public Camera()
{
this.action = new Action();
this.rockCounter = 0;
directionTimer = new System.Timers.Timer(1000);
directionTimer.Elapsed += directionTimer_Elapsed;
pinchTimer = new System.Timers.Timer(500);
pinchTimer.Elapsed += pinchTimer_Elapsed;
rockTimer = new System.Timers.Timer(300);
rockTimer.Elapsed += rockTimer_Elapsed;
// 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("two_fingers_pinch_open", true);
// Subscribe hands alerts
conf.EnableAllAlerts();
//conf.SubscribeAlert(this.onFiredAlert);
conf.EnableTrackedJoints(true);
// 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 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 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);
}
private void Start()
{
resolutionText.text = "Resolution: " + m_colorWidth + "x" + m_colorHeight;
if (m_senseManager == null)
{
// Create a SenseManager instance
m_senseManager = PXCMSenseManager.CreateInstance();
if (m_senseManager == null)
{
Debug.Log("SenseManager Instance Failed");
return;
}
// Enable color stream only
PXCMVideoModule.DataDesc ddesc = new PXCMVideoModule.DataDesc();
ddesc.streams.color.sizeMin.width = ddesc.streams.color.sizeMax.width = m_colorWidth;
ddesc.streams.color.sizeMin.height = ddesc.streams.color.sizeMax.height = m_colorHeight;
ddesc.streams.color.frameRate.min = ddesc.streams.color.frameRate.max = m_fps;
m_senseManager.EnableStreams(ddesc);
}
}
public void StreamColorDepth() /* Stream Color and Depth Synchronously or Asynchronously */
{
try
{
bool sts = true;
/* Create an instance of the PXCMSenseManager interface */
PXCMSenseManager sm = PXCMSenseManager.CreateInstance();
if (sm == null)
{
SetStatus("Failed to create an SDK pipeline object");
return;
}
/* Optional: if playback or recoridng */
if ((Playback || Record) && File != null)
{
sm.captureManager.SetFileName(File, Record);
}
/* Optional: Set Input Source */
if (!Playback && DeviceInfo != null)
{
sm.captureManager.FilterByDeviceInfo(DeviceInfo);
}
/* Set Color & Depth Resolution and enable streams */
if (StreamProfileSet != null)
{
/* Optional: Filter the data based on the request */
sm.captureManager.FilterByStreamProfiles(StreamProfileSet);
/* Enable raw data streaming for specific stream types */
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
PXCMCapture.Device.StreamProfile info = StreamProfileSet[st];
if (info.imageInfo.format != 0)
{
/* For simple request, you can also use sm.EnableStream(...) */
PXCMVideoModule.DataDesc desc = new PXCMVideoModule.DataDesc();
desc.streams[st].frameRate.min = desc.streams[st].frameRate.max = info.frameRate.max;
desc.streams[st].sizeMin.height = desc.streams[st].sizeMax.height = info.imageInfo.height;
desc.streams[st].sizeMin.width = desc.streams[st].sizeMax.width = info.imageInfo.width;
desc.streams[st].options = info.options;
sm.EnableStreams(desc);
}
}
}
/* Initialization */
Timer timer = new Timer();
timer.UpdateStatus += UpdateStatus;
SetStatus("Init Started");
if (sm.Init() >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Reset all properties */
sm.captureManager.device.ResetProperties(PXCMCapture.StreamType.STREAM_TYPE_ANY);
/* Set mirror mode */
PXCMCapture.Device.MirrorMode mirror = Mirror ? PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL : PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED;
sm.captureManager.device.SetMirrorMode(mirror);
SetStatus("Streaming");
while (!Stop)
{
/* Wait until a frame is ready: Synchronized or Asynchronous */
if (sm.AcquireFrame(Synced).IsError())
{
break;
}
/* Display images */
PXCMCapture.Sample sample = sm.QuerySample();
/* Render streams */
EventHandler <RenderFrameEventArgs> render = RenderFrame;
PXCMImage image = null;
if (ColorPanel != PXCMCapture.StreamType.STREAM_TYPE_ANY && render != null)
{
image = sample[ColorPanel];
render(this, new RenderFrameEventArgs(0, image));
}
if (DepthPanel != PXCMCapture.StreamType.STREAM_TYPE_ANY && render != null)
{
render(this, new RenderFrameEventArgs(1, sample[DepthPanel]));
}
if (IRPanel != PXCMCapture.StreamType.STREAM_TYPE_ANY && render != null)
{
render(this, new RenderFrameEventArgs(2, sample[IRPanel]));
}
if (IRLeftPanel != PXCMCapture.StreamType.STREAM_TYPE_ANY && render != null)
{
render(this, new RenderFrameEventArgs(3, sample[IRLeftPanel]));
}
if (IRRightPanel != PXCMCapture.StreamType.STREAM_TYPE_ANY && render != null)
{
render(this, new RenderFrameEventArgs(4, sample[IRRightPanel]));
}
/* Optional: Set Mirror State */
mirror = Mirror ? PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL : PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED;
if (mirror != sm.captureManager.device.QueryMirrorMode())
{
sm.captureManager.device.SetMirrorMode(mirror);
}
/* Optional: Show performance tick */
if (image != null)
{
timer.Tick(PXCMImage.PixelFormatToString(image.info.format) + " " + image.info.width + "x" + image.info.height);
}
sm.ReleaseFrame();
}
}
else
{
SetStatus("Init Failed");
sts = false;
}
sm.Dispose();
if (sts)
{
SetStatus("Stopped");
}
}
catch (Exception e) {
SetStatus(e.GetType().ToString());
}
}
public pxcmStatus InitRecordPlay()
{
pxcmStatus status;
_senseManager.Close();
PXCMCaptureManager cm = _senseManager.QueryCaptureManager();
if (Playback||Record)
{
status = cm.SetFileName(this.RecordedFile, this.Record);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR )
{
_logger.info("Unable to set file name:" + status.ToString());
// return status;
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to set file record name");
}
}
PXCMVideoModule.DataDesc desc = new PXCMVideoModule.DataDesc();
if (cm.QueryCapture() != null && Playback)
{
//recordedFile = null;
cm.SetRealtime(RealTime);
cm.QueryCapture().QueryDeviceInfo(0, out desc.deviceInfo);
status = _senseManager.EnableStreams(desc);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable capture stream:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to enable capture stream");
}
}
else
{
status = _senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, Frame.COLOR_WIDTH, Frame.COLOR_HEIGHT, Frame.COLOR_RATE);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable color stream:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to enable color stream");
}
status = _senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, Frame.DEPTH_WIDTH, Frame.DEPTH_HEIGHT, Frame.DEPTH_RATE);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable depth stream:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to enable depth stream");
}
_logger.info("Depth Stream Enabled:" + status.ToString());
}
status = _senseManager.EnableScenePerception();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable scene perception:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Scene Perception failed");
}
_logger.info("Scene Perception Enabled:" + status.ToString());
_perceptionHandle = _senseManager.QueryScenePerception();
status = _senseManager.Init();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to open sensor in the above mode:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Init failed");
}
_logger.info("Sensor Initialized Successfully:" + status.ToString());
return status;
}
public pxcmStatus InitRecordPlay()
{
pxcmStatus status;
_senseManager.Close();
PXCMCaptureManager cm = _senseManager.QueryCaptureManager();
if (Playback || Record)
{
status = cm.SetFileName(this.RecordedFile, this.Record);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to set file name:" + status.ToString());
// return status;
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to set file record name");
}
}
PXCMVideoModule.DataDesc desc = new PXCMVideoModule.DataDesc();
if (cm.QueryCapture() != null && Playback)
{
//recordedFile = null;
cm.SetRealtime(RealTime);
cm.QueryCapture().QueryDeviceInfo(0, out desc.deviceInfo);
status = _senseManager.EnableStreams(desc);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable capture stream:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to enable capture stream");
}
}
else
{
status = _senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, Frame.COLOR_WIDTH, Frame.COLOR_HEIGHT, Frame.COLOR_RATE);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable color stream:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to enable color stream");
}
status = _senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, Frame.DEPTH_WIDTH, Frame.DEPTH_HEIGHT, Frame.DEPTH_RATE);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable depth stream:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Unable to enable depth stream");
}
_logger.info("Depth Stream Enabled:" + status.ToString());
}
status = _senseManager.EnableScenePerception();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to enable scene perception:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Scene Perception failed");
}
_logger.info("Scene Perception Enabled:" + status.ToString());
_perceptionHandle = _senseManager.QueryScenePerception();
status = _senseManager.Init();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_logger.info("Unable to open sensor in the above mode:" + status.ToString());
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Init failed");
}
_logger.info("Sensor Initialized Successfully:" + status.ToString());
return(status);
}
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;
}
