.ExpressionsData edata = face.QueryExpressions();
// retrieve the expression information
PXCMFaceData.ExpressionsData.FaceExpressionResult smileScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesUpScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesDownScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesTurnLeftScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesTurnRightScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult headTiltedLeftScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult headTurnedLeftScore;
// PXCMFaceData.ExpressionsData.FaceExpressionResult headUpScore;
//PXCMFaceData.ExpressionsData.FaceExpressionResult headDownScore;
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_SMILE, out smileScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_UP, out eyesUpScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_DOWN, out eyesDownScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_TURN_LEFT, out eyesTurnLeftScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_TURN_RIGHT, out eyesTurnRightScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_TILT_LEFT, out headTiltedLeftScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_TURN_LEFT, out headTurnedLeftScore);
// edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_UP, out headUpScore);
//edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_DOWN, out headDownScore);
smile = smileScore.intensity;
eyesUp = eyesUpScore.intensity;
if (eyesUp == 100)
{
eyeIsUp = true;
}
else
{
eyeIsUp = false;
}
eyesDown = eyesDownScore.intensity;
if (eyesDown == 100)
{
eyeIsDown = true;
}
else
{
eyeIsDown = false;
}
eyesTurnLeft = eyesTurnLeftScore.intensity;
eyesTurnRight = eyesTurnRightScore.intensity;
// headTiltLeft = headTiltedLeftScore.intensity;
// headTurnLeft= headTurnedLeftScore.intensity;
// headUp = headUpScore.intensity;
//headDown = headDownScore.intensity;
PXCMCapture.Device device = senseManager.captureManager.device;
device.SetIVCAMAccuracy(PXCMCapture.Device.IVCAMAccuracy.IVCAM_ACCURACY_FINEST);
// eyeIsUP= CheckFaceExpression(edata, FaceExpression.EXPRESSION_EYES_UP, 15);
if ((headTiltLeft | headTurnLeft) & headUp & (eyesTurnLeft == 100) & (!eyeIsDown))
{
looksForward = true;
}
else if ((headTiltRight | headTurnRight) & headUp & (eyesTurnRight == 100) & (!eyeIsDown))
{
looksForward = true;
}
/* else if (headTiltRight & (headDown|headUp) & (!headTurnRight) & (eyesTurnRight==100))
* looksForward = true;
* else if (headTiltLeft & (headDown|headUp) & (!headTurnLeft) & (eyesTurnLeft == 100))
* looksForward = true;
* */
else
{
looksForward = eyeIsUp;
}
// headTiltLeftThreshold = CheckFaceExpression(edata, FaceExpression.EXPRESSION_HEAD_TILT_LEFT, 15);
//csv mona
// var csv = new StringBuilder();
// outputs 10:00 PM
// var newLine = string.Format("{0},{1},{2},{3},{4}{5}", DateTime.Now.ToString("dd-MM-yyyy-hh:mm:ss:fff"), roll, pitch, yaw, eyesUp, Environment.NewLine);
// csv.Append(newLine);
// string pathString = System.IO.Path.Combine(filePath, fileName);
// File.AppendAllText(pathString, csv.ToString());
// Retrieve face location data
PXCMFaceData.DetectionData faceDetectionData = face.QueryDetection();
if (faceDetectionData != null)
{
PXCMRectI32 faceRectangle;
faceDetectionData.QueryBoundingRect(out faceRectangle);
faceRectangleHeight = faceRectangle.h;
faceRectangleWidth = faceRectangle.w;
faceRectangleX = faceRectangle.x;
faceRectangleY = faceRectangle.y;
}
// Process face recognition data
if (face != null)
{
// Retrieve the recognition data instance
recognitionData = face.QueryRecognition();
// Set the user ID and process register/unregister logic
if (recognitionData.IsRegistered())
{
userId = Convert.ToString(recognitionData.QueryUserID());
if (doUnregister)
{
recognitionData.UnregisterUser();
doUnregister = false;
}
}
else
{
if (doRegister)
{
recognitionData.RegisterUser();
// Capture a jpg image of registered user
colorBitmap.Save("image.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
doRegister = false;
}
else
{
userId = "Unrecognized";
}
}
}
}
else
{
userId = "No users in view";
}
}
// Display the color stream and other UI elements
UpdateUI(colorBitmap);
// Release resources
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
sample.color.Dispose();
// Release the frame
senseManager.ReleaseFrame();
}
}
