private void startButton_Click(object sender, RoutedEventArgs e)
{
CurrentIpAdress = ipTextBox.Text;
currentPort = portTextBox.Text;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
senseManager.EnableFace();
senseManager.Init();
faceModule = senseManager.QueryFace();
faceConfiguration = faceModule.CreateActiveConfiguration();
faceConfiguration.detection.isEnabled = true;
expressionConfiguration = faceConfiguration.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
faceConfiguration.landmarks.isEnabled = true;
faceConfiguration.landmarks.numLandmarks = 78;
faceConfiguration.EnableAllAlerts();
faceConfiguration.ApplyChanges();
captureProcess = new Thread(new ThreadStart(CaptureProcess));
captureProcess.Start();
}
static void Main(string[] args)
{
try {
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
throw new Exception("SenseManagerの生成に失敗しました");
}
// 何かしら有効にしないとInitが失敗するので適当に有効にする
senseManager.EnableFace();
// パイプラインを初期化する
var sts = senseManager.Init();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("パイプラインの初期化に失敗しました");
}
// 使用可能なデバイスを列挙する
enumDevice();
}
catch (Exception ex) {
Console.WriteLine(ex.Message);
}
}
/**
* Constructor of the model
* It does all the important stuff to use our camera. Its so FANCY !
* Like enabling all important tracker(Hand, Face), the stream and builds up the configuration.
* blib blub
*/
public Model()
{
emotions["Anger"] = 0;
emotions["Fear"] = 0;
emotions["Disgust"] = 0;
emotions["Surprise"] = 0;
emotions["Joy"] = 0;
emotions["Sadness"] = 0;
emotions["Contempt"] = 0;
width = 1920;
height = 1080;
framerate = 30;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, width, height, framerate);
// Enable Face detection
senseManager.EnableFace();
senseManager.Init();
face = senseManager.QueryFace();
faceConfig = face.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.detection.isEnabled = true;
faceConfig.pose.isEnabled = true;
faceConfig.ApplyChanges();
faceConfig.Update();
modules = new List <RSModule>();
}
public FrameReader(ObjectPool <MemoryFrame> pool, SmithersLogger logger)
{
#if DSAPI
_dsAPI = new DSAPIManaged();
_dsAPI.initializeDevice();
#else
_pool = pool;
_logger = logger;
//Directory.SetCurrentDirectory("")
// TODO Inject this instead of creating it
_session = PXCMSession.CreateInstance();
if (_session == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("No valid plugged-in DS4 sensor found.");
}
_senseManager = PXCMSenseManager.CreateInstance();
if (_senseManager == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Failed to create an SDK pipeline object");
}
_session.SetCoordinateSystem(PXCMSession.CoordinateSystem.COORDINATE_SYSTEM_REAR_OPENCV);
#endif
this.Synced = true;
this.Mirrored = false;
this.Record = false;
this.Playback = false;
this.RealTime = true;
}
public MainWindow()
{
InitializeComponent();
handWaving = false;
handTrigger = false;
msgTimer = 0;
//Instantiate and initialize the SenseManager
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
senseManager.EnableHand();
senseManager.Init();
//Configure the Hand Module
hand = senseManager.QueryHand();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("v_sign");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
// Start the worker thread
processingThread = new Thread(new ThreadStart(ProcessingThread));
processingThread.Start();
}
public void ConfigureRealSense()
{
// Create an instance of the SenseManager
sm = PXCMSenseManager.CreateInstance();
// Enable cursor tracking
sm.EnableHandCursor();
// Create a session of the RealSense
session = PXCMSession.CreateInstance();
// Get an instance of the hand cursor module
cursorModule = sm.QueryHandCursor();
// Get an instance of the cursor configuration
cursorConfig = cursorModule.CreateActiveConfiguration();
// Make configuration changes and apply them
cursorConfig.EnableEngagement(true);
cursorConfig.EnableAllGestures();
cursorConfig.EnableAllAlerts();
cursorConfig.ApplyChanges();
// Initialize the SenseManager pipeline
sm.Init();
}
public MainWindow()
{
InitializeComponent();
_senseManager = PXCMSenseManager.CreateInstance();
_senseManager.EnableHand();
var handManager = _senseManager.QueryHand();
_handConfig = handManager.CreateActiveConfiguration();
_handConfig.EnableGesture("thumb_up");
_handConfig.EnableGesture("thumb_down");
//_handConfig.EnableGesture("fist");
//_handConfig.EnableGesture("spreadfingers");
_handConfig.EnableAllAlerts();
_handConfig.ApplyChanges();
var status = _senseManager.Init();
if (status >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_cancellationTokenSource = new CancellationTokenSource();
_task = Task.Factory.StartNew(x => ProcessInput(_cancellationTokenSource.Token),
TaskCreationOptions.LongRunning,
_cancellationTokenSource.Token);
}
}
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
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR,
COLOR_WIDTH, COLOR_HEIGHT, COLOR_FPS);
// パイプラインを初期化する
pxcmStatus ret = senseManager.Init();
if (ret < 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);
// 音声認識を初期化する
InitializeSpeechRecognition();
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
Close();
}
}
private void InitVideoStream()
{
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 320, 240, 30);
pxcmStatus initStatus = senseManager.Init();
if (initStatus == pxcmStatus.PXCM_STATUS_ITEM_UNAVAILABLE)
{
// No camera, load data from file...
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "RSSDK clip|*.rssdk|All files|*.*";
ofd.CheckFileExists = true;
ofd.CheckPathExists = true;
bool?result = ofd.ShowDialog();
if (result == true)
{
senseManager.captureManager.SetFileName(ofd.FileName, false);
initStatus = senseManager.Init();
}
}
if (initStatus < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception(String.Format("Init failed: {0}", initStatus));
}
}
private void Initialize()
{
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
// カラーストリームを有効にする
pxcmStatus sts = senseManager.EnableStream(
PXCMCapture.StreamType.STREAM_TYPE_DEPTH,
DEPTH_WIDTH, DEPTH_HEIGHT, DEPTH_FPS);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Depthストリームの有効化に失敗しました");
}
// 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);
}
// Use this for initialization
void Start()
{
rotationType = RotationType.Pinch;
//sm = PXCMSession.CreateInstance();
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm != null)
{
/* Enable hand tracking and configure the hand module */
pxcmStatus sts = sm.EnableHand();
if (sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Hand module interface instance */
hand = sm.QueryHand();
/* Hand data interface instance */
hand_data = hand.CreateOutput();
// Create hand configuration instance and configure
hcfg = hand.CreateActiveConfiguration();
hcfg.EnableAllAlerts();
hcfg.SubscribeAlert(OnFiredAlert);
hcfg.EnableNormalizedJoints(true);
hcfg.ApplyChanges();
hcfg.Dispose();
/* Initialize the execution pipeline */
if (sm.Init() != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
OnDisable();
}
}
}
}
private void Initialize()
{
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
throw new Exception("SenseManagerを生成できませんでした。");
}
// 利用可能なデバイスを列挙する
PopulateDevice();
// Depthストリームを有効にする
pxcmStatus sts = senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, 0, 0);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Depthストリームの有効化に失敗しました");
}
// 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");
}
// デバイス情報を取得する
GetDeviceInfo();
}
private void Initialize()
{
try {
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
// Blobを有効にする
var sts = senseManager.EnableBlob();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Blobの有効化に失敗しました");
}
// 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);
// Blobを初期化する
InitializeBlob();
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
Close();
}
}
/// <summary>
/// Starts this instance.
/// </summary>
public void Start()
{
if (_sm != null)
{
throw new ResearchException("Camera is already started.");
}
_sm = PXCMSenseManager.CreateInstance();
// Configure face detection.
if (EnableFace)
{
_sm.EnableFace();
var faceModule = _sm.QueryFace();
using (PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration())
{
faceConfig.EnableAllAlerts();
faceConfig.pose.isEnabled = true;
faceConfig.pose.maxTrackedFaces = 4;
if (EnableExpression)
{
PXCMFaceConfiguration.ExpressionsConfiguration expression = faceConfig.QueryExpressions();
expression.Enable();
expression.EnableAllExpressions();
faceConfig.ApplyChanges();
}
}
}
if (EnableEmotion)
{
// Configure emotion detection.
_sm.EnableEmotion();
}
if (EnableStreaming)
{
// Configure streaming.
_sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480);
}
// Event handler for data callbacks.
var handler = new PXCMSenseManager.Handler {
onModuleProcessedFrame = OnModuleProcessedFrame
};
_sm.Init(handler);
// GO.
Debug.WriteLine("{0} Starting streaming.", Time());
_sm.StreamFrames(false);
//Debug.WriteLine("{0} End streaming.", Time());
}
//RealSenseメソッド-------------------------------------------------------------------
/// <summary> 機能の初期化 </summary>
private bool InitializeRealSense()
{
try
{
//SenseManagerを生成
senseManager = PXCMSenseManager.CreateInstance();
//カラーストリームの有効
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("Colorストリームの有効化に失敗しました");
}
// Depthストリームを有効にする
sts = senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH,
DEPTH_WIDTH, DEPTH_HEIGHT, DEPTH_FPS);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Depthストリームの有効化に失敗しました");
}
// 手の検出を有効にする
sts = senseManager.EnableHand();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("手の検出の有効化に失敗しました");
}
//パイプラインを初期化する
//(インスタンスはInit()が正常終了した後作成されるので，機能に対する各種設定はInit()呼び出し後となる)
sts = senseManager.Init();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("パイプラインの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);
//デバイスを取得する
device = senseManager.captureManager.device;
//座標変換オブジェクトを作成
projection = device.CreateProjection();
// 手の検出の初期化
InitializeHandTracking();
return(true);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
return(false);
}
}
/// <summary>
/// Device-specific implementation of Connect.
/// Connects the camera.
/// </summary>
/// <remarks>This method is implicitely called by <see cref="Camera.Connect"/> inside a camera lock.</remarks>
/// <seealso cref="Camera.Connect"/>
protected override void ConnectImpl()
{
if (deviceInfo.Count == 0)
{
ScanForCameras();
}
if (deviceInfo.Count == 0)
{
log.Error(Name + "No device found.");
return;
}
int deviceIndex = 0;
ScanForProfiles(deviceIndex);
/* Create an instance of the PXCSenseManager interface */
pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
log.Error(Name + "Failed to create an SDK pipeline object");
return;
}
pp.captureManager.FilterByDeviceInfo(deviceInfo[deviceIndex]);
//TODO: change this to work with properties
currentColorProfile = "YUY2 1920x1080x30";
currentDepthProfile = "DEPTH 640x480x60";
currentIRProfile = "Y8 640x480x60";
PXCMCapture.Device.StreamProfileSet currentProfileSet = new PXCMCapture.Device.StreamProfileSet();
currentProfileSet[PXCMCapture.StreamType.STREAM_TYPE_COLOR] = profiles[currentColorProfile];
currentProfileSet[PXCMCapture.StreamType.STREAM_TYPE_DEPTH] = profiles[currentDepthProfile];
currentProfileSet[PXCMCapture.StreamType.STREAM_TYPE_IR] = profiles[currentIRProfile];
/* Set Color & Depth Resolution */
for (int s = 0; s < PXCMCapture.STREAM_LIMIT; s++)
{
PXCMCapture.StreamType st = PXCMCapture.StreamTypeFromIndex(s);
PXCMCapture.Device.StreamProfile info = currentProfileSet[st];
if (info.imageInfo.format != 0)
{
Single fps = info.frameRate.max;
pp.EnableStream(st, info.imageInfo.width, info.imageInfo.height, fps);
}
}
if (pp.Init() >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
}
else
{
log.Error(Name + "An error occured.");
}
ActivateChannel(ChannelNames.Intensity);
ActivateChannel(ChannelNames.ZImage);
}
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;
}
}
private void Initialize()
{
try
{
// SenseManagerを生成する
senceManager = PXCMSenseManager.CreateInstance();
if (senceManager == null)
{
throw new Exception("SenseManagerの生成に失敗しました");
}
// カラーストリームを有効にする
pxcmStatus sts = senceManager.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取得に失敗しました");
}
InitializeFace();
//描画用の長方形の初期化
rect = new Rectangle[DETECTION_MAXFACES];
for (int i = 0; i < DETECTION_MAXFACES; i++)
{
rect[i] = new Rectangle();
TranslateTransform transform = new TranslateTransform(COLOR_WIDTH, COLOR_HEIGHT);
rect[i].Width = 10;
rect[i].Height = 10;
rect[i].Stroke = Brushes.Blue;
rect[i].StrokeThickness = 3;
rect[i].RenderTransform = transform;
CanvasForRect.Children.Add(rect[i]);
}
//追加：表情表示のための初期化
tb = new TextBlock[EXPRESSION_MAXFACES, 3];
for (int i = 0; i < EXPRESSION_MAXFACES; i++)
{
for (int j = 0; j < 3; j++)
{
tb[i, j] = new TextBlock();
tb[i, j].Width = 200;
tb[i, j].Height = 27;
tb[i, j].Foreground = new SolidColorBrush(Colors.Red);
tb[i, j].FontSize = 20;
CanvasPoint.Children.Add(tb[i, j]);
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.StackTrace);
MessageBox.Show("Init:" + ex.Message);
Close();
}
}
void InitializeSenseManager()
{
//Initialize a PXCMSenseManager instance
psm = PXCMSenseManager.CreateInstance();
if (psm == null)
{
Debug.LogError("SenseManager Initialization Failed");
//return;
}
}
protected void GetSessionAndSenseManager()
{
this.senseManager = PXCMSenseManager.CreateInstance();
if (this.senseManager == null)
{
throw new Exception("Could not create Sense Manager.");
}
this.session = this.senseManager.session;
}
public DepthData()
{
sm = PXCMSenseManager.CreateInstance();
Status = sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
/*PXCMVideoModule.DataDesc ddesc = new PXCMVideoModule.DataDesc();
* ddesc.deviceInfo.streams = PXCMCapture.StreamType.STREAM_TYPE_DEPTH;
* sm.EnableStreams(ddesc);*/
sm.Init();
}
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失敗しました");
}
// Depthストリームを有効にする
sts = senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH,
DEPTH_WIDTH, DEPTH_HEIGHT, DEPTH_FPS);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Depthストリームの有効化に失敗しました");
}
// 手の検出を有効にする
sts = senseManager.EnableHand();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("手の検出の有効化に失敗しました");
}
// 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");
}
// デバイスを取得する
var device = senseManager.QueryCaptureManager().QueryDevice();
// ミラー表示にする
device.SetMirrorMode(
PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// 座標変換オブジェクトを作成
projection = device.CreateProjection();
// 手の検出の初期化
InitializeHandTracking();
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
Close();
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
this.DataContext = this;
SenseManager = PXCMSenseManager.CreateInstance();
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720);
SenseManager.EnableFace();
InitializeCamera();
ConfigurePollingTask();
}
private void ConfigureRealSense()
{
PXCMFaceModule faceModule;
PXCMFaceConfiguration faceConfig;
// Start the SenseManager and session
senseManager = PXCMSenseManager.CreateInstance();
// Enable the color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
//senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 550, 550, 30);
// Enable the face module
senseManager.EnableFace();
//senseManager.EnableHand();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
expressionConfiguration = faceConfig.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
// Enable facial recognition
recognitionConfig = faceConfig.QueryRecognition();
recognitionConfig.Enable();
// Create a recognition database
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc recognitionDesc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
recognitionDesc.maxUsers = DatabaseUsers;
recognitionConfig.CreateStorage(DatabaseName, out recognitionDesc);
recognitionConfig.UseStorage(DatabaseName);
LoadDatabaseFromFile();
recognitionConfig.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
faceConfig.Dispose();
faceModule.Dispose();
}
private PXCMFaceModule faceAnalyzer; //FaceModule Instance
/// <summary>
/// Use this for initialization
/// Unity function called on the frame when a script is enabled
/// just before any of the Update methods is called the first time.
/// </summary>
void Start()
{
faceRenderer = gameObject.GetComponent <FaceRenderer>();
/* Initialize a PXCMSenseManager instance */
psm = PXCMSenseManager.CreateInstance();
if (psm == null)
{
Debug.LogError("SenseManager Initialization Failed");
return;
}
/* Enable the color stream of size 640x480 */
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
/* Enable the face tracking module*/
sts = psm.EnableFace();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableFace: " + sts);
}
/* Retrieve an instance of face to configure */
faceAnalyzer = psm.QueryFace();
if (faceAnalyzer == null)
{
Debug.LogError("PXCSenseManager.QueryFace");
}
/* Initialize the execution pipeline */
sts = psm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCMSenseManager.Init Failed");
OnDisable();
return;
}
/* Retrieve a PXCMFaceConfiguration instance from a face to enable Gestures and Alerts */
PXCMFaceConfiguration config = faceAnalyzer.CreateActiveConfiguration();
config.detection.isEnabled = true; // 3D detection is the default tracking mode.
config.landmarks.isEnabled = true;
config.pose.isEnabled = true;
config.QueryExpressions().Enable();
config.QueryExpressions().EnableExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN);
config.EnableAllAlerts();
config.ApplyChanges();
config.Dispose();
}
private void StartRealSense()
{
Console.WriteLine("Starting Touchless Controller");
pxcmStatus rc;
// creating Sense Manager
psm = PXCMSenseManager.CreateInstance();
Console.WriteLine("Creating SenseManager: " + psm == null ? "failed" : "success");
if (psm == null)
{
MessageBox.Show("Failed to create SenseManager!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
// work from file if a filename is given as command line argument
string[] args = Environment.GetCommandLineArgs();
if (args.Length > 1)
{
psm.captureManager.SetFileName(args[1], false);
}
// Enable touchless controller in the multimodal pipeline
rc = psm.EnableTouchlessController(null);
Console.WriteLine("Enabling Touchless Controller: " + rc.ToString());
if (rc != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
MessageBox.Show("Failed to enable touchless controller!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
// initialize the pipeline
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
rc = psm.Init(handler);
Console.WriteLine("Initializing the pipeline: " + rc.ToString());
if (rc != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
MessageBox.Show("Failed to initialize the pipeline!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
// getting touchless controller
ptc = psm.QueryTouchlessController();
if (ptc == null)
{
MessageBox.Show("Failed to get touchless controller!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
ptc.SubscribeEvent(new PXCMTouchlessController.OnFiredUXEventDelegate(OnTouchlessControllerUXEvent));
}
private void StartRealSense()
{
bool useHead = bool.Parse(ConfigurationManager.AppSettings["UseHead"]);
// Instantiate and initialize the SenseManager
senseManager = PXCMSenseManager.CreateInstance();
// Configure the Hand Module
if (useHead)
{
senseManager.EnableFace();
face = senseManager.QueryFace();
faceConfig = face.CreateActiveConfiguration();
faceConfig.detection.isEnabled = true;
faceConfig.QueryExpressions().Enable();
faceConfig.ApplyChanges();
}
else
{
// Enable cursor tracking
senseManager.EnableHand();
// Get an instance of the hand cursor module
hand = senseManager.QueryHand();
// Get an instance of the cursor configuration
var cursorConfig = hand.CreateActiveConfiguration();
// Make configuration changes and apply them
cursorConfig.DisableAllAlerts();
cursorConfig.EnableTrackedJoints(true);
cursorConfig.EnableStabilizer(true);
cursorConfig.ApplyChanges();
}
senseManager.Init();
// Create an instance of PXCMSmoother
senseManager.session.CreateImpl <PXCMSmoother>(out smoother);
smoother2D = smoother.Create2DQuadratic(.5F);
smoother2D2 = smoother.Create2DQuadratic(1);
// Start the worker thread
processingThread = new Thread(new ThreadStart(ProcessingThread));
processingThread.Start();
}
public void RSStart()
{
try
{
this.SenseManager = PXCMSenseManager.CreateInstance();
/* */
if (InitializeFace() >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
this.Timer.Start();
}
}
catch (Exception ex)
{
this.Message = ex.Message;
}
}
void Start()
{
// Initialise a PXCMSenseManager instance
psm = PXCMSenseManager.CreateInstance();
if (psm == null)
{
Debug.LogError("SenseManager Init Failed");
return;
}
// Enable the depth and colour streams
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
// Enable hand analysis
pxcmStatus sts = psm.EnableHand();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("SenseManager Hand Init Failed");
OnDisable();
return;
}
handModule = psm.QueryHand();
// Initialise the execution pipeline
sts = psm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("SenseManager Pipeline Init Failed");
OnDisable();
return;
}
handData = handModule.CreateOutput();
handConfig = handModule.CreateActiveConfiguration();
handConfig.EnableAllGestures();
handConfig.ApplyChanges();
foreach (CapsuleCollider capsule in GetComponentsInChildren <CapsuleCollider>())
{
hands.Add(capsule.gameObject);
}
mainCamera = GetComponentInChildren <Camera>();
}
private void ConfigureRealSense()
{
my.init();
child.Start();
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 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;
// Apply changes and initialize the SenseManager
faceConfig.ApplyChanges();
sm.Init();
faceData = faceModule.CreateOutput();
// Mirror the image
sm.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
personConfig.Dispose();
faceConfig.Dispose();
faceModule.Dispose();
}
catch (Exception)
{
// For the sake of brevity we're not doing extensive exception handling in this code sample,
// simply give a hint that the camera is not connected, and then throw the exception
MessageBox.Show("Unable to configure the RealSense camera. Please make sure a R200 camera is connected.", "System Error");
throw;
}
}