// 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 int weightsNum = 15; //smoothing factor // Use this for initialization void Start () { hands = new HandsModel (); MaxHands = hands.MaxHands; MaxJoints = hands.MaxJoints; handList = new Hashtable (); senseManager = PXCMSenseManager.CreateInstance (); if (senseManager == null) Debug.LogError ("SenseManager Initialization Failed"); /* Enable hand tracking and retrieve an hand module instance to configure */ status = senseManager.EnableHand (); handAnalyzer = senseManager.QueryHand (); if (status != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError ("PXCSenseManager.EnableHand: " + status); /* Initialize the execution pipeline */ status = senseManager.Init (); if (status != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError ("PXCSenseManager.Init: " + status); /* Retrieve the the DataSmoothing instance */ senseManager.QuerySession ().CreateImpl<PXCMDataSmoothing> (out dataSmoothing); smoother3D = new PXCMDataSmoothing.Smoother3D[MaxHands][]; /* Configure a hand - Enable Gestures and Alerts */ PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration (); hcfg.EnableAllGestures (); hcfg.EnableAlert (PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); hcfg.ApplyChanges (); hcfg.Dispose (); InitObject (); }
private void startCamera() { session = PXCMSession.CreateInstance(); manager = session.CreateSenseManager(); if (manager == null) { Console.WriteLine("Failed"); } manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 30); manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 60); manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480, 60); manager.EnableHand(); PXCMHandConfiguration config = manager.QueryHand().CreateActiveConfiguration(); config.EnableAllAlerts(); config.EnableSegmentationImage(true); config.EnableTrackedJoints(true); config.LoadGesturePack("navigation"); config.EnableAllGestures(true); config.ApplyChanges(); config.Dispose(); manager.Init(); thread = new Thread(new ThreadStart(updateThread)); thread.Start(); }
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 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); } }
public override void Start() { _cancellationToken = new CancellationTokenSource(); _manager.EnableEmotion(); _manager.EnableFace(); using (var faceModule = _manager.QueryFace()) { using (var moduleConfiguration = faceModule.CreateActiveConfiguration()) { moduleConfiguration.detection.maxTrackedFaces = 1; var expressionCofig = moduleConfiguration.QueryExpressions(); expressionCofig.Enable(); expressionCofig.EnableAllExpressions(); var desc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc(); desc.maxUsers = 10; desc.isPersistent = true; var recognitionConfiguration = moduleConfiguration.QueryRecognition(); recognitionConfiguration.CreateStorage(StorageName, out desc); recognitionConfiguration.UseStorage(StorageName); recognitionConfiguration.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS); if (File.Exists(StorageFileName)) { var bytes = File.ReadAllBytes(StorageFileName); recognitionConfiguration.SetDatabaseBuffer(bytes); } recognitionConfiguration.Enable(); moduleConfiguration.ApplyChanges(); } } _manager.EnableHand(); using (var handModule = _manager.QueryHand()) { using (var handConfig = handModule.CreateActiveConfiguration()) { //handConfig.EnableAllAlerts(); int numGestures = handConfig.QueryGesturesTotalNumber(); for (int i = 0; i < numGestures; i++) { string name; handConfig.QueryGestureNameByIndex(i, out name); Debug.WriteLine("Gestures: " + name); } handConfig.EnableAllGestures(); handConfig.SubscribeGesture(OnGesture); handConfig.EnableTrackedJoints(true); handConfig.ApplyChanges(); } } Debug.WriteLine("Initializing Camera..."); var status = _manager.Init(); if (status != NoError) { throw new CameraException(status.ToString()); } Task.Factory.StartNew(Loop, TaskCreationOptions.LongRunning, _cancellationToken.Token); }
//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); } }
// Initialise all the things public override void Init(PXCMSenseManager sManager) { senseManager = sManager; senseManager.EnableHand(); module = senseManager.QueryHand(); PXCMHandConfiguration config = module.CreateActiveConfiguration(); config.SetTrackingMode(PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND); config.ApplyChanges(); config.Update(); }
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(); } }
// Use this for initialization void Start() { // Creates an instance of the sense manager to be called later session = PXCMSenseManager.CreateInstance(); //Output an error if there is no instance of the sense manager if (session == null) { Debug.LogError("SenseManager Init Failed!"); } // Enables hand tracking sts = session.EnableHand(); handAnalyzer = session.QueryHand(); sts2 = session.EnableFace(); faceAnalyzer = session.QueryFace(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError("PXCSenseManager.EnableHand: " + sts); if (sts2 != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError("PXCSenseManager.EnableFace: " + sts2); // Creates the session sts = session.Init(); sts2 = session.Init(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError("PXCSenseManager.Init: " + sts); if (sts2 != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError("PXCSenseManager.Init: " + sts2); // Creates a hand config for future data PXCMHandConfiguration handconfig = handAnalyzer.CreateActiveConfiguration(); PXCMFaceConfiguration faceconfig = faceAnalyzer.CreateActiveConfiguration(); //If there is handconfig instance if (handconfig != null) { handconfig.EnableAllAlerts(); handconfig.ApplyChanges(); handconfig.Dispose(); } if (faceconfig != null) { faceconfig.EnableAllAlerts(); faceconfig.ApplyChanges(); faceconfig.Dispose(); } }
public void Init() { var session = PXCMSession.CreateInstance(); _manager = session.CreateSenseManager(); _manager.EnableHand(); var status = _manager.Init(); if (status != NoError) { throw new Exception(status.ToString()); } Task.Factory.StartNew(Loop, TaskCreationOptions.LongRunning); }
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 HandsRecognition(int mod) { try { session = PXCMSession.CreateInstance(); mode = mod; if (mod == 0) { rightcp = new checkPiano(); leftcp = new checkPiano(); } else if (mod == 1) { rightcp = new checkDrum(); leftcp = new checkDrum(); } _disconnected = false; instance = session.CreateSenseManager(); if (instance == null) { MessageBox.Show("Failed creating SenseManager", "OnAlert"); return; } /* Set Module */ pxcmStatus status = instance.EnableHand();//form.GetCheckedModule()); handAnalysis = instance.QueryHand(); if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null) { MessageBox.Show("Failed Loading Module", "OnAlert"); return; } handler = new PXCMSenseManager.Handler(); handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame); handData = handAnalysis.CreateOutput(); } catch { MessageBox.Show("Init Failed."); Environment.Exit(0); } }
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 Hashtable handList; //keep track of bodyside and hands for GUItext // Use this for initialization void Start() { handList = new Hashtable(); /* Initialize a PXCMSenseManager instance */ sm = PXCMSenseManager.CreateInstance(); if (sm == null) { Debug.LogError("SenseManager Initialization Failed"); } /* Enable hand tracking and retrieve an hand module instance to configure */ sts = sm.EnableHand(); handAnalyzer = sm.QueryHand(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.EnableHand: " + sts); } /* Initialize the execution pipeline */ sts = sm.Init(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.Init: " + sts); } /* Retrieve the the DataSmoothing instance */ sm.QuerySession().CreateImpl <PXCMSmoother>(out smoother); /* Create a 3D Weighted algorithm */ smoother3D = new PXCMSmoother.Smoother3D[MaxHands][]; /* Configure a hand - Enable Gestures and Alerts */ PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration(); if (hcfg != null) { hcfg.EnableAllGestures(); hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); hcfg.ApplyChanges(); hcfg.Dispose(); } InitializeGameobjects(); }
public Form1(PXCMSession session) { InitializeComponent(); //_timer = null; thread = new MyBeautifulThread(DoRecognition); flagThread = 0; LightState = 0; flagLight = 0; WindState = 0; flagWind = 0; SendState = 0; sm = PXCMSenseManager.CreateInstance(); sm.EnableHand(); PXCMHandModule hand = sm.QueryHand(); sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 320, 240, 60); PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler { onModuleProcessedFrame = OnModuleProcessedFrame }; sm.Init(handler); PXCMHandConfiguration handConfiguration = sm.QueryHand().CreateActiveConfiguration(); handConfiguration.EnableGesture("wave"); handConfiguration.EnableGesture("swipe_up"); handConfiguration.EnableGesture("thumb_up"); handConfiguration.EnableGesture("tap"); handConfiguration.ApplyChanges(); if (handConfiguration == null) { Console.WriteLine("Failed Create Configuration"); Console.WriteLine("That`s all..."); Console.ReadKey(); } logTextBox.Text = DateTime.Now.ToString("hh:mm:ss") + " Started" + "\n" + logTextBox.Text; }
public Form1() { InitializeComponent(); vol = new float[6] { 1F, 1F, 0F, 1F, 0.5F, 0F }; textVolume.Text = vol[3].ToString(); textSpeed.Text = vol[0].ToString(); textPanorama.Text = vol[4].ToString(); thread = new System.Threading.Thread(DoRecognition); flag = 0; oscManager1 = new OscManager(); oscManager1.DestIP = "127.0.0.1"; // Create the SenseManager instance sm = PXCMSenseManager.CreateInstance(); // Enable hand tracking sm.EnableHand(); // Get a hand instance here for configuration PXCMHandModule hand = sm.QueryHand(); // Initialize and stream data. PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler { onModuleProcessedFrame = OnModuleProcessedFrame }; sm.Init(handler); PXCMHandConfiguration handConfiguration = sm.QueryHand().CreateActiveConfiguration(); handConfiguration.EnableGesture("thumb_down"); handConfiguration.EnableGesture("thumb_up"); handConfiguration.EnableGesture("v_sign"); handConfiguration.EnableGesture("spreadfingers"); handConfiguration.EnableGesture("fist"); handConfiguration.EnableGesture("full_pinch"); handConfiguration.ApplyChanges(); if (handConfiguration == null) { Console.WriteLine("Failed Create Configuration"); Console.WriteLine("That`s all..."); Console.ReadKey(); } logTextBox.Text = DateTime.Now.ToString("hh:mm:ss") + " Started" + "\n" + logTextBox.Text; }
public MainWindow() { InitializeComponent(); // 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("wave"); _handConfig.EnableAllAlerts(); _handConfig.ApplyChanges(); // Start the worker thread _processingThread = new Thread(new ThreadStart(ProcessingThread)); _processingThread.Start(); }
public override void Listen() { // attach the controller to the PXCM sensor _senseManager = Session.CreateSenseManager(); _senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30); _senseManager.EnableHand(); _handModule = _senseManager.QueryHand(); _handData = _handModule.CreateOutput(); _handConfiguration = _handModule.CreateActiveConfiguration(); _handConfiguration.SubscribeGesture(_handGestureHandler); _handConfiguration.SubscribeAlert(_handAlertHandler); _handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TRACKED); _handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_CALIBRATED); _handConfiguration.EnableGesture("full_pinch"); _handConfiguration.EnableGesture("thumb_up"); _handConfiguration.ApplyChanges(); _senseManager.Init(_handler); sensorActive = true; _senseManager.StreamFrames(true); _senseManager.Close(); }
public Model() { width = 640; height = 480; framerate = 30; senseManager = PXCMSenseManager.CreateInstance(); senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, width, height, framerate); // Enable Face detection senseManager.EnableFace(); senseManager.EnableHand(); senseManager.Init(); face = senseManager.QueryFace(); faceConfig = face.CreateActiveConfiguration(); faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR); faceConfig.detection.isEnabled = true; faceConfig.QueryExpressions(); PXCMFaceConfiguration.ExpressionsConfiguration expc = faceConfig.QueryExpressions(); expc.Enable(); expc.EnableAllExpressions(); faceConfig.ApplyChanges(); faceConfig.Update(); //faceData = face.CreateOutput(); //faceData.Update(); hand = senseManager.QueryHand(); PXCMHandConfiguration config = hand.CreateActiveConfiguration(); config.SetTrackingMode(PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND); config.ApplyChanges(); config.Update(); //handData = hand.CreateOutput(); //handData.Update(); modules = new List <RSModule>(); }
private void Initialize() { try { // SenseManagerを生成する senseManager = PXCMSenseManager.CreateInstance(); // Depthストリームを有効にする var 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" ); } // ミラー表示にする senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL ); // 手の検出の初期化 InitializeHandTracking(); } catch ( Exception ex ) { MessageBox.Show( ex.Message ); Close(); } }
// Use this for initialization void Start() { // Set up the reference to the aeroplane controller. m_Aeroplane = GetComponent <AeroplaneController>(); /* 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) { /*init hand data structure*/ handData = new PXCMHandData.IHand[2]; /* 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(); } } } }
public MainWindow() { InitializeComponent(); _senseManager = PXCMSenseManager.CreateInstance(); _senseManager.EnableHand(); var handManager = _senseManager.QueryHand(); _handConfig = handManager.CreateActiveConfiguration(); _handConfig.EnableGesture("thumb_up"); _handConfig.EnableGesture("thumb_down"); _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); } }
public MainWindow() { InitializeComponent(); //set the current date and time currentDateTime = DateTime.Now.ToString("yyyyMMddHHmmssfff"); //set total timer count to 0 and init vars highPerformanceTimer = new HiPerfTimer(); totalHighPerfTimeElapsed = 0; numLinesWritten = 0; //set the total number of lines written to 0 so we can track when to start the timer //init pipe stuff pipeClient = new MyClient(PIPE_NAME); pipeClient.SendMessage("I Am Intel RealSense"); //Debug.WriteLine("Server Ready"); //initialise combobox populateComboBox(); //init the exprToDisplay global var exprToDisplay = ""; //Work on the file //create paths string dirToCreate = "data"; string dirToCreateFull = System.IO.Path.GetFullPath(dirToCreate); Directory.CreateDirectory(dirToCreateFull); dirToCreate = "video"; dirToCreateFull = System.IO.Path.GetFullPath(dirToCreate); Directory.CreateDirectory(dirToCreateFull); //create the csv file to write to file = new StreamWriter("data/" + currentDateTime + "data" + ".csv"); //initialise global expressions array - faster to add the keys here? var enumListMain = Enum.GetNames(typeof(PXCMFaceData.ExpressionsData.FaceExpression)); exprTable = new Hashtable(); string initLine = ""; //Add the column schema //Initial line: timestamp and high prec time initLine += "TIMESTAMP,HIGH_PRECISION_TIME_FROM_START,STIMCODE"; //add all the expression data columns for (int i = 0; i < enumListMain.Length; i++) { exprTable.Add(enumListMain[i], 0); initLine += "," + enumListMain[i]; } //add the bounding rectangle column initLine += "," + "BOUNDING_RECTANGLE_HEIGHT" + "," + "BOUNDING_RECTANGLE_WIDTH" + "," + "BOUNDING_RECTANGLE_X" + "," + "BOUNDING_RECTANGLE_Y"; //add the average depth column initLine += "," + "AVERAGE_DEPTH"; //add landmark points column for (int i = 0; i < LANDMARK_POINTS_TOTAL; i++) { initLine += "," + "LANDMARK_" + i + "_X"; initLine += "," + "LANDMARK_" + i + "_Y"; } //add euler angles columns initLine += "," + "EULER_ANGLE_PITCH" + "," + "EULER_ANGLE_ROLL" + "," + "EULER_ANGLE_YAW"; initLine += "," + "QUATERNION_W" + "," + "QUATERNION_X" + "," + "QUATERNION_Y" + "," + "QUATERNION_Z"; //write the initial row to the file file.WriteLine(initLine); //configure the camera mode selection box cbCameraMode.Items.Add("Color"); cbCameraMode.Items.Add("IR"); cbCameraMode.Items.Add("Depth"); //configure initial camera mode cameraMode = "Color"; //initialise global vars numFacesDetected = 0; handWaving = false; handTrigger = false; handResetTimer = 0; lEyeClosedIntensity = 0; lEyeClosed = false; lEyeClosedTrigger = false; lEyeClosedResetTimer = 0; rEyeClosed = false; rEyeClosedTrigger = false; rEyeClosedResetTimer = 0; rEyeClosedIntensity = 0; emotionEvidence = 0; blinkTrigger = false; blinkResetTimer = 0; //global fps vars prevTime = 0; stopwatch = new Stopwatch(); // Instantiate and initialize the SenseManager senseManager = PXCMSenseManager.CreateInstance(); if (senseManager == null) { MessageBox.Show("Cannot initialise sense manager: closing in 20s, report to Sriram"); Thread.Sleep(20000); Environment.Exit(1); } //capture samples senseManager.captureManager.SetFileName("video/" + currentDateTime + ".raw", true); //Enable color stream senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS); senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS); senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS); //Enable face and hand tracking AND EMOTION TRACKING senseManager.EnableHand(); senseManager.EnableFace(); senseManager.EnableEmotion(); //Initialise the senseManager - begin collecting data senseManager.Init(); // Configure the Hand Module hand = senseManager.QueryHand(); handConfig = hand.CreateActiveConfiguration(); handConfig.EnableGesture("wave"); handConfig.EnableAllAlerts(); handConfig.ApplyChanges(); //Configure the Face Module face = senseManager.QueryFace(); faceConfig = face.CreateActiveConfiguration(); faceConfig.EnableAllAlerts(); faceConfig.detection.isEnabled = true; //enables querydetection function to retrieve face loc data faceConfig.detection.maxTrackedFaces = 1; //MAXIMUM TRACKING - 1 FACE faceConfig.ApplyChanges(); //Configure the sub-face-module Expressions exprConfig = faceConfig.QueryExpressions(); exprConfig.Enable(); exprConfig.EnableAllExpressions(); faceConfig.ApplyChanges(); // Start the worker thread that processes the captured data in real-time processingThread = new Thread(new ThreadStart(ProcessingThread)); processingThread.Start(); }
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.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)) { 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)) { //SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0); 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++; } /* Initialize the execution */ _sts = SenseManager.Init(); if (_sts < pxcmStatus.PXCM_STATUS_NO_ERROR) { if (numberOfEnabledModalities > 0) { print("Unable to initialize all modalities"); } return; } //Set different configurations: //SenseManager.QueryCaptureManager().device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED); // Face if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true)) { var faceModule = SenseManager.QueryFace(); 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; faceConfiguration.detection.maxTrackedFaces = NumberOfDetectedFaces; faceConfiguration.landmarks.maxTrackedFaces = NumberOfDetectedFaces; faceConfiguration.pose.maxTrackedFaces = NumberOfDetectedFaces; PXCMFaceConfiguration.ExpressionsConfiguration expressionConfig = faceConfiguration.QueryExpressions(); 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(); PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration(); if (handConfiguration == null) { throw new UnityException("CreateActiveConfiguration returned null"); } handConfiguration.Update(); handConfiguration.EnableAllGestures(); handConfiguration.EnableAllAlerts(); handConfiguration.EnableSegmentationImage(true); handConfiguration.ApplyChanges(); handConfiguration.Dispose(); HandDataOutput = handAnalysis.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(); Start(); } } if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true)) { UpdateSpeechCommands(); SpeechManager.Start(); } // Create an instance for the projection if (_projection == null) { _projection = SenseManager.QueryCaptureManager().QueryDevice().CreateProjection(); } // Set initialization flag Initialized = true; }
public static void start(IoT_RealSense_Surfing frm) { keepLooping = true; iot_form = frm; InitializeMqqtClient(); PXCMSession session = PXCMSession.CreateInstance(); // Querying the SDK version Console.WriteLine(frm.comboTarget.SelectedText); if (session != null) { // Optional steps to send feedback to Intel Corporation to understand how often each SDK sample is used. PXCMMetadata md = session.QueryInstance <PXCMMetadata>(); if (md != null) { string sample_name = "Emotion Viewer CS"; md.AttachBuffer(1297303632, System.Text.Encoding.Unicode.GetBytes(sample_name)); } //Application.Run(new MainForm(session)); //session.Dispose(); } //PXCMSession.ImplVersion version = session.QueryVersion(); //Console.WriteLine("RealSense SDK Version {0}.{1}", version.major, version.minor); session.CreateImpl <PXCMRotation>(out rotationHelper); // Creating the SenseManager PXCMSenseManager senseManager = session.CreateSenseManager(); if (senseManager == null) { Console.WriteLine("Failed to create the SenseManager object."); return; } // Enabling Emotion Module pxcmStatus enablingModuleStatus = senseManager.EnableEmotion(); if (enablingModuleStatus != pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine("Failed to enable the Emotion Module"); return; } // Getting the instance of the Emotion Module PXCMEmotion emotionModule = senseManager.QueryEmotion(); if (emotionModule == null) { Console.WriteLine("Failed to query the emotion module"); return; } // Initializing the camera if (senseManager.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine("Failed to initialize the SenseManager"); return; } // Enabling the Hand module pxcmStatus enablingModuleStatus1 = senseManager.EnableHand("Hand Module"); if (enablingModuleStatus1 != pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine("Failed to enable the Hand Module"); return; } // Getting the instance of the Hand Module PXCMHandModule handModule = senseManager.QueryHand(); if (handModule == null) { Console.WriteLine("Failed to get the HandModule object."); return; } // Creating an active configuration PXCMHandConfiguration handConfiguration = handModule.CreateActiveConfiguration(); if (handConfiguration == null) { Console.WriteLine("Failed to create the HandConfiguration object."); return; } // Listing the available gestures int supportedGesturesCount = handConfiguration.QueryGesturesTotalNumber(); if (supportedGesturesCount > 0) { Console.WriteLine("Supported gestures:"); for (int i = 0; i < supportedGesturesCount; i++) { string gestureName = string.Empty; if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) == pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine("\t" + gestureName); } } } // Enabling some gestures String[] enabledGestures = { GESTURE_CLICK, GESTURE_VSIGN, GESTURE_FIST, GESTURE_SPREADFINGERS }; foreach (String gesture in enabledGestures) { if (!handConfiguration.IsGestureEnabled(gesture)) { handConfiguration.EnableGesture(gesture); } } handConfiguration.ApplyChanges(); // Creating a data output object PXCMHandData handData = handModule.CreateOutput(); if (handData == null) { Console.WriteLine("Failed to create the HandData object."); return; } // Initializing the SenseManager if (senseManager.Init() != pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine(senseManager.Init()); return; } // Looping to query the hands information while (keepLooping) { // Acquiring a frame if (senseManager.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR) { break; } // Updating the hand data if (handData != null) { handData.Update(); } //ProcessHands(handData); ProcessGestures(handData); ProcessEmotions(emotionModule); // Releasing the acquired frame senseManager.ReleaseFrame(); /* using another frame to process different stuff? may be... * // Acquiring a frame * if (senseManager.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR) * { * break; * } * * // Processing Emotions * ProcessEmotions(emotionModule); * * // Releasing the acquired frame * senseManager.ReleaseFrame();*/ } // Releasing resources if (handData != null) { handData.Dispose(); } if (handConfiguration != null) { handConfiguration.Dispose(); } rotationHelper.Dispose(); senseManager.Close(); senseManager.Dispose(); session.Dispose(); client.Disconnect(); }
private Hashtable handList; //keep track of bodyside and hands for GUItext // Use this for initialization void Start() { handList = new Hashtable(); /* Initialize a PXCMSenseManager instance */ sm = PXCMSenseManager.CreateInstance(); if (sm == null) { Debug.LogError("SenseManager Initialization Failed"); } /* Enable hand tracking and retrieve an hand module instance to configure */ sts = sm.EnableHand(); handAnalyzer = sm.QueryHand(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.EnableHand: " + sts); } /* Initialize the execution pipeline */ sts = sm.Init(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.Init: " + sts); } /* Retrieve the the DataSmoothing instance */ sm.QuerySession().CreateImpl <PXCMSmoother>(out smoother); /* Create a 3D Weighted algorithm */ smoother3D = new PXCMSmoother.Smoother3D[MaxHands, MaxJoints]; /* Configure a hand - Enable Gestures and Alerts */ PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration(); if (hcfg != null) { hcfg.EnableAllGestures(); hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); hcfg.ApplyChanges(); hcfg.Dispose(); } myJoints = new Joint[MaxHands, MaxJoints]; Joint[] joints; if (RightHand != null) { HandMapping RightMapping = RightHand.GetComponent <HandMapping>(); joints = RightMapping.GetJoints(); for (int j = 0; j < MaxJoints; j++) { myJoints[0, j] = joints[j]; } } if (LeftHand != null) { HandMapping LeftMapping = LeftHand.GetComponent <HandMapping>(); joints = LeftMapping.GetJoints(); for (int j = 0; j < MaxJoints; j++) { myJoints[1, j] = joints[j]; } } jointData = new PXCMHandData.JointData[MaxHands, MaxJoints]; for (int i = 0; i < MaxHands; i++) { for (int j = 0; j < MaxJoints; j++) { Joint joint = myJoints[i, j]; if (joint != null) { joint.originalPosition = joint.transform.position; joint.originalRotation = joint.transform.rotation; //Calculate orientation Vector3 v = Vector3.zero; Vector3 parent = joint.transform.position; int childcount = 0; foreach (Joint.Neighbour n in joint.neighbours) { if (n.index < j) { parent = n.joint.transform.position; } else { v += n.joint.transform.position; childcount++; } } Vector3 direction = v - parent * childcount; joint.originalOrientation = direction + parent - joint.transform.position; //Joint extensions foreach (Joint e in joint.extensions) { e.originalPosition = e.transform.position; e.originalRotation = e.transform.rotation; e.originalOrientation = joint.transform.position - e.transform.position; } } smoother3D[i, j] = smoother.Create3DWeighted(smoothing); jointData[i, j] = new PXCMHandData.JointData(); //Test output to check Hand Mapping if (myJoints[i, j] == null) { Debug.Log("null"); } else { Debug.Log(myJoints[i, j].transform.name); } } } }
/// <summary> /// コンストラクタ /// /// カメラ画像表示用のWritableBitmapを準備してImageに割り当て /// カメラ制御用のオブジェクトを取得して /// Colorカメラストリームを有効にしてカメラのフレーム取得を開始する /// カメラキャプチャーするためのTaskを準備して開始 /// </summary> public MainWindow() { // 画面コンポーネントを初期化 InitializeComponent(); // ジェスチャー画像表示用Imageを非表示にする HiddenGestureImage(); // カメラ画像書き込み用のWriteableBitmapを準備してImageコントローラーにセット m_ColorWBitmap = new WriteableBitmap(1920, 1080, 96.0, 96.0, PixelFormats.Bgr32, null); ColorCameraImage.Source = m_ColorWBitmap; m_HandSegmentWBitmap = new WriteableBitmap(640, 480, 96.0, 96.0, PixelFormats.Gray8, null); HandSegmentImage.Source = m_HandSegmentWBitmap; m_HandJointWBitmap = new WriteableBitmap(640, 480, 96.0, 96.0, PixelFormats.Bgra32, null); HandJointtImage.Source = m_HandJointWBitmap; // カメラ制御のオブジェクトを取得 m_Session = PXCMSession.CreateInstance(); m_Cm = m_Session.CreateSenseManager(); // Color,Depth,Irストリームを有効にする m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 30); m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 30); m_Cm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480, 30); // Hand Trackingを有効化と設定 m_Cm.EnableHand(); PXCMHandModule handModule = m_Cm.QueryHand(); PXCMHandConfiguration handConfig = handModule.CreateActiveConfiguration(); handConfig.SetTrackingMode(PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND); // FULL_HANDモード handConfig.EnableSegmentationImage(true); // SegmentationImageの有効化 handConfig.EnableAllGestures(); // すべてのジェスチャーを補足 handConfig.SubscribeGesture(OnFiredGesture); // ジェスチャー発生時のコールバック関数をセット handConfig.ApplyChanges(); // HandDataのインスタンスを作成 m_HandData = handModule.CreateOutput(); // カメラのフレーム取得開始 pxcmStatus initState = m_Cm.Init(); if (initState < pxcmStatus.PXCM_STATUS_NO_ERROR) { // エラー発生 MessageBox.Show(initState + "\nカメラ初期化に失敗しました。"); return; } // カメラ取得画像をミラーモードにする m_Cm.captureManager.device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL); // 座標変換のためのProjectionインスタンスを取得 m_Projection = m_Cm.QueryCaptureManager().QueryDevice().CreateProjection(); // カメラキャプチャーをするためのタスクを準備して起動 m_CameraCaptureTask = new Task(() => CaptureCameraProcess()); m_CameraCaptureTask.Start(); }
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; }
/* Constructor */ public HandsData(int MaxHands, int MaxJoints) { NumOfHands = MaxHands; NumOfJoints = MaxJoints; JointData = new PXCMHandData.JointData[NumOfHands][]; // Joint coordinates Coordinates = new Main.HandCoord[NumOfHands]; /* Declaration of the array for the hand data*/ for (int i = 0; i < NumOfHands; i++) { JointData[i] = new PXCMHandData.JointData[NumOfJoints]; Coordinates[i] = new Main.HandCoord(6, NumOfJoints); for (int j = 0; j < NumOfJoints; j++) { JointData[i][j] = new PXCMHandData.JointData(); } } /* Initialization of SenseManager */ SenseManager = PXCMSenseManager.CreateInstance(); if (SenseManager == null) { Debug.LogError("Initialization of the SenseManager has failed"); } /* Enable hand tracking and get an instance of an hand module */ Status = SenseManager.EnableHand(); HandModule = SenseManager.QueryHand(); if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("SenseManager --> EnableHand " + Status); } /* Create the connection to the Intel RealSense camera */ Status = SenseManager.Init(); if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("Initialization of SenseManager: " + Status); } /* Settings for the hand module */ PXCMHandConfiguration HandConfig = HandModule.CreateActiveConfiguration(); if (HandConfig != null) { HandConfig.EnableAllGestures(); HandConfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); PXCMHandData.JointType st = PXCMHandData.JointType.JOINT_WRIST; for (int i = 0; i < NumOfJoints; i++) { HandConfig.EnableJointSpeed(st, PXCMHandData.JointSpeedType.JOINT_SPEED_AVERAGE, 1000 / 10); st++; } //HandConfig.EnableJointSpeed(PXCMHandData.JointType.JOINT_WRIST, PXCMHandData.JointSpeedType.JOINT_SPEED_ABSOLUTE,1000/20); HandConfig.ApplyChanges(); HandConfig.Dispose(); } }
// Use this for initialization void Start() { // Creates an instance of the sense manager to be called later session = PXCMSenseManager.CreateInstance(); //Output an error if there is no instance of the sense manager if (session == null) { Debug.LogError("SenseManager Init Failed!"); } // Enables hand tracking sts = session.EnableHand(); handAnalyzer = session.QueryHand(); sts2 = session.EnableFace(); faceAnalyzer = session.QueryFace(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.EnableHand: " + sts); } if (sts2 != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.EnableFace: " + sts2); } // Creates the session sts = session.Init(); sts2 = session.Init(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.Init: " + sts); } if (sts2 != pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.LogError("PXCSenseManager.Init: " + sts2); } // Creates a hand config for future data PXCMHandConfiguration handconfig = handAnalyzer.CreateActiveConfiguration(); PXCMFaceConfiguration faceconfig = faceAnalyzer.CreateActiveConfiguration(); //If there is handconfig instance if (handconfig != null) { handconfig.EnableAllAlerts(); handconfig.ApplyChanges(); handconfig.Dispose(); } if (faceconfig != null) { faceconfig.EnableAllAlerts(); faceconfig.ApplyChanges(); faceconfig.Dispose(); } }
public void HandPipeLine() { PXCMSenseManager pp = m_form.Session.CreateSenseManager(); if (pp == null) { throw new Exception("PXCMSenseManager null"); } pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 360); //手 初始化 PXCMHandModule handAnalysis; PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler(); handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame); PXCMHandConfiguration handConfiguration = null; PXCMHandData handData = null; pxcmStatus status = pp.EnableHand(); handAnalysis = pp.QueryHand(); if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null) { Console.WriteLine("hand module load failed"); return; } handConfiguration = handAnalysis.CreateActiveConfiguration(); if (handConfiguration == null) { Console.WriteLine("Failed Create Configuration"); return; } handData = handAnalysis.CreateOutput(); if (handData == null) { Console.WriteLine("Failed Create Output"); return; } if (pp.Init(handler) != pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine("init failed"); return; } if (handConfiguration != null) { PXCMHandData.TrackingModeType trackingMode = PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND; // 配置收的Tracking Mode trackingMode = PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND; handConfiguration.SetTrackingMode(trackingMode); handConfiguration.EnableAllAlerts(); handConfiguration.EnableSegmentationImage(true); bool isEnabled = handConfiguration.IsSegmentationImageEnabled(); handConfiguration.ApplyChanges(); int totalNumOfGestures = handConfiguration.QueryGesturesTotalNumber(); if (totalNumOfGestures > 0) { for (int i = 0; i < totalNumOfGestures; i++) { string gestureName = string.Empty; if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) == pxcmStatus.PXCM_STATUS_NO_ERROR) { Console.WriteLine(gestureName); } } } } int frameCounter = 0; int frameNumber = 0; while (!m_form.Stopped) { string gestureName = "fist"; if (handConfiguration != null) { if (string.IsNullOrEmpty(gestureName) == false) { if (handConfiguration.IsGestureEnabled(gestureName) == false) { handConfiguration.DisableAllGestures(); handConfiguration.EnableGesture(gestureName, true); handConfiguration.ApplyChanges(); } } else { handConfiguration.DisableAllGestures(); handConfiguration.ApplyChanges(); } } if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR) { break; } frameCounter++; if (pp.IsConnected()) { PXCMCapture.Sample sample; sample = pp.QueryHandSample(); if (sample != null && sample.depth != null) { // frameNumber = liveCamera ? frameCounter : instance.captureManager.QueryFrameIndex(); frameNumber = frameCounter; } //bool b=(sample.ir==null); //b = (sample.color== null); //b = (sample.left == null); //b = (sample.right == null); DisplayPicture(sample.depth); if (handData != null) { handData.Update(); SaveHandData(handData); } m_form.UpdatePic(); } pp.ReleaseFrame(); } if (handData != null) { handData.Dispose(); } if (handConfiguration != null) { handConfiguration.Dispose(); } pp.Close(); pp.Dispose(); }
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) { MessageBox.Show("当前对象为空!"); return; } /* Optional: if playback or recoridng */ if (File != null) { sm.captureManager.SetFileName(File, this.isRecord); } sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080); sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480); sm.EnableHand(); sm.EnableFace(); /* Initialization */ pxcmStatus status = sm.Init(); if (status >= pxcmStatus.PXCM_STATUS_NO_ERROR) { /* Reset all properties */ sm.captureManager.device.ResetProperties(PXCMCapture.StreamType.STREAM_TYPE_ANY); while (!Stop) { /* Wait until a frame is ready: Synchronized or Asynchronous */ if (sm.AcquireFrame(true).IsError()) { break; } /* Display images */ //PXCMCapture.Sample sample = sm.QuerySample(); /* Render streams */ //EventHandler<RenderFrameEventArgs> render = RenderFrame; //PXCMImage image = null; //image = sample[PXCMCapture.StreamType.STREAM_TYPE_DEPTH]; //render(this, new RenderFrameEventArgs(0, image)); sm.ReleaseFrame(); } } else { sts = false; } sm.Dispose(); //if (sts) MessageBox.Show("Stopped"); } catch (Exception e) { MessageBox.Show(e.Message); //MessageBox.Show(e.GetType().ToString()); } }
/* Using PXCMSenseManager to handle data */ public void SimplePipeline() { form.UpdateInfo(String.Empty, Color.Black); bool liveCamera = false; bool flag = true; PXCMSenseManager instance = null; _disconnected = false; instance = form.g_session.CreateSenseManager(); if (instance == null) { form.UpdateStatus("Failed creating SenseManager"); return; } if (form.GetRecordState()) { instance.captureManager.SetFileName(form.GetFileName(), true); PXCMCapture.DeviceInfo info; if (form.Devices.TryGetValue(form.GetCheckedDevice(), out info)) { instance.captureManager.FilterByDeviceInfo(info); } } else if (form.GetPlaybackState()) { instance.captureManager.SetFileName(form.GetFileName(), false); instance.captureManager.SetRealtime(false); } else { PXCMCapture.DeviceInfo info; if (String.IsNullOrEmpty(form.GetCheckedDevice())) { form.UpdateStatus("Device Failure"); return; } if (form.Devices.TryGetValue(form.GetCheckedDevice(), out info)) { instance.captureManager.FilterByDeviceInfo(info); } liveCamera = true; } /* Set Module */ pxcmStatus status = instance.EnableHand(form.GetCheckedModule()); PXCMHandModule handAnalysis = instance.QueryHand(); if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null) { form.UpdateStatus("Failed Loading Module"); return; } PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler(); handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame); PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration(); PXCMHandData handData = handAnalysis.CreateOutput(); if (handConfiguration == null) { form.UpdateStatus("Failed Create Configuration"); return; } if (handData == null) { form.UpdateStatus("Failed Create Output"); return; } if (form.getInitGesturesFirstTime() == false) { int totalNumOfGestures = handConfiguration.QueryGesturesTotalNumber(); if (totalNumOfGestures > 0) { this.form.UpdateGesturesToList("", 0); for (int i = 0; i < totalNumOfGestures; i++) { string gestureName = string.Empty; if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) == pxcmStatus.PXCM_STATUS_NO_ERROR) { this.form.UpdateGesturesToList(gestureName, i + 1); } } form.setInitGesturesFirstTime(true); form.UpdateGesturesListSize(); } } FPSTimer timer = new FPSTimer(form); form.UpdateStatus("Init Started"); if (handAnalysis != null && instance.Init(handler) == pxcmStatus.PXCM_STATUS_NO_ERROR) { PXCMCapture.DeviceInfo dinfo; PXCMCapture.Device device = instance.captureManager.device; if (device != null) { pxcmStatus result = device.QueryDeviceInfo(out dinfo); if (result == pxcmStatus.PXCM_STATUS_NO_ERROR && dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM) { device.SetDepthConfidenceThreshold(1); device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED); device.SetIVCAMFilterOption(6); } _maxRange = device.QueryDepthSensorRange().max; } if (handConfiguration != null) { handConfiguration.EnableAllAlerts(); handConfiguration.EnableSegmentationImage(true); handConfiguration.ApplyChanges(); handConfiguration.Update(); } form.UpdateStatus("Streaming"); int frameCounter = 0; int frameNumber = 0; string nextPageGesture, previousPageGesture, firstPageGesture, endPageGesture; HandsRecognition.Hand nextHand, previousHand, firstHand, endHand; while (!form.stop) { form.GetHandType(out nextHand, out previousHand, out firstHand, out endHand); form.GetGestureName(out nextPageGesture, out previousPageGesture, out firstPageGesture, out endPageGesture); handConfiguration.DisableAllGestures(); if (string.IsNullOrEmpty(nextPageGesture) == false && handConfiguration.IsGestureEnabled(nextPageGesture) == false) { handConfiguration.EnableGesture(nextPageGesture, true); NextPageGesture.Gesture = nextPageGesture; NextPageGesture.handler = form.NextPage; NextPageGesture.HandType = nextHand; } if (string.IsNullOrEmpty(previousPageGesture) == false && handConfiguration.IsGestureEnabled(previousPageGesture) == false) { handConfiguration.EnableGesture(previousPageGesture, true); PreviousPageGesture.Gesture = previousPageGesture; PreviousPageGesture.handler = form.PreviousPage; PreviousPageGesture.HandType = previousHand; } if (string.IsNullOrEmpty(firstPageGesture) == false && handConfiguration.IsGestureEnabled(firstPageGesture) == false) { handConfiguration.EnableGesture(firstPageGesture, true); FirstPageGesture.Gesture = firstPageGesture; FirstPageGesture.handler = form.FirstPage; FirstPageGesture.HandType = firstHand; } if (string.IsNullOrEmpty(endPageGesture) == false && handConfiguration.IsGestureEnabled(endPageGesture) == false) { handConfiguration.EnableGesture(endPageGesture, true); EndPageGesture.Gesture = endPageGesture; EndPageGesture.handler = form.EndPage; EndPageGesture.HandType = endHand; } handConfiguration.ApplyChanges(); if (instance.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR) { break; } frameCounter++; if (!DisplayDeviceConnection(!instance.IsConnected())) { if (handData != null) { handData.Update(); } PXCMCapture.Sample sample = instance.QueryHandSample(); if (sample != null && sample.depth != null) { DisplayPicture(sample.depth, handData); if (handData != null) { frameNumber = liveCamera ? frameCounter : instance.captureManager.QueryFrameIndex(); DisplayJoints(handData); DisplayGesture(handData, frameNumber); DisplayAlerts(handData, frameNumber); } form.UpdatePanel(); } timer.Tick(); } instance.ReleaseFrame(); } // Clean Up if (handData != null) { handData.Dispose(); } if (handConfiguration != null) { handConfiguration.Dispose(); } } else { form.UpdateStatus("Init Failed"); flag = false; } foreach (PXCMImage pxcmImage in m_images) { pxcmImage.Dispose(); } instance.Close(); instance.Dispose(); if (flag) { form.UpdateStatus("Stopped"); } }
void Start() { if (CursorObject != null) { mCursor0 = (GameObject)Instantiate(CursorObject, Vector3.zero, Quaternion.identity); mCursor0.transform.SetParent(Camera.main.transform); mCursor0.transform.localScale = new Vector3(CursorSize, CursorSize, CursorSize); mCursor0Active = false; mCursor1 = (GameObject)Instantiate(CursorObject, Vector3.zero, Quaternion.identity); mCursor1.transform.SetParent(Camera.main.transform); mCursor1.transform.localScale = new Vector3(CursorSize, CursorSize, CursorSize); mCursor1Active = false; } mRS = PXCMSenseManager.CreateInstance(); var stat = pxcmStatus.PXCM_STATUS_NO_ERROR; if (mRS != null) { stat = mRS.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480); if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { stat = mRS.EnableHand(); if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { stat = mRS.Init(); Debug.Log("Sense Manager Started"); } } else { Debug.Log("Unable to start Sense Manager"); } if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { PXCMHandConfiguration cfg = mRS.QueryHand().CreateActiveConfiguration(); if (cfg != null) { stat = cfg.SetTrackingMode(PXCMHandData.TrackingModeType.TRACKING_MODE_CURSOR); if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { Debug.Log("Set Cursor Mode 1st Pass"); if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { stat = cfg.EnableAllGestures(false); if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { stat = cfg.ApplyChanges(); if (stat >= pxcmStatus.PXCM_STATUS_NO_ERROR) { stat = cfg.Update(); } } } else { Debug.Log("Unable to enable gestures"); } } else { Debug.Log("Unable to set Cursor Mode"); } cfg.Dispose(); } } else { Debug.Log("Unable to create hand config"); } mHand = mRS.QueryHand().CreateOutput(); if (mHand != null) { Debug.Log("Created Hand Data"); var tracking = mRS.QueryHand().CreateActiveConfiguration().QueryTrackingMode(); if (tracking == PXCMHandData.TrackingModeType.TRACKING_MODE_CURSOR) { Debug.Log("Cursor Mode Enabled"); } } } else { Debug.Log("Unable to configure hand module"); } Application.targetFrameRate = 60; ResetHead.SetRoomRotation(); }
// Use this for initialization void Start() { handList = new Hashtable (); /* Initialize a PXCMSenseManager instance */ sm = PXCMSenseManager.CreateInstance (); if (sm == null) Debug.LogError ("SenseManager Initialization Failed"); /* Enable hand tracking and retrieve an hand module instance to configure */ sts = sm.EnableHand (); handAnalyzer = sm.QueryHand (); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError ("PXCSenseManager.EnableHand: " + sts); /* Initialize the execution pipeline */ sts = sm.Init (); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError ("PXCSenseManager.Init: " + sts); /* Retrieve the the DataSmoothing instance */ sm.QuerySession ().CreateImpl<PXCMDataSmoothing> (out ds); /* Create a 3D Weighted algorithm */ smoother3D = new PXCMDataSmoothing.Smoother3D[MaxHands][]; /* Configure a hand - Enable Gestures and Alerts */ PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration (); hcfg.EnableAllGestures (); hcfg.EnableAlert (PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); hcfg.ApplyChanges (); hcfg.Dispose (); InitializeGameobjects (); transform.RotateAround (transform.position, Vector3.up, 200 * Time.deltaTime); // Vector3 _RotateAround = new Vector3 (1, 1f, 180f); // transform.RotateAround (_RotateAround, Vector3.up, 20); }
//*********************************初始化函数(初始化各种杂乱的参数)******************************************************************* // Init all crappy parameters RealSense needs private void InitStreamState() { manager = session.CreateSenseManager(); //算法模块 switch (m_algoOption) { case AlgoOption.Face: manager.EnableFace(); break; case AlgoOption.Hand: manager.EnableHand(); break; case AlgoOption.FaceAndHand: manager.EnableFace(); manager.EnableHand(); break; default: break; } //视频显示流模块 switch (m_streamOption) { case StreamOption.Color: //manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 360); manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080); break; case StreamOption.Depth: manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480); break; case StreamOption.IR: manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480); break; case StreamOption.ColorAndDepth: manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480); manager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080); break; default: break; } //控制录像模块 var recordPath = System.Configuration.ConfigurationManager.AppSettings["RecordPath"]; switch (m_recordOption) { case RecordOption.Live: break; case RecordOption.Record: if (recordPath == null) { #if DEBUG System.Windows.Forms.MessageBox.Show("RecordPath Error"); #endif } manager.captureManager.SetFileName(recordPath, true); break; case RecordOption.Playback: if (this.PlaybackFile != null) { manager.captureManager.SetFileName(this.PlaybackFile, false); } else { manager.captureManager.SetFileName(recordPath, false); } manager.captureManager.SetRealtime(false); if (m_playback_byframe) { manager.captureManager.SetRealtime(false); manager.captureManager.SetPause(true); } //manager.captureManager.SetRealtime(true); break; } }
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.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) { if (numberOfEnabledModalities > 0) { Debug.LogError("Unable to initialize all modalities"); } return; } //Set different configurations: // Face if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true)) { var faceModule = SenseManager.QueryFace(); 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(); 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(); 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(); } 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(); } if (BlobExtractor == null) { SenseManager.session.CreateImpl<PXCMBlobExtractor>(out BlobExtractor); } // Set initialization flag Initialized = true; }
public void SetManualMode() { // REALSENSE /* Initialize a PXCMSenseManager instance */ sm = PXCMSenseManager.CreateInstance(); if (sm == null) Debug.LogError("SenseManager Initialization Failed"); /* Enable hand tracking and retrieve an hand module instance to configure */ sts = sm.EnableHand(); handAnalyzer = sm.QueryHand(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError("PXCSenseManager.EnableHand: " + sts); /* Initialize the execution pipeline */ sts = sm.Init(); if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) Debug.LogError("PXCSenseManager.Init: " + sts); /* Retrieve the the DataSmoothing instance */ sm.QuerySession().CreateImpl<PXCMSmoother>(out smoother); /* Create a 3D Weighted algorithm */ smoother3D = new PXCMSmoother.Smoother3D[MaxHands][]; /* Configure a hand - Enable Gestures and Alerts */ PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration(); if (hcfg != null) { hcfg.EnableAllGestures(); hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); hcfg.SubscribeGesture(OnFiredGesture); hcfg.ApplyChanges(); hcfg.Dispose(); } // handAnalyzer = sm.QueryHand(); ////// curMode = userMode = DroneMode.Manual; targetBehavior = targetDirectBehavior; EnterFreeMovementState(); }
private void InitRealSense() { this.releaseInstances(); errorManager = new ErrorManager(); this.manager = PXCMSenseManager.CreateInstance(); if (manager == null) { errorManager.InitError("PXCMSenseManager::Create"); } // Init hand module errorManager.RunWithStatusCheck(() => manager.EnableHand(), "PXCMHandModule"); this.handModule = this.manager.QueryHand(); this.handData = this.handModule.CreateOutput(); // config hand module var hconfig = this.handModule.CreateActiveConfiguration(); hconfig.EnableTrackedJoints(true); //Gestures hconfig.DisableAllGestures(); //alerts======================================================== hconfig.DisableAllAlerts(); hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_CALIBRATED); //hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_DETECTED); hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED); // For hand tracking hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS); hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS); // For user info hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TOO_CLOSE); hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TOO_FAR); hconfig.SubscribeAlert(OnAlertFired); //alerts========================================================= hconfig.ApplyChanges(); hconfig.Dispose(); // Init touchless controller:: Move tracking errorManager.RunWithStatusCheck(() => manager.EnableTouchlessController(), "TouchlessController"); this.touchController = this.manager.QueryTouchlessController(); // On processed frame callback PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler { onModuleProcessedFrame = OnFrameProcessed }; // UX events callback this.touchController.SubscribeEvent(OnTouchlessControllerUxEvent); // Init Sense manager errorManager.RunWithStatusCheck(() => manager.Init(handler), "PXCMSenseManager::Init"); errorManager.RunWithStatusCheck(() => manager.StreamFrames(false), "PXCMSenseManager::StreamFrames"); if (this.manager.captureManager == null || this.manager.captureManager.device == null) { throw new NoDeviceException(); } // Query scene info PXCMCapture.Sample sample = null; do { sample = manager.QuerySample(); } while (sample == null || sample.depth == null || sample.depth.info == null); sceneXCenter = sample.depth.info.width / 2; sceneYCenter = sample.depth.info.height / 2; //Set delay before close gesture ability Task.Factory.StartNew(() => { Thread.Sleep(3000); delayForCloseAchived = true; this.handData.Update(); handInsideBorders = this.handData.QueryNumberOfHands() > 0; }); // Hand tracking started. started = true; }