コード例 #1
0
        private void ConfigureRealSense()
        {
            try
            {
                // Create the SenseManager instance
                sm = PXCMSenseManager.CreateInstance();

                // Enable the color stream
                sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, ImageWidth, ImageHeight, 30);

                // Enable person tracking
                sm.EnablePersonTracking();
                personModule = sm.QueryPersonTracking();
                PXCMPersonTrackingConfiguration personConfig = personModule.QueryConfiguration();
                personConfig.SetTrackedAngles(PXCMPersonTrackingConfiguration.TrackingAngles.TRACKING_ANGLES_ALL);

                // Enable skeleton tracking - not supported on r200?
                //PXCMPersonTrackingConfiguration.SkeletonJointsConfiguration skeletonConfig = personConfig.QuerySkeletonJoints();
                //skeletonConfig.Enable();

                // Enable the face module
                sm.EnableFace();
                PXCMFaceModule        faceModule = sm.QueryFace();
                PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
                faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
                faceConfig.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
                faceConfig.detection.maxTrackedFaces = 1;
                faceConfig.ApplyChanges();

                sm.EnableBlob();
                PXCMBlobModule        blobModule = sm.QueryBlob();
                PXCMBlobConfiguration blobConfig = blobModule.CreateActiveConfiguration();
                blobConfig.SetMaxBlobs(4);       // 4 is the max
                blobConfig.SetMaxDistance(2000); // in mm's
                blobConfig.ApplyChanges();

                //initialize the SenseManager
                sm.Init();
                faceData = faceModule.CreateOutput();
                blobData = blobModule.CreateOutput();

                // Mirror the image
                sm.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);

                // Release resources
                personConfig.Dispose();
                faceConfig.Dispose();
                faceModule.Dispose();
                blobConfig.Dispose();
                blobModule.Dispose();
            }
            catch (Exception)
            {
                MessageBox.Show("Unable to configure the RealSense camera. Please make sure a R200 camera is connected.", "System Error");
                throw;
            }
        }
コード例 #2
0
        public MainWindow()
        {
            InitializeComponent();

            // Configure RealSense session and SenseManager interface
            session      = PXCMSession.CreateInstance();
            senseManager = session.CreateSenseManager();
            senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
            senseManager.EnableBlob();
            senseManager.Init();

            //Create blobModule from SenseManager
            blobModule = senseManager.QueryBlob();
            blobConfig = blobModule.CreateActiveConfiguration();
            blobConfig.SetMaxBlobs(2);
            blobConfig.SetMaxDistance(trackingDistance);
            blobConfig.SetMaxObjectDepth(100);
            blobConfig.SetMinPixelCount(400);
            blobConfig.EnableColorMapping(true);
            blobConfig.ApplyChanges();
            blobData = blobModule.CreateOutput();

            //Audio
            WaveOut waveOut;

            sineWaveProvider.SetWaveFormat(16000, 1);
            sineWaveProvider.Frequency = 1000;
            sineWaveProvider.Amplitude = 0;
            waveOut = new WaveOut();
            waveOut.Init(sineWaveProvider);
            waveOut.Play();

            startTime = DateTime.Now;
            // Start Update thread
            update = new Thread(new ThreadStart(Update));
            update.Start();
        }
コード例 #3
0
        void OnEnable()
        {
            Initialized = false;

            /* Create a SenseManager instance */
            SenseManager = PXCMSenseManager.CreateInstance();

            if (SenseManager == null)
            {
                print("Unable to create the pipeline instance");
                return;
            }

            if (_speechCommandsRef.Count != 0)
            {
                SetSenseOption(SenseOption.SenseOptionID.Speech);
            }

            int numberOfEnabledModalities = 0;

            //Set mode according to RunMode - play from file / record / live stream
            if (RunMode == MCTTypes.RunModes.PlayFromFile)
            {
                //CHECK IF FILE EXISTS
                if (!System.IO.File.Exists(FilePath))
                {
                    Debug.LogWarning("No Filepath Set Or File Doesn't Exist, Run Mode Will Be Changed to Live Stream");
                    RunMode = MCTTypes.RunModes.LiveStream;
                }
                else
                {
                    PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
                    cManager.SetFileName(FilePath, false);
                    Debug.Log("SenseToolkitManager: Playing from file: " + FilePath);
                }
            }

            if (RunMode == MCTTypes.RunModes.RecordToFile)
            {
                //CHECK IF PATH
                string PathOnly = FilePath;
                while (!PathOnly[PathOnly.Length - 1].Equals('\\'))
                {
                    PathOnly = PathOnly.Remove(PathOnly.Length - 1, 1);
                }

                if (!System.IO.Directory.Exists(PathOnly))
                {
                    Debug.LogWarning("No Filepath Set Or Path Doesn't Exist, Run Mode Will Be Changed to Live Stream");
                    RunMode = MCTTypes.RunModes.LiveStream;
                }
                else
                {
                    PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
                    cManager.SetFileName(FilePath, true);
                    Debug.Log("SenseToolkitManager: Recording to file: " + FilePath);
                }
            }

            /* Enable modalities according to the set options*/
            if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
            {
                SenseManager.EnableFace();
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Enabled     = true;
                SetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
            {
                _sts = SenseManager.EnableHand();
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Enabled     = true;
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.Blob, true))
            {
                _sts = SenseManager.EnableBlob();
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Blob).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Blob).Enabled     = true;
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
            {
                _sts = SenseManager.EnableTracker();
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled     = true;
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
            {
                if (!SpeechManager.IsInitialized)
                {
                    if (SpeechManager.InitalizeSpeech())
                    {
                        _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
                        _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled     = true;
                        numberOfEnabledModalities++;
                    }
                    else
                    {
                        UnsetSenseOption(SenseOption.SenseOptionID.Speech);
                    }
                }
                else
                {
                    _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
                    _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled     = true;
                    numberOfEnabledModalities++;
                }
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoDepthStream, true) ||
                IsSenseOptionSet(SenseOption.SenseOptionID.PointCloud, true))
            {
                SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, 0, 0);
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Enabled     = true;
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoIRStream, true))
            {
                SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 0, 0, 0);
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Enabled     = true;
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoColorStream, true))
            {
                if (ColorImageQuality == MCTTypes.RGBQuality.FullHD)
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 0);
                }
                else if (ColorImageQuality == MCTTypes.RGBQuality.HD)
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
                }
                else if (ColorImageQuality == MCTTypes.RGBQuality.HalfHD)
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
                }
                else
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
                }
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Enabled     = true;
                numberOfEnabledModalities++;
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoSegmentation, true))
            {
                if (ColorImageQuality == MCTTypes.RGBQuality.FullHD)
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 0);
                }
                else if (ColorImageQuality == MCTTypes.RGBQuality.HD)
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
                }
                else if (ColorImageQuality == MCTTypes.RGBQuality.HalfHD)
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
                }
                else
                {
                    SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
                }
                SenseManager.Enable3DSeg();
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Initialized = true;
                _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Enabled     = true;
                numberOfEnabledModalities++;
            }

            /* Initialize the execution */
            _sts = SenseManager.Init();
            if (_sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
            {
                return;
            }

            //Set different configurations:

            // Face
            if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
            {
                var faceModule = SenseManager.QueryFace();
                if (faceModule == null)
                {
                    throw new UnityException("QueryFace returned null");
                }

                var faceConfiguration = faceModule.CreateActiveConfiguration();
                if (faceConfiguration == null)
                {
                    throw new UnityException("CreateActiveConfiguration returned null");
                }

                faceConfiguration.Update();

                faceConfiguration.detection.isEnabled      = true;
                faceConfiguration.detection.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;

                faceConfiguration.landmarks.isEnabled      = true;
                faceConfiguration.landmarks.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;

                faceConfiguration.pose.isEnabled      = true;
                faceConfiguration.pose.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;

                faceConfiguration.DisableAllAlerts();

                faceConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;

                if ((NumberOfDetectedFaces < 1) || (NumberOfDetectedFaces > 15))
                {
                    Debug.Log("Ilegal value for Number Of Detected Faces, value is set to 1");
                    NumberOfDetectedFaces = 1;
                }

                faceConfiguration.detection.maxTrackedFaces = NumberOfDetectedFaces;
                faceConfiguration.landmarks.maxTrackedFaces = NumberOfDetectedFaces;
                faceConfiguration.pose.maxTrackedFaces      = NumberOfDetectedFaces;

                PXCMFaceConfiguration.ExpressionsConfiguration expressionConfig = faceConfiguration.QueryExpressions();
                if (expressionConfig == null)
                {
                    throw new UnityException("QueryExpressions returned null");
                }

                expressionConfig.Enable();
                expressionConfig.EnableAllExpressions();


                faceConfiguration.ApplyChanges();
                faceConfiguration.Dispose();

                FaceModuleOutput = faceModule.CreateOutput();

                UnsetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
            }

            // Hand
            if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
            {
                PXCMHandModule handAnalysis = SenseManager.QueryHand();
                if (handAnalysis == null)
                {
                    throw new UnityException("QueryHand returned null");
                }

                PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
                if (handConfiguration == null)
                {
                    throw new UnityException("CreateActiveConfiguration returned null");
                }

                handConfiguration.Update();
                handConfiguration.EnableAllGestures();
                handConfiguration.EnableStabilizer(true);
                handConfiguration.DisableAllAlerts();
                handConfiguration.EnableSegmentationImage(false);
                handConfiguration.ApplyChanges();
                handConfiguration.Dispose();

                HandDataOutput = handAnalysis.CreateOutput();
            }

            // Blob
            if (IsSenseOptionSet(SenseOption.SenseOptionID.Blob, true))
            {
                PXCMBlobModule blobAnalysis = SenseManager.QueryBlob();
                if (blobAnalysis == null)
                {
                    throw new UnityException("QueryBlob returned null");
                }

                PXCMBlobConfiguration blobConfiguration = blobAnalysis.CreateActiveConfiguration();
                if (blobConfiguration == null)
                {
                    throw new UnityException("CreateActiveConfiguration returned null");
                }

                blobConfiguration.Update();
                blobConfiguration.EnableContourExtraction(true);
                blobConfiguration.EnableSegmentationImage(true);
                blobConfiguration.EnableStabilizer(true);
                blobConfiguration.SetMaxDistance(50 * 10);
                blobConfiguration.ApplyChanges();
                blobConfiguration.Dispose();

                BlobDataOutput = blobAnalysis.CreateOutput();
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
            {
                if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled != true)
                {
                    _senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
                    OnDisable();
                    OnEnable();
                }
            }

            if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
            {
                UpdateSpeechCommands();
                SpeechManager.Start();
            }

            // Create an instance for the projection & blob extractor

            if (Projection == null)
            {
                Projection = SenseManager.QueryCaptureManager().QueryDevice().CreateProjection();
            }

            /* GZ
             *          if (BlobExtractor == null)
             *          {
             *                  SenseManager.session.CreateImpl<PXCMBlobExtractor>(out BlobExtractor);
             *          }*/

            // Set initialization flag
            Initialized = true;
        }
コード例 #4
0
        /// <summary>
        /// Using PXCMSenseManager to handle data
        /// </summary>
        public void SimplePipeline()
        {
            session = PXCMSession.CreateInstance();
            if (session != null)
            {
                instance = session.CreateSenseManager();
                if (instance == null)
                {
                    Debug.Log("Create SenseManager Failure");
                    return;
                }
                pxcmStatus     status     = instance.EnableBlob();
                PXCMBlobModule blobModule = instance.QueryBlob();

                if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || blobModule == null)
                {
                    Debug.Log("Failed Loading Module");
                    return;
                }

                blobConfiguration = blobModule.CreateActiveConfiguration();
                blobData          = blobModule.CreateOutput();

                if (blobConfiguration != null)
                {
                    blobConfiguration.SetSegmentationSmoothing(1.0f);
                    blobConfiguration.SetMaxDistance(550);
                    blobConfiguration.SetMaxObjectDepth(100);
                    blobConfiguration.SetMaxBlobs(_maxBlobToShow);
                    blobConfiguration.SetContourSmoothing(1.0f);
                    blobConfiguration.EnableContourExtraction(true);
                    blobConfiguration.EnableSegmentationImage(true);
                    blobConfiguration.ApplyChanges();
                }
                if (blobData == null)
                {
                    Debug.Log("Failed Create Output");
                    return;
                }

                PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
                handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);

                if (instance.Init(handler) == pxcmStatus.PXCM_STATUS_NO_ERROR)
                {
                    PXCMCapture.DeviceInfo dinfo;
                    instance.QueryCaptureManager().QueryDevice().QueryDeviceInfo(out dinfo);

                    if (dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
                    {
                        instance.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
                    }
                    /* Set the depth stream confidence threshold value - Any depth pixels with a confidence score below the threshold will be set to the low confidence pixel value*/
                    instance.QueryCaptureManager().QueryDevice().SetDepthConfidenceThreshold(10);
                    /* Set the smoothing aggressiveness parameter - High smoothing effect for distances between 850mm to 1000mm bringing good accuracy with moderate sharpness level.*/
                    instance.QueryCaptureManager().QueryDevice().SetIVCAMFilterOption(6);
                }
            }
            else
            {
                Debug.Log("Init Failed");
            }
        }