private void SendOscData(SensorEmitterReading values)
{
if (oscEnabled)
{
var sender = new SharpOSC.UDPSender(OSCIP.Text, decimal.ToInt32(OSCIPPort.Value));
if (magnetchk.Checked)
{
if (values.MagnetometerDataValid)
{
var message = new SharpOSC.OscMessage("/magnet/", (float)values.MagnetometerX, (float)values.MagnetometerY, (float)values.MagnetometerZ, (float)values.MagneticHeading);
sender.Send(message);
}
}
if (gravitychk.Checked)
{
var message = new SharpOSC.OscMessage("/gravity/", (float)values.GravityX, (float)values.GravityY, (float)values.GravityZ);
sender.Send(message);
}
if (quaternionchk.Checked)
{
var message = new SharpOSC.OscMessage("/quaternin/", (float)values.QuaternionX, (float)values.QuaternionY, (float)values.QuaternionZ,(float)values.QuaternionW);
sender.Send(message);
}
if (acclerationchk.Checked)
{
var message = new SharpOSC.OscMessage("/accleration/", (float)values.LinearAccelerationX, (float)values.LinearAccelerationY, (float)values.LinearAccelerationZ);
sender.Send(message);
}
if (rotationchk.Checked)
{
var message = new SharpOSC.OscMessage("/rotation/", (float)values.RotationRateX, (float)values.RotationRateY, (float)values.RotationRateZ, (float)values.RotationRoll, (float)values.RotationYaw, (float)values.RotationPitch);
sender.Send(message);
}
}
}
public void TestBundle()
{
var listener = new UDPListener(55555);
var sender1 = new SharpOSC.UDPSender("localhost", 55555);
var msg1 = new SharpOSC.OscMessage("/test/address1", 23, 42.42f, "hello world", new byte[3] {
2, 3, 4
});
var msg2 = new SharpOSC.OscMessage("/test/address2", 34, 24.24f, "hello again", new byte[5] {
5, 6, 7, 8, 9
});
var dt = DateTime.Now;
var bundle = new SharpOSC.OscBundle(Utils.DateTimeToTimetag(dt), msg1, msg2);
sender1.Send(bundle);
sender1.Send(bundle);
sender1.Send(bundle);
var recv = (OscBundle)listener.Receive();
recv = (OscBundle)listener.Receive();
recv = (OscBundle)listener.Receive();
Assert.AreEqual(dt.Date, recv.Timestamp.Date);
Assert.AreEqual(dt.Hour, recv.Timestamp.Hour);
Assert.AreEqual(dt.Minute, recv.Timestamp.Minute);
Assert.AreEqual(dt.Second, recv.Timestamp.Second);
//Assert.AreEqual(dt.Millisecond, recv.DateTime.Millisecond); Ventus not accurate enough
Assert.AreEqual("/test/address1", recv.Messages[0].Address);
Assert.AreEqual(4, recv.Messages[0].Arguments.Count);
Assert.AreEqual(23, recv.Messages[0].Arguments[0]);
Assert.AreEqual(42.42f, recv.Messages[0].Arguments[1]);
Assert.AreEqual("hello world", recv.Messages[0].Arguments[2]);
Assert.AreEqual(new byte[3] {
2, 3, 4
}, recv.Messages[0].Arguments[3]);
Assert.AreEqual("/test/address2", recv.Messages[1].Address);
Assert.AreEqual(4, recv.Messages[1].Arguments.Count);
Assert.AreEqual(34, recv.Messages[1].Arguments[0]);
Assert.AreEqual(24.24f, recv.Messages[1].Arguments[1]);
Assert.AreEqual("hello again", recv.Messages[1].Arguments[2]);
Assert.AreEqual(new byte[5] {
5, 6, 7, 8, 9
}, recv.Messages[1].Arguments[3]);
listener.Close();
}
public void ListenerSingleMSG()
{
var listener = new UDPListener(55555);
var sender = new SharpOSC.UDPSender("localhost", 55555);
var msg = new SharpOSC.OscMessage("/test/", 23.42f);
sender.Send(msg);
while (true)
{
var pack = listener.Receive();
if (pack == null)
{
Thread.Sleep(1);
}
else
{
break;
}
}
listener.Dispose();
}
public void TestMessage()
{
var listener = new UDPListener(55555);
var sender = new SharpOSC.UDPSender("localhost", 55555);
// Test every message type (except Symbol)
var msg1 = new SharpOSC.OscMessage(
"/test/address",
23,
42.42f,
"hello world",
new byte[3] {
2, 3, 4
},
-123456789123,
new Timetag(DateTime.Now.Date).Tag,
new Timetag(DateTime.Now.Date.AddMonths(1)),
(double)1234567.890,
new Symbol("wut wut"),
(char)'x',
new RGBA(20, 40, 60, 255),
new Midi(3, 110, 55, 66),
true,
false,
null,
Double.PositiveInfinity
);
OscMessage msgRevc = null;
sender.Send(msg1);
msgRevc = (OscMessage)listener.Receive();
Assert.NotNull(msgRevc);
Assert.AreEqual("/test/address", msgRevc.Address);
Assert.AreEqual(16, msgRevc.Arguments.Count);
Assert.AreEqual(23, msgRevc.Arguments[0]);
Assert.AreEqual(42.42f, msgRevc.Arguments[1]);
Assert.AreEqual("hello world", msgRevc.Arguments[2]);
Assert.AreEqual(new byte[3] {
2, 3, 4
}, msgRevc.Arguments[3]);
Assert.AreEqual(-123456789123, msgRevc.Arguments[4]);
Assert.AreEqual(new Timetag(DateTime.Now.Date), msgRevc.Arguments[5]);
Assert.AreEqual(new Timetag(DateTime.Now.Date.AddMonths(1)), msgRevc.Arguments[6]);
Assert.AreEqual((double)1234567.890, msgRevc.Arguments[7]);
Assert.AreEqual(new Symbol("wut wut"), msgRevc.Arguments[8]);
Assert.AreEqual((char)'x', msgRevc.Arguments[9]);
Assert.AreEqual(new RGBA(20, 40, 60, 255), msgRevc.Arguments[10]);
Assert.AreEqual(new Midi(3, 110, 55, 66), msgRevc.Arguments[11]);
Assert.AreEqual(true, msgRevc.Arguments[12]);
Assert.AreEqual(false, msgRevc.Arguments[13]);
Assert.AreEqual(null, msgRevc.Arguments[14]);
Assert.AreEqual(Double.PositiveInfinity, msgRevc.Arguments[15]);
listener.Close();
}
static int Main(string[] args)
{
string[] param = new string[] { };
param = validateInput(args);
if (param.Length == 4)
{
//Console.WriteLine("Send to {0}:{1}, with path {2} and action {3}", param[0], param[1], param[2], param[3]);
var host = param[0];
var port = int.Parse(param[1]);
var path = param[2];
var action = param[3];
//var message = new SharpOSC.OscMessage("/h2r-graphics/clear", 23, 42.01f, "hello world");
//var sender = new SharpOSC.UDPSender("127.0.0.1", 8181);
var message = new SharpOSC.OscMessage(path, action);
var sender = new SharpOSC.UDPSender(host, port);
sender.Send(message);
Console.WriteLine("Envío to {0}:{1}, with path {2} and action {3}", param[0], param[1], param[2], param[3]);
Console.WriteLine("");
return(0);
}
return(1);
}
public void TestByteCallback()
{
bool cbCalled = false;
// The cabllback function
HandleBytePacket cb = delegate(byte[] packet)
{
var msg = (OscMessage)OscPacket.GetPacket(packet);
Assert.AreEqual(2, msg.Arguments.Count);
Assert.AreEqual(23, msg.Arguments[0]);
Assert.AreEqual("hello world", msg.Arguments[1]);
cbCalled = true;
};
var l1 = new UDPListener(55555, cb);
var sender = new SharpOSC.UDPSender("localhost", 55555);
var msg1 = new SharpOSC.OscMessage("/test/address", 23, "hello world");
sender.Send(msg1);
// Wait until callback processes its message
var start = DateTime.Now;
while (cbCalled == false && start.AddSeconds(2) > DateTime.Now)
{
Thread.Sleep(1);
}
Assert.IsTrue(cbCalled);
l1.Close();
}
public void TestCallback()
{
bool cbCalled = false;
// The cabllback function
HandleOscPacket cb = delegate(OscPacket packet)
{
var msg = (OscMessage)packet;
Assert.AreEqual(2, msg.Arguments.Count);
Assert.AreEqual(23, msg.Arguments[0]);
Assert.AreEqual("hello world", msg.Arguments[1]);
cbCalled = true;
};
var l1 = new UDPListener(55555, cb);
var sender = new SharpOSC.UDPSender("localhost", 55555);
var msg1 = new SharpOSC.OscMessage("/test/address", 23, "hello world");
sender.Send(msg1);
// Wait until callback processes its message
var start = DateTime.Now;
while(cbCalled == false && start.AddSeconds(2) > DateTime.Now)
Thread.Sleep(1);
Assert.IsTrue(cbCalled);
l1.Close();
}
public void TestBundle()
{
var listener = new UDPListener(55555);
var sender1 = new SharpOSC.UDPSender("localhost", 55555);
var msg1 = new SharpOSC.OscMessage("/test/address1", 23, 42.42f, "hello world", new byte[3] { 2, 3, 4 });
var msg2 = new SharpOSC.OscMessage("/test/address2", 34, 24.24f, "hello again", new byte[5] { 5, 6, 7, 8, 9 });
var dt = DateTime.Now;
var bundle = new SharpOSC.OscBundle(Utils.DateTimeToTimetag(dt), msg1, msg2);
sender1.Send(bundle);
sender1.Send(bundle);
sender1.Send(bundle);
var recv = (OscBundle)listener.Receive();
recv = (OscBundle)listener.Receive();
recv = (OscBundle)listener.Receive();
Assert.AreEqual(dt.Date, recv.Timestamp.Date);
Assert.AreEqual(dt.Hour, recv.Timestamp.Hour);
Assert.AreEqual(dt.Minute, recv.Timestamp.Minute);
Assert.AreEqual(dt.Second, recv.Timestamp.Second);
//Assert.AreEqual(dt.Millisecond, recv.DateTime.Millisecond); Ventus not accurate enough
Assert.AreEqual("/test/address1", recv.Messages[0].Address);
Assert.AreEqual(4, recv.Messages[0].Arguments.Count);
Assert.AreEqual(23, recv.Messages[0].Arguments[0]);
Assert.AreEqual(42.42f, recv.Messages[0].Arguments[1]);
Assert.AreEqual("hello world", recv.Messages[0].Arguments[2]);
Assert.AreEqual(new byte[3] { 2, 3, 4 }, recv.Messages[0].Arguments[3]);
Assert.AreEqual("/test/address2", recv.Messages[1].Address);
Assert.AreEqual(4, recv.Messages[1].Arguments.Count);
Assert.AreEqual(34, recv.Messages[1].Arguments[0]);
Assert.AreEqual(24.24f, recv.Messages[1].Arguments[1]);
Assert.AreEqual("hello again", recv.Messages[1].Arguments[2]);
Assert.AreEqual(new byte[5] { 5, 6, 7, 8, 9 }, recv.Messages[1].Arguments[3]);
listener.Close();
}
private void oscIP_TextChanged(object sender, TextChangedEventArgs e)
{
TextBox oscIP = (TextBox)sender;
System.Net.IPAddress temp;
if (oscIP.Text.Split('.').Length == 4 && System.Net.IPAddress.TryParse(oscIP.Text, out temp))
{
osc = new SharpOSC.UDPSender("127.0.0.1", 10000);
for (int i = 0; i < 10; i++)
{
SharpOSC.OscMessage msg = new SharpOSC.OscMessage("/test", "test");
osc.Send(msg);
}
}
}
private double[] PrintAngles(Body skeleton)
{
// Unit vectors
Vector3D XVector = new Vector3D(1.0, 0.0, 0.0);
Vector3D YVector = new Vector3D(0.0, 1.0, 0.0);
Vector3D ZVector = new Vector3D(0.0, 0.0, -1.0);
// Major required vectors within the skeleton
Vector3D RightHand = new Vector3D(skeleton.Joints[JointType.HandTipRight].Position.X, skeleton.Joints[JointType.HandTipRight].Position.Y, skeleton.Joints[JointType.HandTipRight].Position.Z);
Vector3D RightHandXZ = new Vector3D(skeleton.Joints[JointType.HandTipRight].Position.X, 0, skeleton.Joints[JointType.HandTipRight].Position.Z);
Vector3D LeftHand = new Vector3D(skeleton.Joints[JointType.HandTipLeft].Position.X, skeleton.Joints[JointType.HandTipLeft].Position.Y, skeleton.Joints[JointType.HandTipLeft].Position.Z);
Vector3D LeftHandXZ = new Vector3D(skeleton.Joints[JointType.HandTipLeft].Position.X, 0, skeleton.Joints[JointType.HandTipLeft].Position.Z);
Vector3D LeftShoulder = new Vector3D(skeleton.Joints[JointType.ShoulderLeft].Position.X, skeleton.Joints[JointType.ShoulderLeft].Position.Y, skeleton.Joints[JointType.ShoulderLeft].Position.Z);
Vector3D LeftShoulderXZ = new Vector3D(skeleton.Joints[JointType.ShoulderLeft].Position.X, 0, skeleton.Joints[JointType.ShoulderLeft].Position.Z);
Vector3D RightShoulder = new Vector3D(skeleton.Joints[JointType.ShoulderRight].Position.X, skeleton.Joints[JointType.ShoulderRight].Position.Y, skeleton.Joints[JointType.ShoulderRight].Position.Z);
Vector3D RightShoulderXZ = new Vector3D(skeleton.Joints[JointType.ShoulderRight].Position.X, 0, skeleton.Joints[JointType.ShoulderRight].Position.Z);
Vector3D Hip = new Vector3D((skeleton.Joints[JointType.HipLeft].Position.X + skeleton.Joints[JointType.HipRight].Position.X) / 2, (skeleton.Joints[JointType.HipLeft].Position.Y + skeleton.Joints[JointType.HipRight].Position.Y) / 2, (skeleton.Joints[JointType.HipLeft].Position.Z + skeleton.Joints[JointType.HipRight].Position.Z) / 2);
Vector3D HipXZ = new Vector3D((skeleton.Joints[JointType.HipLeft].Position.X + skeleton.Joints[JointType.HipRight].Position.X) / 2, 0, (skeleton.Joints[JointType.HipLeft].Position.Z + skeleton.Joints[JointType.HipRight].Position.Z) / 2);
//joint angles
Vector3D Left = LeftHandXZ - HipXZ;
Vector3D Right = RightHandXZ - HipXZ;
// Joint angle array to be returned to the calling statement
double distance_left = (LeftHandXZ - HipXZ).Length;
double distance_right = (RightHandXZ - HipXZ).Length;
double[] parameters = new double[6];
parameters[0] = Left.X;
parameters[1] = -Left.Z;
parameters[2] = Right.X;
parameters[3] = -Right.Z;
parameters[4] = distance_left;
parameters[5] = distance_right;
if (skeleton.Joints[JointType.ShoulderRight].TrackingState == TrackingState.Tracked &&
skeleton.Joints[JointType.HandTipRight].TrackingState == TrackingState.Tracked &&
skeleton.Joints[JointType.HipRight].TrackingState == TrackingState.Tracked &&
skeleton.Joints[JointType.ShoulderLeft].TrackingState == TrackingState.Tracked &&
skeleton.Joints[JointType.HandTipLeft].TrackingState == TrackingState.Tracked &&
skeleton.Joints[JointType.HipLeft].TrackingState == TrackingState.Tracked)
{
var message = new SharpOSC.OscMessage("test/1", parameters[0], parameters[1], parameters[2], parameters[3], parameters[4], parameters[5]);
sender.Send(message);
}
return(parameters);
}
public void ListenerLoadTest()
{
var listener = new UDPListener(55555);
var sender = new SharpOSC.UDPSender("localhost", 55555);
var msg = new SharpOSC.OscMessage("/test/", 23.42f);
for (int i = 0; i < 1000; i++)
sender.Send(msg);
for (int i = 0; i < 1000; i++)
{
var receivedMessage = listener.Receive();
Assert.NotNull(receivedMessage);
}
listener.Dispose();
}
public void ListenerLoadTest()
{
var listener = new UDPListener(55555);
var sender = new SharpOSC.UDPSender("localhost", 55555);
var msg = new SharpOSC.OscMessage("/test/", 23.42f);
for (int i = 0; i < 1000; i++)
{
sender.Send(msg);
}
for (int i = 0; i < 1000; i++)
{
var receivedMessage = listener.Receive();
Assert.NotNull(receivedMessage);
}
listener.Dispose();
}
public MainPage()
{
this.InitializeComponent();
osc = new SharpOSC.UDPSender("127.0.0.1", 5000);
foreach (HostName localHostName in NetworkInformation.GetHostNames())
{
if (localHostName.IPInformation != null)
{
if (localHostName.Type == HostNameType.Ipv4)
{
oscIP.Text = localHostName.ToString();
break;
}
}
}
SharpOSC.OscMessage msg = new SharpOSC.OscMessage("/test", "test");
osc.Send(msg);
Scan();
}
public void TestMessage()
{
var listener = new UDPListener(55555);
var sender = new SharpOSC.UDPSender("localhost", 55555);
// Test every message type (except Symbol)
var msg1 = new SharpOSC.OscMessage(
"/test/address",
23,
42.42f,
"hello world",
new byte[3] { 2, 3, 4 },
-123456789123,
new Timetag(DateTime.Now.Date).Tag,
new Timetag(DateTime.Now.Date.AddMonths(1)),
(double)1234567.890,
new Symbol("wut wut"),
(char)'x',
new RGBA(20, 40, 60, 255),
new Midi(3, 110, 55, 66),
true,
false,
null,
Double.PositiveInfinity
);
OscMessage msgRevc = null;
sender.Send(msg1);
msgRevc = (OscMessage)listener.Receive();
Assert.NotNull(msgRevc);
Assert.AreEqual("/test/address", msgRevc.Address);
Assert.AreEqual(16, msgRevc.Arguments.Count);
Assert.AreEqual(23, msgRevc.Arguments[0]);
Assert.AreEqual(42.42f, msgRevc.Arguments[1]);
Assert.AreEqual("hello world", msgRevc.Arguments[2]);
Assert.AreEqual(new byte[3] { 2, 3, 4 }, msgRevc.Arguments[3]);
Assert.AreEqual(-123456789123, msgRevc.Arguments[4]);
Assert.AreEqual(new Timetag(DateTime.Now.Date), msgRevc.Arguments[5]);
Assert.AreEqual(new Timetag(DateTime.Now.Date.AddMonths(1)), msgRevc.Arguments[6]);
Assert.AreEqual((double)1234567.890, msgRevc.Arguments[7]);
Assert.AreEqual(new Symbol("wut wut"), msgRevc.Arguments[8]);
Assert.AreEqual((char)'x', msgRevc.Arguments[9]);
Assert.AreEqual(new RGBA(20, 40, 60, 255), msgRevc.Arguments[10]);
Assert.AreEqual(new Midi(3, 110, 55, 66), msgRevc.Arguments[11]);
Assert.AreEqual(true, msgRevc.Arguments[12]);
Assert.AreEqual(false, msgRevc.Arguments[13]);
Assert.AreEqual(null, msgRevc.Arguments[14]);
Assert.AreEqual(Double.PositiveInfinity, msgRevc.Arguments[15]);
listener.Close();
}
// Capturing and processing the video frame by frame
/* private void RecordingLoop()
* {
* // Set up the recording objects first
* Thread.CurrentThread.IsBackground = true;
*
* System.IO.StreamWriter output_head_pose_file = null;
*
* if (record_head_pose)
* {
* String filename_poses = output_root + "/trial_" + trial_id + ".poses.txt";
* output_head_pose_file = new System.IO.StreamWriter(filename_poses);
* output_head_pose_file.WriteLine("time(ms), success, pose_X(mm), pose_Y(mm), pose_Z(mm), pitch(deg), yaw(deg), roll(deg)");
* }
*
* VideoWriter video_writer = null;
*
* if (record_video)
* {
* double fps = processing_fps.GetFPS();
* String filename_video = output_root + "/trial_" + trial_id + ".avi";
* video_writer = new VideoWriter(filename_video, img_width, img_height, fps, true);
* }
*
* // The timiing should be when the item is captured, but oh well
* Stopwatch stopWatch = new Stopwatch();
* stopWatch.Start();
*
* while (recording)
* {
* Tuple<RawImage, bool, List<double>> recording_object;
* if (recording_objects.TryDequeue(out recording_object))
* {
*
* if (record_video)
* {
* video_writer.Write(recording_object.Item1);
* }
*
* if (record_head_pose)
* {
* String output_pose_line = stopWatch.ElapsedMilliseconds.ToString();
* if (recording_object.Item2)
* output_pose_line += ", 1";
* else
* output_pose_line += ", 0";
*
* for (int i = 0; i < recording_object.Item3.Count; ++i)
* {
* double num = recording_object.Item3[i];
* if (i > 2)
* {
* output_pose_line += ", " + num * 180 / Math.PI;
* }
* else
* {
* output_pose_line += ", " + num;
* }
* }
* output_head_pose_file.WriteLine(output_pose_line);
* }
* }
*
* Thread.Sleep(10);
* }
*
* // Clean up the recording
* if (record_head_pose)
* {
* output_head_pose_file.Close();
* }
* }
*
* // Capturing and processing the video frame by frame*/
private void VideoLoop(UtilitiesOF.SequenceReader reader)
{
Thread.CurrentThread.IsBackground = true;
String root = AppDomain.CurrentDomain.BaseDirectory;
FaceModelParameters model_params = new FaceModelParameters(root, false);
CLNF face_model = new CLNF(model_params);
GazeAnalyserManaged gaze_analyser = new GazeAnalyserManaged();
DateTime?startTime = CurrentTime;
var lastFrameTime = CurrentTime;
while (running)
{
//////////////////////////////////////////////
// CAPTURE FRAME AND DETECT LANDMARKS FOLLOWED BY THE REQUIRED IMAGE PROCESSING
//////////////////////////////////////////////
RawImage frame = reader.GetNextImage();
lastFrameTime = CurrentTime;
processing_fps.AddFrame();
var grayFrame = reader.GetCurrentFrameGray();
if (mirror_image)
{
frame.Mirror();
grayFrame.Mirror();
}
bool detectionSucceeding = ProcessFrame(face_model, gaze_analyser, model_params, frame, grayFrame, reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
lock (recording_lock)
{
if (recording)
{
// Add objects to recording queues
List <double> pose = new List <double>();
face_model.GetPose(pose, reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
RawImage image = new RawImage(frame);
recording_objects.Enqueue(new Tuple <RawImage, bool, List <double> >(image, detectionSucceeding, pose));
}
}
List <Tuple <System.Windows.Point, System.Windows.Point> > lines = null;
List <Tuple <double, double> > eye_landmarks = null;
List <System.Windows.Point> landmarks = new List <System.Windows.Point>();
List <Tuple <System.Windows.Point, System.Windows.Point> > gaze_lines = null;
Tuple <double, double> gaze_angle = new Tuple <double, double>(0, 0);
double scale = face_model.GetRigidParams()[0];
if (detectionSucceeding)
{
List <Tuple <double, double> > landmarks_doubles = face_model.CalculateVisibleLandmarks();
foreach (var p in landmarks_doubles)
{
landmarks.Add(new System.Windows.Point(p.Item1, p.Item2));
}
eye_landmarks = face_model.CalculateVisibleEyeLandmarks();
gaze_lines = gaze_analyser.CalculateGazeLines(reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
gaze_angle = gaze_analyser.GetGazeAngle();
lines = face_model.CalculateBox(reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
}
if (reset)
{
face_model.Reset();
reset = false;
}
// Visualisation updating
try
{
Dispatcher.Invoke(DispatcherPriority.Render, new TimeSpan(0, 0, 0, 0, 200), (Action)(() =>
{
if (latest_img == null)
{
latest_img = frame.CreateWriteableBitmap();
}
List <double> pose = new List <double>();
face_model.GetPose(pose, reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
int yaw = (int)(pose[4] * 180 / Math.PI + 0.5);
int yaw_abs = Math.Abs(yaw);
int roll = (int)(pose[5] * 180 / Math.PI + 0.5);
int roll_abs = Math.Abs(roll);
int pitch = (int)(pose[3] * 180 / Math.PI + 0.5);
int pitch_abs = Math.Abs(pitch);
YawLabel.Content = yaw_abs + "°";
RollLabel.Content = roll_abs + "°";
PitchLabel.Content = pitch_abs + "°";
var message = new SharpOSC.OscMessage("/n_set", 1006, "freq", (pitch_abs * 10) + 150);
var oscSender = new SharpOSC.UDPSender("127.0.0.1", 57110);
oscSender.Send(message);
if (yaw > 0)
{
YawLabelDir.Content = "Right";
}
else if (yaw < 0)
{
YawLabelDir.Content = "Left";
}
else
{
YawLabelDir.Content = "Straight";
}
if (pitch > 0)
{
PitchLabelDir.Content = "Down";
}
else if (pitch < 0)
{
PitchLabelDir.Content = "Up";
}
else
{
PitchLabelDir.Content = "Straight";
}
if (roll > 0)
{
RollLabelDir.Content = "Left";
}
else if (roll < 0)
{
RollLabelDir.Content = "Right";
}
else
{
RollLabelDir.Content = "Straight";
}
XPoseLabel.Content = (int)pose[0] + " mm";
YPoseLabel.Content = (int)pose[1] + " mm";
ZPoseLabel.Content = (int)pose[2] + " mm";
String x_angle = String.Format("{0:F0}°", gaze_angle.Item1 * (180.0 / Math.PI));
String y_angle = String.Format("{0:F0}°", gaze_angle.Item2 * (180.0 / Math.PI));
YawLabelGaze.Content = x_angle;
PitchLabelGaze.Content = y_angle;
if (gaze_angle.Item1 > 0)
{
YawLabelGazeDir.Content = "Right";
}
else if (gaze_angle.Item1 < 0)
{
YawLabelGazeDir.Content = "Left";
}
else
{
YawLabelGazeDir.Content = "Straight";
}
if (gaze_angle.Item2 > 0)
{
PitchLabelGazeDir.Content = "Down";
}
else if (gaze_angle.Item2 < 0)
{
PitchLabelGazeDir.Content = "Up";
}
else
{
PitchLabelGazeDir.Content = "Straight";
}
double confidence = face_model.GetConfidence();
if (confidence < 0)
{
confidence = 0;
}
else if (confidence > 1)
{
confidence = 1;
}
frame.UpdateWriteableBitmap(latest_img);
webcam_img.Source = latest_img;
webcam_img.Confidence = confidence;
webcam_img.FPS = processing_fps.GetFPS();
if (!detectionSucceeding)
{
webcam_img.OverlayLines.Clear();
webcam_img.OverlayPoints.Clear();
webcam_img.OverlayEyePoints.Clear();
webcam_img.GazeLines.Clear();
}
else
{
webcam_img.OverlayLines = lines;
webcam_img.OverlayPoints = landmarks;
webcam_img.FaceScale = scale;
List <System.Windows.Point> eye_landmark_points = new List <System.Windows.Point>();
foreach (var p in eye_landmarks)
{
eye_landmark_points.Add(new System.Windows.Point(p.Item1, p.Item2));
}
webcam_img.OverlayEyePoints = eye_landmark_points;
webcam_img.GazeLines = gaze_lines;
// Publish the information for other applications
String str_head_pose = String.Format("{0}:{1:F2}, {2:F2}, {3:F2}, {4:F2}, {5:F2}, {6:F2}", "HeadPose", pose[0], pose[1], pose[2],
pose[3] * 180 / Math.PI, pose[4] * 180 / Math.PI, pose[5] * 180 / Math.PI);
zero_mq_socket.Send(new ZFrame(str_head_pose, Encoding.UTF8));
String str_gaze = String.Format("{0}:{1:F2}, {2:F2}", "GazeAngle", gaze_angle.Item1 * (180.0 / Math.PI), gaze_angle.Item2 * (180.0 / Math.PI));
zero_mq_socket.Send(new ZFrame(str_gaze, Encoding.UTF8));
}
}));
while (running & pause)
{
Thread.Sleep(10);
}
}
catch (TaskCanceledException)
{
// Quitting
break;
}
}
reader.Close();
System.Console.Out.WriteLine("Thread finished");
}
static void Main(string[] args)
{
double average;
double sumOfSquaresOfDifferences;
double sdx;
double sdy;
float two = 2;
double[] last10x = new double[10];
double[] last10y = new double[10];
float[] last10sdx = new float[10];
float[] last10sdy = new float[10];
float lastx = 200;
float lasty = 200;
var sender = new SharpOSC.UDPSender("127.0.0.1", 6448);
var sender2 = new SharpOSC.UDPSender("127.0.0.1", 6449);
var sender3 = new SharpOSC.UDPSender("127.0.0.1", 12003);
int numSet = 0;
int clickCounter = 0;
int noClick = 0;
var host = new Host();
var gazePointDataStream = host.Streams.CreateGazePointDataStream();
gazePointDataStream.GazePoint((gazePointX, gazePointY, _) => {
lastx = (float)gazePointX;
lasty = (float)gazePointY;
last10x[numSet] = gazePointX;
last10y[numSet] = gazePointY;
numSet = numSet + 1;
if (numSet > 9)
{
average = last10x.Average();
sumOfSquaresOfDifferences = last10x.Select(val => (val - average) * (val - average)).Sum();
sdx = Math.Sqrt(sumOfSquaresOfDifferences / last10x.Length);
average = last10y.Average();
sumOfSquaresOfDifferences = last10y.Select(val => (val - average) * (val - average)).Sum();
sdy = Math.Sqrt(sumOfSquaresOfDifferences / last10y.Length);
for (int i = 0; i < 9; i++)
{
last10sdx[i] = last10sdx[i + 1];
last10sdy[i] = last10sdy[i + 1];
}
last10sdx[9] = (float)sdx;
last10sdy[9] = (float)sdy;
numSet = 0;
//Console.WriteLine("X: {0} Y:{1}", last10sdx[0], last10sdy[0]);
}
//Console.WriteLine("X: {0} Y:{1}", last10sdx[0], last10sdy[0]);
var message = new SharpOSC.OscMessage("/wek/inputs", last10sdx[0], last10sdx[1], last10sdx[2], last10sdx[3], last10sdx[4], last10sdx[5], last10sdx[6], last10sdx[7], last10sdx[8], last10sdx[9],
last10sdy[0], last10sdy[1], last10sdy[2], last10sdy[3], last10sdy[4], last10sdy[5], last10sdy[6], last10sdy[7], last10sdy[8], last10sdy[9]);
//var message = new SharpOSC.OscMessage("/wek/inputs", last10sdx[0]);
sender.Send(message);
sender2.Send(message);
//Console.WriteLine("X: {0} Y:{1}", gazePointX, gazePointY);
});
//Console.WriteLine("X: {0} Y:{1}", gazePointX, gazePointY));
SharpOSC.HandleOscPacket callback = delegate(SharpOSC.OscPacket packet)
{
var messageReceived = (SharpOSC.OscMessage)packet;
int receivedMessage = Int32.Parse(messageReceived.Arguments[0].ToString());
//if (messageReceived.Arguments[0] == 2)
if (receivedMessage == 2)
{
clickCounter++;
if (clickCounter > 100)
{
clickCounter = 0;
noClick = 0;
Console.WriteLine("Sent Coordinates!");
Console.WriteLine("Class: {0}", messageReceived.Arguments[0]);
var message2 = new SharpOSC.OscMessage("/wek/outputs", lastx, lasty);
sender3.Send(message2);
}
}
else
{
noClick = noClick + 1;
if (noClick == 40)
{
noClick = 0;
clickCounter = 0;
}
}
};
var listener = new SharpOSC.UDPListener(12002, callback);
///Console.WriteLine("Press enter to stop");
while (true)
{
}
}
public void ListenerSingleMSG()
{
var listener = new UDPListener(55555);
var sender = new SharpOSC.UDPSender("localhost", 55555);
var msg = new SharpOSC.OscMessage("/test/", 23.42f);
sender.Send(msg);
while (true)
{
var pack = listener.Receive();
if (pack == null)
Thread.Sleep(1);
else
break;
}
listener.Dispose();
}