private void InitCamera()
{
session = Session.CreateInstance();
System.Diagnostics.Debug.WriteLine("Version: " + session.Version.major);
// Instantiate and initialize the SenseManager
senseManager = session.CreateSenseManager();
reader = SampleReader.Activate(senseManager);
reader.EnableStream(StreamType.STREAM_TYPE_COLOR, WIDTH, HEIGHT, FRAME_RATE, StreamOption.STREAM_OPTION_STRONG_STREAM_SYNC);
reader.EnableStream(StreamType.STREAM_TYPE_DEPTH, WIDTH, HEIGHT, FRAME_RATE, StreamOption.STREAM_OPTION_STRONG_STREAM_SYNC);
//Configure the Face Module
faceModule = FaceModule.Activate(senseManager);
FaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.Detection.isEnabled = detectionEnabled;
faceConfig.Detection.maxTrackedFaces = maxTrackedFaces;
faceConfig.Landmarks.isEnabled = landmarksEnabled;
faceConfig.Landmarks.maxTrackedFaces = maxTrackedFaces;
faceConfig.TrackingMode = Intel.RealSense.Face.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH;
faceConfig.EnableAllAlerts();
faceConfig.ApplyChanges();
//init senseManager
senseManager.Init();
projection = senseManager.CaptureManager.Device.CreateProjection();
System.Diagnostics.Debug.WriteLine("IsConnected: " + senseManager.IsConnected());
}
public void StartStream()
{
SenseManager.captureManager.FilterByDeviceInfo(DeviceInfo);
// Initializing the SenseManager
pxcmStatus initSenseManagerStatus = SenseManager.Init();
// Initializing the SenseManager
if (initSenseManagerStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidRealSenseStatusException(initSenseManagerStatus, string.Format("Failed to initialize the SenseManager. Return code: {0}", initSenseManagerStatus));
}
if (SenseManager == null)
{
throw new NullReferenceException("The SenseManager isn't initialized. Please check if you already called the InitializeStream method.");
}
IsRunning = true;
CaptureThread = new Thread(() => {
while (IsRunning)
{
if (SenseManager == null || !SenseManager.IsConnected())
{
throw new Exception("The SenseManager is not ready to stream.");
}
// Acquiring a frame with ifall=true to wait for both samples to be ready (aligned samples)
pxcmStatus acquireFrameStatus = SenseManager.AcquireFrame(true);
if (acquireFrameStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidRealSenseStatusException(acquireFrameStatus, string.Format("Failed to acquire a frame. Return code: {0}", acquireFrameStatus));
}
SenseManager.ReleaseFrame();
}
});
CaptureThread.Start();
}
/* Using SenseManager to handle data */
public void SimplePipeline()
{
_form.UpdateInfo(String.Empty, System.Drawing.Color.Black);
bool liveCamera = false;
bool flag = true;
SenseManager instance = null;
_disconnected = false;
instance = _form.session.CreateSenseManager();
if (instance == null)
{
_form.UpdateStatus("Failed creating SenseManager");
_form.EnableTrackingMode(true);
return;
}
CaptureManager captureManager = instance.CaptureManager;
DeviceInfo info = null;
if (captureManager != null)
{
if (_form.GetPlaybackState())
{
captureManager.SetFileName(_form.GetFileName(), false);
info = _form.GetDeviceFromFileMenu(_form.GetFileName());
}
else
{
if (_form.Devices.Count == 0)
{
_form.UpdateStatus("No device were found");
return;
}
_form.Devices.TryGetValue(_form.GetCheckedDevice(), out info);
if (_form.GetRecordState())
{
captureManager.SetFileName(_form.GetFileName(), true);
if (_form.Devices.TryGetValue(_form.GetCheckedDevice(), out info))
{
captureManager.FilterByDeviceInfo(_form.GetCheckedDeviceInfo());
}
}
else
{
captureManager.FilterByDeviceInfo(_form.GetCheckedDeviceInfo());
liveCamera = true;
}
if (info == null)
{
_form.UpdateStatus("Device Failure");
return;
}
}
}
/* Set Module */
HandModule handAnalysis;
// SenseManager.Handler handler = new SenseManager Handler();
// handler.onModuleProcessedFrame = new SenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
HandConfiguration handConfiguration = null;
HandData handData = null;
handAnalysis = HandModule.Activate(instance);
if (handAnalysis == null)
{
_form.UpdateStatus("Failed Loading Module");
_form.EnableTrackingMode(true);
return;
}
handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
_form.UpdateStatus("Failed Create Configuration");
_form.EnableTrackingMode(true);
instance.Close();
instance.Dispose();
return;
}
handData = handAnalysis.CreateOutput();
if (handData == null)
{
_form.UpdateStatus("Failed Create Output");
_form.EnableTrackingMode(true);
handConfiguration.Dispose();
instance.Close();
instance.Dispose();
return;
}
FPSTimer timer = new FPSTimer(_form);
_form.UpdateStatus("Init Started");
if (instance.Init() == Status.STATUS_NO_ERROR)
{
DeviceInfo dinfo;
DeviceModel dModel = DeviceModel.DEVICE_MODEL_F200;
Device device = instance.CaptureManager.Device;
if (device != null)
{
device.QueryDeviceInfo(out dinfo);
dModel = dinfo.model;
_maxRange = device.DepthSensorRange.max;
}
if (handConfiguration != null)
{
TrackingModeType trackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
if (_form.GetFullHandModeState())
{
trackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
}
handConfiguration.TrackingMode = trackingMode;
handConfiguration.EnableAllAlerts();
handConfiguration.SegmentationImageEnabled = true;
bool isEnabled = handConfiguration.SegmentationImageEnabled;
handConfiguration.ApplyChanges();
_form.resetGesturesList();
int totalNumOfGestures = handConfiguration.NumberOfGestures;
if (totalNumOfGestures > 0)
{
this._form.UpdateGesturesToList("", 0);
for (int i = 0; i < totalNumOfGestures; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) ==
Status.STATUS_NO_ERROR)
{
this._form.UpdateGesturesToList(gestureName, i + 1);
}
}
_form.UpdateGesturesListSize();
}
}
_form.UpdateStatus("Streaming");
int frameCounter = 0;
int frameNumber = 0;
while (!_form.stop)
{
string gestureName = _form.GetGestureName();
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 (instance.AcquireFrame(true) < Status.STATUS_NO_ERROR)
{
break;
}
frameCounter++;
if (!DisplayDeviceConnection(!instance.IsConnected()))
{
Sample sample = instance.Sample;
if (sample != null && sample.Depth != null)
{
frameNumber = liveCamera ? frameCounter : instance.CaptureManager.FrameIndex;
if (handData != null)
{
handData.Update();
DisplayPicture(sample.Depth, handData);
DisplayGesture(handData, frameNumber);
DisplayJoints(handData);
DisplayAlerts(handData, frameNumber);
}
_form.UpdatePanel();
}
timer.Tick();
}
instance.ReleaseFrame();
}
}
else
{
_form.UpdateStatus("Init Failed");
flag = false;
}
foreach (Image Image in _mImages)
{
Image.Dispose();
}
// Clean Up
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
instance.Close();
instance.Dispose();
if (flag)
{
_form.UpdateStatus("Stopped");
}
}