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;
}
}
public MainWindow()
{
InitializeComponent();
// Configure RealSense session and SenseManager interface
session = PXCMSession.CreateInstance();
senseManager = session.CreateSenseManager();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
senseManager.EnableBlob();
senseManager.Init();
//Create blobModule from SenseManager
blobModule = senseManager.QueryBlob();
blobConfig = blobModule.CreateActiveConfiguration();
blobConfig.SetMaxBlobs(2);
blobConfig.SetMaxDistance(trackingDistance);
blobConfig.SetMaxObjectDepth(100);
blobConfig.SetMinPixelCount(400);
blobConfig.EnableColorMapping(true);
blobConfig.ApplyChanges();
blobData = blobModule.CreateOutput();
//Audio
WaveOut waveOut;
sineWaveProvider.SetWaveFormat(16000, 1);
sineWaveProvider.Frequency = 1000;
sineWaveProvider.Amplitude = 0;
waveOut = new WaveOut();
waveOut.Init(sineWaveProvider);
waveOut.Play();
startTime = DateTime.Now;
// Start Update thread
update = new Thread(new ThreadStart(Update));
update.Start();
}
/// <summary>
/// Using PXCMSenseManager to handle data
/// </summary>
public void SimplePipeline()
{
session = PXCMSession.CreateInstance();
if (session != null)
{
instance = session.CreateSenseManager();
if (instance == null)
{
Debug.Log("Create SenseManager Failure");
return;
}
pxcmStatus status = instance.EnableBlob();
PXCMBlobModule blobModule = instance.QueryBlob();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || blobModule == null)
{
Debug.Log("Failed Loading Module");
return;
}
blobConfiguration = blobModule.CreateActiveConfiguration();
blobData = blobModule.CreateOutput();
if (blobConfiguration != null)
{
blobConfiguration.SetSegmentationSmoothing(1.0f);
blobConfiguration.SetMaxDistance(550);
blobConfiguration.SetMaxObjectDepth(100);
blobConfiguration.SetMaxBlobs(_maxBlobToShow);
blobConfiguration.SetContourSmoothing(1.0f);
blobConfiguration.EnableContourExtraction(true);
blobConfiguration.EnableSegmentationImage(true);
blobConfiguration.ApplyChanges();
}
if (blobData == null)
{
Debug.Log("Failed Create Output");
return;
}
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
if (instance.Init(handler) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.DeviceInfo dinfo;
instance.QueryCaptureManager().QueryDevice().QueryDeviceInfo(out dinfo);
if (dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
instance.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
}
/* Set the depth stream confidence threshold value - Any depth pixels with a confidence score below the threshold will be set to the low confidence pixel value*/
instance.QueryCaptureManager().QueryDevice().SetDepthConfidenceThreshold(10);
/* Set the smoothing aggressiveness parameter - High smoothing effect for distances between 850mm to 1000mm bringing good accuracy with moderate sharpness level.*/
instance.QueryCaptureManager().QueryDevice().SetIVCAMFilterOption(6);
}
}
else
{
Debug.Log("Init Failed");
}
}