private bool InitializeRealSense()
{
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
Debug.LogError("Unable to create SenseManager.");
return false;
}
if (senseManager.Enable3DSeg().IsError())
{
Debug.LogError("Couldn't enable the Face Module.");
return false;
}
segmentationModule = senseManager.Query3DSeg();
if (segmentationModule == null)
{
Debug.LogError("Couldn't query the Face Module.");
return false;
}
if (senseManager.Init().IsError())
{
Debug.LogError("Unable to initialize SenseManager.");
return false;
}
return true;
}
protected override bool Initialize()
{
this.GetSessionAndSenseManager();
this.EnableColorStream();
pxcmStatus sts = this.senseManager.Enable3DSeg();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Could not enable 3D Segmentation.");
}
this.InitSenseManager();
this.segmentation = this.senseManager.Query3DSeg();
if (this.segmentation == null)
{
throw new Exception("Could not get 3D Segmentation.");
}
this.GetDevice();
this.SetMirrorMode();
this.initialized = true;
return(true);
}
protected override void Uninitialize()
{
if (this.segmentation != null)
{
this.segmentation.Dispose();
this.segmentation = null;
}
base.Uninitialize();
}
private void Uninitialize()
{
if (senseManager != null)
{
senseManager.Dispose();
senseManager = null;
}
if (segmentation != null)
{
segmentation.Dispose();
segmentation = null;
}
}
private void Initialize()
{
try {
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
// カラーストリームを有効にする
var sts = senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR,
COLOR_WIDTH, COLOR_HEIGHT, COLOR_FPS);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("カラーストリームの有効化にしました");
}
// セグメンテーションを有効にする
sts = senseManager.Enable3DSeg();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("セグメンテーションの有効化にしました");
}
// パイプラインを初期化する
sts = senseManager.Init();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("初期化に失敗しました");
}
// ミラー表示にする
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(
PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// セグメンテーションオブジェクトを取得する
segmentation = senseManager.Query3DSeg();
if (segmentation == null)
{
throw new Exception("セグメンテーションの取得に失敗しました");
}
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
Close();
}
}
private void AcquireThread()
{
// Stream data
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (click == true)
{
Thread.Sleep(500);
click = false;
}
// Retrieve the results
PXCM3DSeg segmentation = senseManager.Query3DSeg();
if (segmentation != null)
{
// Get the segmented image
PXCMImage segmentedImage = segmentation.AcquireSegmentedImage();
if (segmentedImage != null)
{
// Access the segmented image data
PXCMImage.ImageData segmentedImageData;
segmentedImage.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out segmentedImageData);
// Lock the backdrop image bitmap bits into system memory and access its data
// (Reference: https://msdn.microsoft.com/en-us/library/5ey6h79d%28v=vs.110%29.aspx
// (Reference: http://csharpexamples.com/fast-image-processing-c/)
Rectangle imageRect = new Rectangle(0, 0, WIDTH, HEIGHT);
BitmapData backdropBitmapData = backdrop.LockBits(imageRect, ImageLockMode.ReadWrite, backdrop.PixelFormat);
int bytesPerPixel = Bitmap.GetPixelFormatSize(backdropBitmapData.PixelFormat) / 8;
int widthInBytes = WIDTH * bytesPerPixel;
for (int h = 0; h < HEIGHT; h++)
{
// Use unsafe keyword to work with pointers for faster image processing
// (Required setting: Project -> Properties -> Build -> Allow unsafe code)
unsafe
{
byte *segmentedImagePixel = (byte *)segmentedImageData.planes[0] + h * segmentedImageData.pitches[0];
for (int w = 0; w < widthInBytes; w = w + bytesPerPixel)
{
byte *backdropPixel = (byte *)backdropBitmapData.Scan0 + (h * backdropBitmapData.Stride);
// Substitute segmented background pixels (those containing an alpha channel of zero)
// with pixels from the selected backdrop image, if the checkbox is selected
if ((segmentedImagePixel[3] <= 0))
{
segmentedImagePixel[0] = backdropPixel[w];
segmentedImagePixel[1] = backdropPixel[w + 1];
segmentedImagePixel[2] = backdropPixel[w + 2];
}
segmentedImagePixel += 4;
}
}
}
// Unlock the backdrop image bitmap bits
backdrop.UnlockBits(backdropBitmapData);
// Export the image data to a bitmap
Bitmap bitmap = segmentedImageData.ToBitmap(0, segmentedImage.info.width, segmentedImage.info.height);
// Update the UI by delegating work to the Dispatcher associated with the UI thread
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal, new Action(delegate()
{
imgBackdrop.Source = ImageUtils.ConvertBitmapToWpf(bitmap);
}));
// Optionally save a snapshot of the image (captureSnapshot is set in the Capture button's event handler)
if (captureSnapshot)
{
bitmap.Save(path + "MyPic.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
captureSnapshot = false;
}
segmentedImage.ReleaseAccess(segmentedImageData);
segmentedImage.Dispose();
segmentation.Dispose();
bitmap.Dispose();
}
}
// Resume next frame processing
senseManager.ReleaseFrame();
}
}
void Update()
{
//Dynamically Pause/Enable Modules
int numberOfEnabledModules = 0;
foreach (var option in _senseOptions)
{
if (option.RefCounter == 0 && option.Enabled)
{
if (option.ModuleCUID > 0)
{
SenseManager.PauseModule(option.ModuleCUID, true);
}
option.Enabled = false;
}
else if (option.RefCounter > 0 && !option.Enabled)
{
if (!option.Initialized)
{
OnDisable();
OnEnable();
Start();
}
if (option.ModuleCUID > 0)
{
SenseManager.PauseModule(option.ModuleCUID, false);
}
option.Enabled = true;
}
if (option.Enabled)
{
numberOfEnabledModules++;
}
}
//Update Speech commands if changed
if (_speechCommandsChanged)
{
UpdateSpeechCommands();
SpeechManager.Reset();
}
// Every frame update all the data
if (Initialized && numberOfEnabledModules > 0)
{
_sts = SenseManager.AcquireFrame(true, 0);
if (_sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Enabled)
{
if (ImageRgbOutput != null)
{
ImageRgbOutput.Dispose();
}
if (_captureSample == null)
{
_captureSample = SenseManager.QuerySample();
}
if (_captureSample.color != null)
{
ImageRgbOutput = _captureSample.color;
ImageRgbOutput.AddRef();
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Enabled ||
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.PointCloud).Enabled)
{
if (ImageDepthOutput != null)
{
ImageDepthOutput.Dispose();
}
if (_captureSample == null)
{
_captureSample = SenseManager.QuerySample();
}
if (_captureSample.depth != null)
{
ImageDepthOutput = _captureSample.depth;
ImageDepthOutput.AddRef();
/* GZ
* if (!_isInitBlob)
* {
* PXCMImage.ImageInfo info = ImageDepthOutput.QueryInfo();
* BlobExtractor.Init(info);
* BlobExtractor.SetMaxBlobs(MaxBlobsToDetect);
* _isInitBlob = true;
* }
*/
if (PointCloud == null)
{
PointCloud = new PXCMPoint3DF32[ImageDepthOutput.info.width * ImageDepthOutput.info.height];
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.PointCloud).Enabled)
{
if (PointCloud == null)
{
PointCloud = new PXCMPoint3DF32[ImageDepthOutput.info.width * ImageDepthOutput.info.height];
}
_sts = Projection.QueryVertices(ImageDepthOutput, PointCloud);
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.UVMap).Enabled)
{
if (UvMap == null)
{
UvMap = new PXCMPointF32[ImageDepthOutput.info.width * ImageDepthOutput.info.height];
}
Projection.QueryUVMap(ImageDepthOutput, UvMap);
}
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Enabled)
{
if (ImageIROutput != null)
{
ImageIROutput.Dispose();
}
if (_captureSample == null)
{
_captureSample = SenseManager.QuerySample();
}
if (_captureSample.ir != null)
{
ImageIROutput = _captureSample.ir;
ImageIROutput.AddRef();
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Enabled)
{
if (Image3DSegmentationOutput != null)
{
Image3DSegmentationOutput.Dispose();
}
PXCM3DSeg seg = SenseManager.Query3DSeg();
if (seg != null)
{
Image3DSegmentationOutput = seg.AcquireSegmentedImage();
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Enabled)
{
FaceModuleOutput.Update();
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Enabled)
{
HandDataOutput.Update();
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Blob).Enabled)
{
BlobDataOutput.Update();
}
_captureSample = null;
SenseManager.ReleaseFrame();
}
//Speech
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled)
{
SpeechManager.QueryRecognizedCommands(out SpeechOutput);
}
}
}
private void Initialize()
{
try {
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
// カラーストリームを有効にする
var sts = senseManager.EnableStream( PXCMCapture.StreamType.STREAM_TYPE_COLOR,
COLOR_WIDTH, COLOR_HEIGHT, COLOR_FPS );
if ( sts < pxcmStatus.PXCM_STATUS_NO_ERROR ) {
throw new Exception( "カラーストリームの有効化にしました" );
}
// セグメンテーションを有効にする
sts = senseManager.Enable3DSeg();
if ( sts < pxcmStatus.PXCM_STATUS_NO_ERROR ) {
throw new Exception( "セグメンテーションの有効化にしました" );
}
// パイプラインを初期化する
sts = senseManager.Init();
if ( sts < pxcmStatus.PXCM_STATUS_NO_ERROR ) {
throw new Exception( "初期化に失敗しました" );
}
// ミラー表示にする
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(
PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL );
// セグメンテーションオブジェクトを取得する
segmentation = senseManager.Query3DSeg();
if ( segmentation == null ) {
throw new Exception( "セグメンテーションの取得に失敗しました" );
}
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
Close();
}
}
private void Uninitialize()
{
if ( senseManager != null ) {
senseManager.Dispose();
senseManager = null;
}
if ( segmentation != null ) {
segmentation.Dispose();
segmentation = null;
}
}
