static void Main(string[] args)
{
Console.WriteLine(
"Skeleton tracking will be run on an image saved at %LOCALAPPDATA%\\res\\images\\skeleton_estimation.jpg... ");
// Initialize logging to output all messages with severity level INFO or higher to the console
Cubemos.Api.InitialiseLogging(Cubemos.LogLevel.CM_LL_INFO, bWriteToConsole: true);
// Create cubemos Skeleton tracking Api handle and specify the directory containing a valid
// cubemos_license.json or activation_key.json file
Cubemos.SkeletonTracking.Api skeletontrackingApi;
try {
skeletontrackingApi = new Cubemos.SkeletonTracking.Api(Common.DefaultLicenseDir());
}
catch (Cubemos.Exception ex) {
Console.WriteLine("If you haven't activated the SDK yet, please run post_installation script as described in the Getting Started Guide to activate your license.");
Console.ReadLine();
return;
}
// Initialise cubemos SkeletonTracking framework with the required model
try
{
skeletontrackingApi.LoadModel(Cubemos.TargetComputeDevice.CM_CPU,
Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos");
}
catch (Cubemos.Exception ex)
{
Console.WriteLine(String.Format("Error during model loading. " +
"Please verify the model exists at the path {0}. Details: {1}", Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos", ex));
Console.ReadLine();
return;
}
// Read an RGB image of any size
System.Drawing.Bitmap inputImage =
new System.Drawing.Bitmap(Common.DefaultResDir() + ".\\images\\skeleton_estimation.jpg");
// Set the network input size to 128 for faster inference
int networkHeight = 128;
System.Collections.Generic.List <Cubemos.SkeletonTracking.Api.SkeletonKeypoints> skeletonKeypoints;
// Send inference request and get the poses
skeletontrackingApi.RunSkeletonTracking(ref inputImage, networkHeight, out skeletonKeypoints);
// Output detected skeletons
Console.WriteLine("# Persons detected: " + skeletonKeypoints.Count);
for (int skeleton_index = 0; skeleton_index < skeletonKeypoints.Count; skeleton_index++)
{
var skeleton = skeletonKeypoints[skeleton_index];
Console.WriteLine("Skeleton #" + skeleton_index);
for (int joint_index = 0; joint_index < skeleton.listJoints.Count; joint_index++)
{
Cubemos.SkeletonTracking.Api.Coordinate coordinate = skeleton.listJoints[joint_index];
Console.WriteLine("\tJoint coordinate #" + joint_index + ": " + coordinate.x + "; " + coordinate.y);
}
}
Console.Write("Press <Enter> to exit... ");
Console.ReadLine();
}
static void Main(string[] args)
{
Console.WriteLine("Skeleton tracking will be run on a pair of two images in the samples folder. ");
// Initialize logging to output all messages with severity level INFO or higher to the console
Cubemos.Api.InitialiseLogging(Cubemos.LogLevel.CM_LL_INFO, bWriteToConsole: true);
// Create cubemos Skeleton tracking Api handle and specify the valid cubemos activation key file
Cubemos.SkeletonTracking.Api skeletontrackingApi =
new Cubemos.SkeletonTracking.Api(Common.DefaultLicenseDir());
// Initialise cubemos SkeletonTracking framework with the required model
skeletontrackingApi.LoadModel(Cubemos.TargetComputeDevice.CM_CPU,
Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos");
// Read an RGB image of any size
String cubemosSampleImagesDir = Common.DefaultResDir() + "\\images";
System.Drawing.Bitmap image1 =
new System.Drawing.Bitmap(cubemosSampleImagesDir + ".\\skeleton_tracking_1.jpg");
System.Drawing.Bitmap image2 =
new System.Drawing.Bitmap(cubemosSampleImagesDir + ".\\skeleton_tracking_2.jpg");
// Set the network input size to 256 for better accuracy
int networkHeight = 256;
// Send inference request and get the poses
// Results container
System.Collections.Generic.List <Cubemos.SkeletonTracking.Api.SkeletonKeypoints> lastResult;
// ID of the image pipeline required to group images for tracking
int pipelineID = 1;
skeletontrackingApi.RunSkeletonTracking(ref image1, networkHeight, out lastResult, pipelineID);
skeletontrackingApi.RunSkeletonTracking(ref image2, networkHeight, out lastResult, pipelineID);
// Output detected skeletons
Console.WriteLine("# Persons detected: " + lastResult.Count);
for (int skeleton_index = 0; skeleton_index < lastResult.Count; skeleton_index++)
{
var skeleton = lastResult[skeleton_index];
Console.WriteLine("Skeleton #" + skeleton_index + " Tracking ID " + skeleton.id);
for (int joint_index = 0; joint_index < skeleton.listJoints.Count; joint_index++)
{
Cubemos.SkeletonTracking.Api.Coordinate coordinate = skeleton.listJoints[joint_index];
Console.WriteLine("\tJoint coordinate #" + joint_index + ": " + coordinate.x + "; " + coordinate.y);
}
}
Console.Write("Press <Enter> to exit... ");
Console.ReadLine();
}
static void Main(string[] args)
{
Console.WriteLine("Initializing console Skeleton Tracking sample with RealSense ... ");
// Initialize logging to output all messages with severity level INFO or higher to the console
Cubemos.Api.InitialiseLogging(Cubemos.LogLevel.CM_LL_ERROR, bWriteToConsole: true);
Cubemos.SkeletonTracking.Api skeletontrackingApi;
// Create cubemos Skeleton tracking Api handle and specify the directory containing a cubemos_license.json file
try
{
skeletontrackingApi = new Cubemos.SkeletonTracking.Api(Common.DefaultLicenseDir());
}
catch (Cubemos.Exception ex)
{
Console.WriteLine("If you haven't activated the SDK yet, please run post_installation script as described in the Getting Started Guide to activate your license.");
Console.ReadLine();
return;
}
// Initialise cubemos DNN framework with the required model
try
{
skeletontrackingApi.LoadModel(Cubemos.TargetComputeDevice.CM_CPU,
Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos");
}
catch (Cubemos.Exception ex)
{
Console.WriteLine(String.Format("Error during model loading. " +
"Please verify the model exists at the path {0}. Details: {1}", Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos", ex));
Console.ReadLine();
return;
}
Console.Write("Hold the Intel RealSense with person(s) in scene and hit <ENTER>... ");
Console.ReadLine();
// Initialise the intel realsense pipeline as an acquisition device
Pipeline pipeline = new Pipeline();
Config cfg = new Config();
Context context = new Intel.RealSense.Context();
cfg.EnableStream(Intel.RealSense.Stream.Color, 1280, 720, Format.Bgr8, framerate: 30);
PipelineProfile pp = pipeline.Start(cfg);
// Set the network input size to 128 for faster inference
int networkHeight = 128;
// Acquire a single color frame and run Skeleton Tracking on it
using (var frames = pipeline.WaitForFrames())
{
var frame = frames.ColorFrame.DisposeWith(frames);
System.Drawing.Bitmap inputImage =
new System.Drawing.Bitmap(frame.Width,
frame.Height,
frame.Stride,
System.Drawing.Imaging.PixelFormat.Format24bppRgb,
frame.Data);
System.Collections.Generic.List <Cubemos.SkeletonTracking.Api.SkeletonKeypoints> skeletonKeypoints;
// Send inference request and get the skeletons
skeletontrackingApi.RunSkeletonTracking(ref inputImage, networkHeight, out skeletonKeypoints);
// Output detected skeletons
Console.WriteLine("# Persons detected: " + skeletonKeypoints.Count);
for (int skeleton_index = 0; skeleton_index < skeletonKeypoints.Count; skeleton_index++)
{
var skeleton = skeletonKeypoints[skeleton_index];
Console.WriteLine("Skeleton #" + skeleton_index);
for (int joint_index = 0; joint_index < skeleton.listJoints.Count; joint_index++)
{
Cubemos.SkeletonTracking.Api.Coordinate coordinate = skeleton.listJoints[joint_index];
Console.WriteLine("\tJoint coordinate #" + joint_index + ": " + coordinate.x + "; " +
coordinate.y);
}
}
}
Console.Write("Press <Enter> to exit... ");
Console.ReadLine();
}
