private static void StartFace()
{
pxcmStatus status = senseManager.EnableFace();
PXCMFaceModule faceModule = senseManager.QueryFace();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || faceModule == null)
{
return;
}
PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
if (faceConfig == null)
{
return;
}
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = faceConfig.QueryExpressions();
if (econfiguration == null)
{
return;
}
econfiguration.properties.maxTrackedFaces = 1;
econfiguration.EnableAllExpressions();
econfiguration.Enable();
faceConfig.ApplyChanges();
faceConfig.pose.isEnabled = true;
faceConfig.landmarks.isEnabled = true;
faceData = faceModule.CreateOutput();
}
private void startButton_Click(object sender, RoutedEventArgs e)
{
CurrentIpAdress = ipTextBox.Text;
currentPort = portTextBox.Text;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
senseManager.EnableFace();
senseManager.Init();
faceModule = senseManager.QueryFace();
faceConfiguration = faceModule.CreateActiveConfiguration();
faceConfiguration.detection.isEnabled = true;
expressionConfiguration = faceConfiguration.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
faceConfiguration.landmarks.isEnabled = true;
faceConfiguration.landmarks.numLandmarks = 78;
faceConfiguration.EnableAllAlerts();
faceConfiguration.ApplyChanges();
captureProcess = new Thread(new ThreadStart(CaptureProcess));
captureProcess.Start();
}
/**
* Constructor of the model
* It does all the important stuff to use our camera. Its so FANCY !
* Like enabling all important tracker(Hand, Face), the stream and builds up the configuration.
* blib blub
*/
public Model()
{
emotions["Anger"] = 0;
emotions["Fear"] = 0;
emotions["Disgust"] = 0;
emotions["Surprise"] = 0;
emotions["Joy"] = 0;
emotions["Sadness"] = 0;
emotions["Contempt"] = 0;
width = 1920;
height = 1080;
framerate = 30;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, width, height, framerate);
// Enable Face detection
senseManager.EnableFace();
senseManager.Init();
face = senseManager.QueryFace();
faceConfig = face.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.detection.isEnabled = true;
faceConfig.pose.isEnabled = true;
faceConfig.ApplyChanges();
faceConfig.Update();
modules = new List <RSModule>();
}
public 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);
}
static void Main(string[] args)
{
try {
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
throw new Exception("SenseManagerの生成に失敗しました");
}
// 何かしら有効にしないとInitが失敗するので適当に有効にする
senseManager.EnableFace();
// パイプラインを初期化する
var sts = senseManager.Init();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("パイプラインの初期化に失敗しました");
}
// 使用可能なデバイスを列挙する
enumDevice();
}
catch (Exception ex) {
Console.WriteLine(ex.Message);
}
}
private void InitializeFace()
{
// 顔検出を有効にする
var sts = senceManager.EnableFace();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("顔検出の有効化に失敗しました");
}
//顔検出器を生成する
var faceModule = senceManager.QueryFace();
//顔検出のプロパティを取得
PXCMFaceConfiguration config = faceModule.CreateActiveConfiguration();
config.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
config.ApplyChanges();
// パイプラインを初期化する
pxcmStatus ret = senceManager.Init();
if (ret < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("初期化に失敗しました");
}
// デバイス情報の取得
PXCMCapture.Device device = senceManager.QueryCaptureManager().QueryDevice();
if (device == null)
{
throw new Exception("deviceの生成に失敗しました");
}
// ミラー表示にする
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
PXCMCapture.DeviceInfo deviceInfo;
device.QueryDeviceInfo(out deviceInfo);
if (deviceInfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
device.SetIVCAMFilterOption(6);
device.SetIVCAMMotionRangeTradeOff(21);
}
config.detection.isEnabled = true;
config.detection.maxTrackedFaces = DETECTION_MAXFACES;
config.QueryExpressions().Enable(); //追加：顔の姿勢情報取得を可能にする
config.QueryExpressions().EnableAllExpressions(); //追加：すべての表出情報を取得可能にする
config.QueryExpressions().properties.maxTrackedFaces = EXPRESSION_MAXFACES; //追加：二人までの表出を取得可能に設定する
config.ApplyChanges();
faceData = faceModule.CreateOutput();
}
/// <summary>
/// Starts this instance.
/// </summary>
public void Start()
{
if (_sm != null)
{
throw new ResearchException("Camera is already started.");
}
_sm = PXCMSenseManager.CreateInstance();
// Configure face detection.
if (EnableFace)
{
_sm.EnableFace();
var faceModule = _sm.QueryFace();
using (PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration())
{
faceConfig.EnableAllAlerts();
faceConfig.pose.isEnabled = true;
faceConfig.pose.maxTrackedFaces = 4;
if (EnableExpression)
{
PXCMFaceConfiguration.ExpressionsConfiguration expression = faceConfig.QueryExpressions();
expression.Enable();
expression.EnableAllExpressions();
faceConfig.ApplyChanges();
}
}
}
if (EnableEmotion)
{
// Configure emotion detection.
_sm.EnableEmotion();
}
if (EnableStreaming)
{
// Configure streaming.
_sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480);
}
// Event handler for data callbacks.
var handler = new PXCMSenseManager.Handler {
onModuleProcessedFrame = OnModuleProcessedFrame
};
_sm.Init(handler);
// GO.
Debug.WriteLine("{0} Starting streaming.", Time());
_sm.StreamFrames(false);
//Debug.WriteLine("{0} End streaming.", Time());
}
private void ConfigureRealSense()
{
try
{
// Create the SenseManager instance
sm = PXCMSenseManager.CreateInstance();
// Enable the color stream
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, ImageWidth, ImageHeight, 30);
// Enable person tracking
sm.EnablePersonTracking();
personModule = sm.QueryPersonTracking();
PXCMPersonTrackingConfiguration personConfig = personModule.QueryConfiguration();
personConfig.SetTrackedAngles(PXCMPersonTrackingConfiguration.TrackingAngles.TRACKING_ANGLES_ALL);
// Enable skeleton tracking - not supported on r200?
//PXCMPersonTrackingConfiguration.SkeletonJointsConfiguration skeletonConfig = personConfig.QuerySkeletonJoints();
//skeletonConfig.Enable();
// Enable the face module
sm.EnableFace();
PXCMFaceModule faceModule = sm.QueryFace();
PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
faceConfig.detection.maxTrackedFaces = 1;
faceConfig.ApplyChanges();
sm.EnableBlob();
PXCMBlobModule blobModule = sm.QueryBlob();
PXCMBlobConfiguration blobConfig = blobModule.CreateActiveConfiguration();
blobConfig.SetMaxBlobs(4); // 4 is the max
blobConfig.SetMaxDistance(2000); // in mm's
blobConfig.ApplyChanges();
//initialize the SenseManager
sm.Init();
faceData = faceModule.CreateOutput();
blobData = blobModule.CreateOutput();
// Mirror the image
sm.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
personConfig.Dispose();
faceConfig.Dispose();
faceModule.Dispose();
blobConfig.Dispose();
blobModule.Dispose();
}
catch (Exception)
{
MessageBox.Show("Unable to configure the RealSense camera. Please make sure a R200 camera is connected.", "System Error");
throw;
}
}
private void ConfigureRealSense(PXCMSession session)
{
PXCMFaceModule faceModule;
PXCMFaceConfiguration faceConfig;
// Start the SenseManager and session
senseManager = session.CreateSenseManager();
// Enable the color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
// Enable the face module
senseManager.EnableFace();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
// Enable landmarks detection
faceConfig.landmarks.isEnabled = true;
// Enable pose detection
faceConfig.pose.isEnabled = true;
// Enable facial recognition
recogConfig = faceConfig.QueryRecognition();
recogConfig.Enable();
// Create a recognition database storage
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc recognitionDesc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
recognitionDesc.maxUsers = MAX_USERS;
recogConfig.CreateStorage(DB_NAME, out recognitionDesc);
recogConfig.UseStorage(DB_NAME);
isDBLoaded = LoadDB();
recogConfig.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
//IVCam Setting
senseManager.QueryCaptureManager().QueryDevice().SetIVCAMFilterOption(7);
senseManager.QueryCaptureManager().QueryDevice().SetIVCAMAccuracy(PXCMCapture.Device.IVCAMAccuracy.IVCAM_ACCURACY_COARSE);
senseManager.QueryCaptureManager().QueryDevice().SetIVCAMLaserPower(16);
senseManager.QueryCaptureManager().QueryDevice().SetIVCAMMotionRangeTradeOff(100);
// Release resources
faceConfig.Dispose();
faceModule.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();
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
this.DataContext = this;
SenseManager = PXCMSenseManager.CreateInstance();
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720);
SenseManager.EnableFace();
InitializeCamera();
ConfigurePollingTask();
}
private void ConfigureRealSense()
{
PXCMFaceModule faceModule;
PXCMFaceConfiguration faceConfig;
// Start the SenseManager and session
senseManager = PXCMSenseManager.CreateInstance();
// Enable the color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
//senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 550, 550, 30);
// Enable the face module
senseManager.EnableFace();
//senseManager.EnableHand();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
expressionConfiguration = faceConfig.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
// Enable facial recognition
recognitionConfig = faceConfig.QueryRecognition();
recognitionConfig.Enable();
// Create a recognition database
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc recognitionDesc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
recognitionDesc.maxUsers = DatabaseUsers;
recognitionConfig.CreateStorage(DatabaseName, out recognitionDesc);
recognitionConfig.UseStorage(DatabaseName);
LoadDatabaseFromFile();
recognitionConfig.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
faceConfig.Dispose();
faceModule.Dispose();
}
private PXCMFaceModule faceAnalyzer; //FaceModule Instance
/// <summary>
/// Use this for initialization
/// Unity function called on the frame when a script is enabled
/// just before any of the Update methods is called the first time.
/// </summary>
void Start()
{
faceRenderer = gameObject.GetComponent <FaceRenderer>();
/* Initialize a PXCMSenseManager instance */
psm = PXCMSenseManager.CreateInstance();
if (psm == null)
{
Debug.LogError("SenseManager Initialization Failed");
return;
}
/* Enable the color stream of size 640x480 */
psm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
/* Enable the face tracking module*/
sts = psm.EnableFace();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableFace: " + sts);
}
/* Retrieve an instance of face to configure */
faceAnalyzer = psm.QueryFace();
if (faceAnalyzer == null)
{
Debug.LogError("PXCSenseManager.QueryFace");
}
/* Initialize the execution pipeline */
sts = psm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCMSenseManager.Init Failed");
OnDisable();
return;
}
/* Retrieve a PXCMFaceConfiguration instance from a face to enable Gestures and Alerts */
PXCMFaceConfiguration config = faceAnalyzer.CreateActiveConfiguration();
config.detection.isEnabled = true; // 3D detection is the default tracking mode.
config.landmarks.isEnabled = true;
config.pose.isEnabled = true;
config.QueryExpressions().Enable();
config.QueryExpressions().EnableExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN);
config.EnableAllAlerts();
config.ApplyChanges();
config.Dispose();
}
private void StartRealSense()
{
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();
}
private void ConfigureRealSense()
{
my.init();
child.Start();
try
{
// Create the SenseManager instance
sm = PXCMSenseManager.CreateInstance();
// Enable the color stream
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, ImageWidth, ImageHeight, 30);
// Enable person tracking
sm.EnablePersonTracking();
personModule = sm.QueryPersonTracking();
PXCMPersonTrackingConfiguration personConfig = personModule.QueryConfiguration();
personConfig.SetTrackedAngles(PXCMPersonTrackingConfiguration.TrackingAngles.TRACKING_ANGLES_ALL);
// Enable the face module
sm.EnableFace();
PXCMFaceModule faceModule = sm.QueryFace();
PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
faceConfig.detection.maxTrackedFaces = 1;
// Apply changes and initialize the SenseManager
faceConfig.ApplyChanges();
sm.Init();
faceData = faceModule.CreateOutput();
// Mirror the image
sm.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
personConfig.Dispose();
faceConfig.Dispose();
faceModule.Dispose();
}
catch (Exception)
{
// For the sake of brevity we're not doing extensive exception handling in this code sample,
// simply give a hint that the camera is not connected, and then throw the exception
MessageBox.Show("Unable to configure the RealSense camera. Please make sure a R200 camera is connected.", "System Error");
throw;
}
}
/**
* Initialise View and start updater Thread
*/
public CameraView(int width, int height, int framterate, List <RSModule> mods)
{
// Initialise Stuff, turn Camera on
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, width, height, framterate);
// Enable Face detection
senseManager.EnableFace();
modules = mods;
modules.ForEach(delegate(RSModule rsm)
{
rsm.Init(senseManager);
});
senseManager.Init();
session = PXCMSession.CreateInstance();
if (session == null) // Something went wrong, session could not be initialised
{
Console.WriteLine("F**k!");
Application.Exit();
return;
}
iv = session.QueryVersion();
String versionString = "v" + iv.major + "." + iv.minor;
Console.WriteLine(versionString);
Text = versionString;
pb = new PictureBox();
// Set size
pb.Bounds = new Rectangle(0, 0, width, height);
// init UI
this.Bounds = new Rectangle(0, 0, width, height);
this.Controls.Add(pb);
FormClosed += new FormClosedEventHandler(Quit);
this.Show();
// Start Updater Thread
updaterThread = new Thread(this.update);
updaterThread.Start();
}
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>();
}
public FaceTrackerThread()
{
running = true;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
senseManager.EnableFace();
senseManager.Init();
face = senseManager.QueryFace();
faceConfiguration = face.CreateActiveConfiguration();
faceConfiguration.detection.isEnabled = true;
expressionConfiguration = faceConfiguration.QueryExpressions();
expressionConfiguration.Enable();
expressionConfiguration.EnableAllExpressions();
//Gaze detection
gazec = faceConfiguration.QueryGaze();
gazec.isEnabled = true;
faceConfiguration.ApplyChanges();
faceConfiguration.EnableAllAlerts();
faceConfiguration.ApplyChanges();
}
private void ConfigureRealSense()
{
PXCMFaceModule faceModule;
PXCMFaceConfiguration faceConfig;
// Start the SenseManager and session
senseManager = PXCMSenseManager.CreateInstance();
// Enable the color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
// Enable the face module
senseManager.EnableFace();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR);
// Enable facial recognition
recognitionConfig = faceConfig.QueryRecognition();
recognitionConfig.Enable();
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
faceConfig.Dispose();
faceModule.Dispose();
}
/**
* Constructor of the model
* It does all the important stuff to use our camera. Its so FANCY !
* Like enabling all important tracker(Hand, Face), the stream and builds up the configuration.
*/
public Model(bool s)
{
stream = s;
emotions[Emotion.ANGER] = 0;
emotions[Emotion.CONTEMPT] = 0;
emotions[Emotion.DISGUST] = 0;
emotions[Emotion.FEAR] = 0;
emotions[Emotion.JOY] = 0;
emotions[Emotion.SADNESS] = 0;
emotions[Emotion.SURPRISE] = 0;
if (stream)
{
width = 1920;
height = 1080;
framerate = 30;
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, width, height, framerate);
// Enable Face detection
senseManager.EnableFace();
bool couldInit = senseManager.Init().IsSuccessful();
if (!couldInit)
{
MessageBox.Show("Could not connect to the hardware! Make sure you have the camera-drivers installed.", "Aww, dang");
Environment.Exit(1);
}
face = senseManager.QueryFace();
faceConfig = face.CreateActiveConfiguration();
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceConfig.detection.isEnabled = true;
faceConfig.pose.isEnabled = true;
faceConfig.ApplyChanges();
faceConfig.Update();
modules = new List <RSModule>();
}
}
static void Main( string[] args )
{
try {
// SenseManagerを生成する
senseManager = PXCMSenseManager.CreateInstance();
if ( senseManager == null ) {
throw new Exception( "SenseManagerの生成に失敗しました" );
}
// 何かしら有効にしないとInitが失敗するので適当に有効にする
senseManager.EnableFace();
// パイプラインを初期化する
var sts = senseManager.Init();
if ( sts < pxcmStatus.PXCM_STATUS_NO_ERROR ) {
throw new Exception( "パイプラインの初期化に失敗しました" );
}
// 使用可能なデバイスを列挙する
enumDevice();
}
catch ( Exception ex ) {
Console.WriteLine( ex.Message );
}
}
private void ConfigureRealSense()
{
PXCMFaceModule faceModule;
// Start the SenseManager and session
senseManager = PXCMSenseManager.CreateInstance();
senseManager.captureManager.SetFileName("recorded_video.wm", true);
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
senseManager.Init();
senseManager.captureManager.SetRealtime(false);
senseManager.captureManager.SetPause(true);
// Enable the color stream
//senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
//60 0r 0 for fps?
// Enable the face module
senseManager.EnableFace();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.detection.isEnabled = true;
expressionConfig = faceConfig.QueryExpressions();
expressionConfig.Enable();
expressionConfig.EnableAllExpressions();
faceConfig.EnableAllAlerts();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
// Enable facial recognition
recognitionConfig = faceConfig.QueryRecognition();
recognitionConfig.Enable();
// Create a recognition database
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc recognitionDesc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
recognitionDesc.maxUsers = DatabaseUsers;
recognitionConfig.CreateStorage(DatabaseName, out recognitionDesc);
recognitionConfig.UseStorage(DatabaseName);
LoadDatabaseFromFile();
recognitionConfig.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
int numFaces = faceData.QueryNumberOfDetectedFaces();
Console.WriteLine("number of detected faces", numFaces);
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
faceConfig.Dispose();
faceModule.Dispose();
}
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();
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
PXCMCaptureManager captureMgr = pp.captureManager;
if (captureMgr == null)
{
throw new Exception("PXCMCaptureManager null");
}
var selectedRes = m_form.GetCheckedColorResolution();
if (selectedRes != null && !m_form.IsInPlaybackState())
{
// Set active camera
PXCMCapture.DeviceInfo deviceInfo;
m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out deviceInfo);
captureMgr.FilterByDeviceInfo(m_form.GetCheckedDeviceInfo());
// activate filter only live/record mode , no need in playback mode
var set = new PXCMCapture.Device.StreamProfileSet
{
color =
{
frameRate = selectedRes.Item2,
imageInfo =
{
format = selectedRes.Item1.format,
height = selectedRes.Item1.height,
width = selectedRes.Item1.width
}
}
};
if (m_form.IsPulseEnabled() && (set.color.imageInfo.width < 1280 || set.color.imageInfo.height < 720))
{
captureMgr.FilterByStreamProfiles(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else
{
captureMgr.FilterByStreamProfiles(set);
}
}
// Set Source & Landmark Profile Index
if (m_form.IsInPlaybackState())
{
//pp.captureManager.FilterByStreamProfiles(null);
captureMgr.SetFileName(m_form.GetFileName(), false);
captureMgr.SetRealtime(false);
}
else if (m_form.GetRecordState())
{
captureMgr.SetFileName(m_form.GetFileName(), true);
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
var checkedProfile = m_form.GetCheckedProfile();
var mode = m_form.FaceModesMap.First(x => x.Value == checkedProfile).Key;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.PulseConfiguration pulseConfiguration = moduleConfiguration.QueryPulse();
if (pulseConfiguration == null)
{
throw new Exception("pulseConfiguration null");
}
pulseConfiguration.properties.maxTrackedFaces = m_form.NumPulse;
if (m_form.IsPulseEnabled())
{
pulseConfiguration.Enable();
}
qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
#region 臉部辨識資料庫讀取
if (File.Exists(DatabasePath))
{
m_form.UpdateStatus("正在讀取資料庫", MainForm.Label.StatusLabel);
List <RecognitionFaceData> faceData = null;
FaceDatabaseFile.Load(DatabasePath, ref faceData, ref NameMapping);
FaceData = faceData.ToArray();
qrecognition.SetDatabase(FaceData);
}
#endregion
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureMgr.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
#region loop
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
var isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
switch (mode)
{
case PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR:
if (sample.ir != null)
{
DisplayPicture(sample.ir);
}
break;
default:
DisplayPicture(sample.color);
break;
}
moduleOutput.Update();
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
pp.ReleaseFrame();
continue;
}
if (recognition.properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
#endregion
}
// moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
// moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
#region 儲存臉部辨識資訊檔案
if (DatabaseChanged)
{
FaceDatabaseFile.Save(DatabasePath, FaceData.ToList(), NameMapping);
}
#endregion
var dbm = new FaceDatabaseManager(pp);
moduleConfiguration.Dispose();
pp.Close();
pp.Dispose();
}
void InitializeRealSense()
{
pxcmStatus status;
// Initialize a PXCMSenseManager instance
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
Debug.LogError("PXCSenseManager.CreateInstance() failed");
DisableRealSense();
return;
}
status = senseManager.EnableFace();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.Log("PXCSenseManager.EnableFace() failed [" + status + "]");
DisableRealSense();
return;
}
// Configure face module
PXCMFaceConfiguration faceCfg;
// Configure face module for detection (bounding rect and depth)
faceCfg = senseManager.QueryFace().CreateActiveConfiguration();
faceCfg.detection.isEnabled = true;
faceCfg.landmarks.isEnabled = false;
faceCfg.pose.isEnabled = false;
faceCfg.detection.maxTrackedFaces = 1;
faceCfg.detection.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_HIGH;
status = faceCfg.ApplyChanges();
faceCfg.Dispose();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCMFaceConfiguration failed [" + status + "]");
DisableRealSense();
return;
}
// Initialize sense manager pipeline
status = senseManager.Init();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.Init() failed [" + status + "]");
DisableRealSense();
return;
}
Debug.Log("RealSense Initialized successfully");
}
void InitializeRealSense()
{
pxcmStatus status;
// Initialize a PXCMSenseManager instance
senseManager = PXCMSenseManager.CreateInstance ();
if (senseManager == null)
{
Debug.LogError ("PXCSenseManager.CreateInstance() failed");
DisableRealSense();
return;
}
status = senseManager.EnableFace();
if(status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.Log("PXCSenseManager.EnableFace() failed [" + status + "]");
DisableRealSense();
return;
}
// Configure face module
PXCMFaceConfiguration faceCfg;
// Configure face module for detection (bounding rect and depth)
faceCfg = senseManager.QueryFace().CreateActiveConfiguration();
faceCfg.detection.isEnabled = true;
faceCfg.landmarks.isEnabled = false;
faceCfg.pose.isEnabled = false;
faceCfg.detection.maxTrackedFaces = 1;
faceCfg.detection.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_HIGH;
status = faceCfg.ApplyChanges();
faceCfg.Dispose();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCMFaceConfiguration failed [" + status + "]");
DisableRealSense();
return;
}
// Initialize sense manager pipeline
status = senseManager.Init ();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError ("PXCSenseManager.Init() failed [" + status + "]");
DisableRealSense();
return;
}
Debug.Log ("RealSense Initialized successfully");
}
public void SimplePipeline()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
// Set Source & Landmark Profile Index
PXCMCapture.DeviceInfo info;
if (m_form.GetRecordState())
{
pp.captureManager.SetFileName(m_form.GetFileName(), true);
if (m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out info))
{
pp.captureManager.FilterByDeviceInfo(info);
}
}
else if (m_form.GetPlaybackState())
{
pp.captureManager.SetFileName(m_form.GetFileName(), false);
PXCMCaptureManager cmanager = pp.QueryCaptureManager();
if (cmanager == null)
{
throw new Exception("PXCMCaptureManager null");
}
cmanager.SetRealtime(false);
}
else
{
if (m_form.Devices.TryGetValue(m_form.GetCheckedDevice(), out info))
{
pp.captureManager.FilterByDeviceInfo(info);
Tuple <PXCMImage.ImageInfo, PXCMRangeF32> selectedRes = m_form.GetCheckedColorResolution();
var set = new PXCMCapture.Device.StreamProfileSet();
set.color.frameRate = selectedRes.Item2;
set.color.imageInfo.format = selectedRes.Item1.format;
set.color.imageInfo.width = selectedRes.Item1.width;
set.color.imageInfo.height = selectedRes.Item1.height;
pp.captureManager.FilterByStreamProfiles(set);
}
}
// Set Module
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(faceModule != null);
return;
}
PXCMFaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.Assert(moduleConfiguration != null);
return;
}
PXCMFaceConfiguration.TrackingModeType mode = m_form.GetCheckedProfile().Contains("3D")
? PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH
: PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR;
moduleConfiguration.SetTrackingMode(mode);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.maxTrackedFaces = m_form.NumDetection;
moduleConfiguration.landmarks.maxTrackedFaces = m_form.NumLandmarks;
moduleConfiguration.pose.maxTrackedFaces = m_form.NumPose;
PXCMFaceConfiguration.ExpressionsConfiguration econfiguration = moduleConfiguration.QueryExpressions();
if (econfiguration == null)
{
throw new Exception("ExpressionsConfiguration null");
}
econfiguration.properties.maxTrackedFaces = m_form.NumExpressions;
econfiguration.EnableAllExpressions();
moduleConfiguration.detection.isEnabled = m_form.IsDetectionEnabled();
moduleConfiguration.landmarks.isEnabled = m_form.IsLandmarksEnabled();
moduleConfiguration.pose.isEnabled = m_form.IsPoseEnabled();
if (m_form.IsExpressionsEnabled())
{
econfiguration.Enable();
}
PXCMFaceConfiguration.RecognitionConfiguration qrecognition = moduleConfiguration.QueryRecognition();
if (qrecognition == null)
{
throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
}
if (m_form.IsRecognitionChecked())
{
qrecognition.Enable();
}
moduleConfiguration.EnableAllAlerts();
moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Init Started", MainForm.Label.StatusLabel);
if (applyChangesStatus < pxcmStatus.PXCM_STATUS_NO_ERROR || pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
m_form.UpdateStatus("Init Failed", MainForm.Label.StatusLabel);
}
else
{
using (PXCMFaceData moduleOutput = faceModule.CreateOutput())
{
Debug.Assert(moduleOutput != null);
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCaptureManager cmanager = pp.QueryCaptureManager();
if (cmanager == null)
{
throw new Exception("capture manager null");
}
PXCMCapture.Device device = cmanager.QueryDevice();
if (device == null)
{
throw new Exception("device null");
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
CheckForDepthStream(profiles, faceModule);
ushort threshold = device.QueryDepthConfidenceThreshold();
int filter_option = device.QueryIVCAMFilterOption();
int range_tradeoff = device.QueryIVCAMMotionRangeTradeOff();
device.SetDepthConfidenceThreshold(1);
device.SetIVCAMFilterOption(6);
device.SetIVCAMMotionRangeTradeOff(21);
if (m_form.IsMirrored())
{
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
}
else
{
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
}
m_form.UpdateStatus("Streaming", MainForm.Label.StatusLabel);
m_timer = new FPSTimer(m_form);
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
bool isConnected = pp.IsConnected();
DisplayDeviceConnection(isConnected);
if (isConnected)
{
PXCMCapture.Sample sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
DisplayPicture(sample.color);
moduleOutput.Update();
if (moduleConfiguration.QueryRecognition().properties.isEnabled)
{
UpdateRecognition(moduleOutput);
}
m_form.DrawGraphics(moduleOutput);
m_form.UpdatePanel();
}
pp.ReleaseFrame();
}
device.SetDepthConfidenceThreshold(threshold);
device.SetIVCAMFilterOption(filter_option);
device.SetIVCAMMotionRangeTradeOff(range_tradeoff);
}
moduleConfiguration.UnsubscribeAlert(FaceAlertHandler);
moduleConfiguration.ApplyChanges();
m_form.UpdateStatus("Stopped", MainForm.Label.StatusLabel);
}
moduleConfiguration.Dispose();
pp.Close();
pp.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();
}
}
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;
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
this.DataContext = this;
SenseManager = PXCMSenseManager.CreateInstance();
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720);
SenseManager.EnableFace();
InitializeCamera();
ConfigurePollingTask();
}
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());
}
}
private void ProcessingThread()
{
string videoName, nameColor, nameDepth, nameIr;
int width = 640;
int height = 480;
int frameIndex = 0;
string formatImageFile = ".png";
int nframes = 0;
int lostFrames = 0;
string landmarks = null;
long frameTimeStamp = 0;
PXCMImage color;
PXCMImage depth;
PXCMImage ir;
PXCMCapture.Sample sample;
PXCMImage.ImageData imageColor;
PXCMImage.ImageData imageDepth;
PXCMImage.ImageData imageIr;
WriteableBitmap wbm1, wbm2, wbm3;
Int32Rect rect2crop;
PXCMFaceModule faceModule;
PXCMFaceConfiguration faceConfig;
PXCMFaceData faceData = null;
//Offset Cropped rectangle
Offset offset = new Offset(0, 0, 0, 0);
//For each directory, extract all landmarks or images streams from all videos
foreach (var dir in dirsSource)
{
//If the folder is not empty
if (Directory.EnumerateFileSystemEntries(dir).Any())
{
dictPaths.TryGetValue(dir, out paths); //This dict contains all source and output dirs
List <string> fileList = new List <string>(Directory.GetFiles(dir, "*.rssdk"));
//For each video
foreach (var inputFile in fileList)
{
lostFrames = 0;
videoName = inputFile.Split('\\').Last().Split('.')[0];
// Create a SenseManager instance
sm = PXCMSenseManager.CreateInstance();
// Recording mode: true
// Playback mode: false
// Settings for playback mode (read rssdk files and extract frames)
sm.captureManager.SetFileName(inputFile, false);
sm.captureManager.SetRealtime(false);
nframes = sm.captureManager.QueryNumberOfFrames();
//Update in realtime the current extraction
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
textBox2.Text = nframes.ToString();
textBox3.Text = String.Format("Record: {0}\nVideo: {1}", paths.root, videoName);
}));
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, width, height, 0);
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, width, height);
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, width, height);
//Extract Landmarks
sm.EnableFace();
faceModule = sm.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.landmarks.maxTrackedFaces = 1;
faceConfig.landmarks.isEnabled = true;
faceConfig.detection.maxTrackedFaces = 1;
faceConfig.detection.isEnabled = true;
faceConfig.EnableAllAlerts();
faceConfig.ApplyChanges();
sm.Init();
// This string stores all data before saving to csv file
landmarks = null;
// Start AcquireFrame/ReleaseFrame loop
var stopwatch = new Stopwatch();
stopwatch.Start();
while (sm.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Retrieve face data
faceModule = sm.QueryFace();
frameIndex = sm.captureManager.QueryFrameIndex();
if (faceModule != null)
{
// Retrieve the most recent processed data
faceData = faceModule.CreateOutput();
faceData.Update();
}
if (faceData != null)
{
Int32 nfaces = faceData.QueryNumberOfDetectedFaces();
frameTimeStamp = sm.captureManager.QueryFrameTimeStamp();
//PXCMCapture.Sample sample = senseManager.QuerySample();
if (nfaces == 0) //If none face was detected, we will consider as a "lost frame"
{
lostFrames += 1;
}
for (Int32 i = 0; i < nfaces; i++)
{
//Retrieve the image
sample = sm.QuerySample();
// Work on the images
color = sample.color;
depth = sample.depth;
ir = sample.ir;
PXCMFaceData.Face face = faceData.QueryFaceByIndex(i);
PXCMFaceData.LandmarksData landmarkData = face.QueryLandmarks();
PXCMFaceData.DetectionData ddata = face.QueryDetection();
PXCMFaceData.PoseData poseData = face.QueryPose();
poseData.QueryHeadPosition(out PXCMFaceData.HeadPosition headPosition);
poseData.QueryPoseAngles(out PXCMFaceData.PoseEulerAngles poseEulerAngles);
Debug.WriteLine(headPosition.headCenter.x + " " + headPosition.headCenter.y + " " + headPosition.headCenter.z + " " + poseEulerAngles.pitch + " " + poseEulerAngles.roll + " " + poseEulerAngles.yaw);
//Rectangle coordenates from detected face
ddata.QueryBoundingRect(out PXCMRectI32 rect);
//See the offset struct to define the values
rect2crop = new Int32Rect(rect.x + offset.x, rect.y + offset.y, rect.w + offset.w, rect.h + offset.h);
ddata.QueryFaceAverageDepth(out Single depthDistance);
color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out imageColor);
depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH_RAW, out imageDepth);
ir.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out imageIr);
//Convert it to Bitmap
wbm1 = imageColor.ToWritableBitmap(0, color.info.width, color.info.height, 100.0, 100.0);
wbm2 = imageDepth.ToWritableBitmap(0, depth.info.width, depth.info.height, 100.0, 100.0);
wbm3 = imageIr.ToWritableBitmap(0, ir.info.width, ir.info.height, 100.0, 100.0);
color.ReleaseAccess(imageColor);
depth.ReleaseAccess(imageDepth);
ir.ReleaseAccess(imageIr);
nameColor = paths.rgbFolder + "\\" + videoName + "\\" + videoName + "_color_" + frameIndex + formatImageFile;
nameDepth = paths.depthFolder + "\\" + videoName + "\\" + videoName + "_depth_" + frameIndex + formatImageFile;
nameIr = paths.irFolder + "\\" + videoName + "\\" + videoName + "_ir_" + frameIndex + formatImageFile;
//Crops the face images!
CreateThumbnail(nameColor, new CroppedBitmap(wbm1, rect2crop));
CreateThumbnail(nameDepth, new CroppedBitmap(wbm2, rect2crop));
CreateThumbnail(nameIr, new CroppedBitmap(wbm3, rect2crop));
//Debug.WriteLine((depthDistance /1000 ) + " m" + " " + rect.x + " " + rect.y + " " + rect.w + " " + rect.h);
/*
* x - The horizontal coordinate of the top left pixel of the rectangle.
* y - The vertical coordinate of the top left pixel of the rectangle.
* w - The rectangle width in pixels.
* h -The rectangle height in pixels.*/
if (landmarkData != null)
{
PXCMFaceData.LandmarkPoint[] landmarkPoints;
landmarkData.QueryPoints(out landmarkPoints);
Application.Current.Dispatcher.BeginInvoke(new Action(() => textBox1.Text = frameIndex.ToString()));
landmarks += inputFile.Split('\\').Last() + ";" + frameIndex + ";" + nameColor + ";" + nameDepth + ";" + nameIr + ";" + frameTimeStamp + ";" + depthDistance.ToString("F") + ";" + poseEulerAngles.yaw.ToString("F") + ";" + poseEulerAngles.pitch.ToString("F") + ";" + poseEulerAngles.roll.ToString("F") + ";"; // Begin line with frame info
for (int j = 0; j < landmarkPoints.Length; j++) // Writes landmarks coordinates along the line
{
//get world coordinates
landmarks += /*landmarkPoints[j].source.index + ";" +*/ (landmarkPoints[j].world.x * 1000).ToString("F") + ";" + (landmarkPoints[j].world.y * 1000).ToString("F") + ";" + (landmarkPoints[j].world.z * 1000).ToString("F") + ";";
}
for (int j = 0; j < landmarkPoints.Length; j++)
{
//get coordinate of the image pixel
landmarks += /*landmarkPoints[j].confidenceImage + ";" + */ landmarkPoints[j].image.x.ToString("F") + ";" + landmarkPoints[j].image.y.ToString("F") + ";";
}
landmarks += '\n'; // Breaks line after the end of the frame coordinates
}
}
}
// Release the frame
if (faceData != null)
{
faceData.Dispose();
}
sm.ReleaseFrame();
WriteToFile(paths.csvFile, landmarks);
landmarks = null;
}
sm.Dispose();
stopwatch.Stop();
//Update in realtime the current extraction
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
elapsedLabel.Content = String.Format("Elapsed Time: {0} (s)", stopwatch.Elapsed.TotalSeconds.ToString("F"));
}));
}
}
}
}
public void FaceAndHandPipeLine()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 360);
// 面部初始化
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(true);
return;
}
PXCMFaceConfiguration faceCfg = faceModule.CreateActiveConfiguration();
if (faceCfg == null)
{
Debug.Assert(true);
return;
}
faceCfg.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceCfg.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_CLOSEST_TO_FARTHEST;
// 单个人追踪
faceCfg.detection.maxTrackedFaces = NUM_PERSONS;
faceCfg.landmarks.maxTrackedFaces = NUM_PERSONS;
faceCfg.pose.maxTrackedFaces = NUM_PERSONS;
// 表情初始化
PXCMFaceConfiguration.ExpressionsConfiguration expressionCfg = faceCfg.QueryExpressions();
if (expressionCfg == null)
{
throw new Exception("ExpressionsConfiguration null");
}
expressionCfg.properties.maxTrackedFaces = NUM_PERSONS;
expressionCfg.EnableAllExpressions();
faceCfg.detection.isEnabled = true;
faceCfg.landmarks.isEnabled = true;
faceCfg.pose.isEnabled = true;
if (expressionCfg != null)
{
expressionCfg.Enable();
}
//脉搏初始化
PXCMFaceConfiguration.PulseConfiguration pulseConfiguration = faceCfg.QueryPulse();
if (pulseConfiguration == null)
{
throw new Exception("pulseConfiguration null");
}
pulseConfiguration.properties.maxTrackedFaces = NUM_PERSONS;
if (pulseConfiguration != null)
{
pulseConfiguration.Enable();
}
faceCfg.ApplyChanges();
if (pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Init failed");
}
else
{
using (PXCMFaceData faceData = faceModule.CreateOutput())
{
if (faceData == null)
{
throw new Exception("face data failure");
}
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true).IsError())
{
break;
}
var isConnected = pp.IsConnected();
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
// default is COLOR
DisplayPicture(sample.color);
// 如果检测脸数==0，则continue
faceData.Update();
int nFace = faceData.QueryNumberOfDetectedFaces();
if (nFace == 0)
{
continue;
}
// 存
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
//SaveFaceLandmarkData(face);
SaveFacialExpressionData(face);
m_form.UpdatePic();
}
pp.ReleaseFrame();
}
}
}
pp.Close();
pp.Dispose();
}
//*********************************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;
}
}
private bool InitializeRealSense()
{
pxcmStatus status;
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
Debug.LogError("Unable to create SenseManager.");
return false;
}
status = senseManager.EnableFace();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Couldn't enable the Face Module.");
return false;
}
faceModule = senseManager.QueryFace();
if (faceModule == null)
{
Debug.LogError("Couldn't query the Face Module.");
return false;
}
PXCMFaceConfiguration faceConfiguration = faceModule.CreateActiveConfiguration();
if (faceConfiguration == null)
{
Debug.LogError("Couldn't create an active configuration.");
return false;
}
faceConfiguration.pose.isEnabled = true;
faceConfiguration.pose.maxTrackedFaces = 1;
PXCMFaceConfiguration.ExpressionsConfiguration expressionsConfiguration = faceConfiguration.QueryExpressions();
expressionsConfiguration.Enable();
status = expressionsConfiguration.EnableExpression(JumpExpression);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Unable to enable the expression " + JumpExpression + ".");
return false;
}
status = expressionsConfiguration.EnableExpression(FireExpression);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Unable to enable the expression " + FireExpression + ".");
return false;
}
status = faceConfiguration.ApplyChanges();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Unable to apply configuration settings.");
return false;
}
faceData = faceModule.CreateOutput();
if (faceData == null)
{
Debug.LogError("Couldn't create the data output object.");
return false;
}
status = senseManager.Init();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Unable to initialize SenseManager.");
return false;
}
PXCMSession session = senseManager.QuerySession();
PXCMSmoother smoother;
status = session.CreateImpl<PXCMSmoother>(out smoother);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Failed to create the smoother.");
return false;
}
smoother2D = smoother.Create2DWeighted(10);
return true;
}
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;
}
private void FaceTrackingPipeline()
{
IsDispose = false;
OnStart?.Invoke(this, null);
#region Manager Init
realSenseManager = RealSenseObjects.Session.CreateSenseManager();
if (realSenseManager == null)
{
MessageBox.Show(
"PXCMSenseManager初始化失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
PXCMCaptureManager captureManager = realSenseManager.captureManager;
if (captureManager == null)
{
MessageBox.Show(
"PXCMCaptureManager初始化失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
#endregion
#region 基本設定
//設定裝置
captureManager.FilterByDeviceInfo(Form.SelectedDevice);
//設定串流類型
captureManager.FilterByStreamProfiles(Form.SelectedDeviceStreamProfile);
//啟用臉部追蹤模組
realSenseManager.EnableFace();
PXCMFaceModule faceModule = realSenseManager.QueryFace();
if (faceModule == null)
{
MessageBox.Show(
"取得PXCMFaceModule失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
//建立臉部追蹤模組設定
moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
MessageBox.Show(
"建立PXCMFaceConfiguration失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
//追蹤模式設定
moduleConfiguration.SetTrackingMode(Form.ModeType);
moduleConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.detection.isEnabled = true;
moduleConfiguration.detection.maxTrackedFaces = 4;//最大追蹤4個臉
moduleConfiguration.landmarks.isEnabled = false;
moduleConfiguration.pose.isEnabled = false;
recognitionConfig =
moduleConfiguration.QueryRecognition();
if (recognitionConfig == null)
{
MessageBox.Show(
"建立RecognitionConfiguration失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
recognitionConfig.Enable();
#endregion
#region 讀取資料庫數據
if (Form.FaceData != null)
{
recognitionConfig.SetDatabase(Form.FaceData);
moduleConfiguration.ApplyChanges();
}
#endregion
#region 預備啟動
moduleConfiguration.EnableAllAlerts();
//moduleConfiguration.SubscribeAlert(FaceAlertHandler);
pxcmStatus applyChangesStatus = moduleConfiguration.ApplyChanges();
Form.SetStatus("RealSenseManager初始化中");
if (applyChangesStatus.IsError() || realSenseManager.Init().IsError())
{
MessageBox.Show(
"RealSenseManager初始化失敗，請檢查設定正確。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
#endregion
using (moduleOutput = faceModule.CreateOutput()) {
PXCMCapture.Device.StreamProfileSet profiles;
PXCMCapture.Device device = captureManager.QueryDevice();
if (device == null)
{
MessageBox.Show(
"取得設備失敗。",
"初始化失敗",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
OnStop?.Invoke(this, null);
return;
}
device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, out profiles);
#region Loop
while (!_Stop)
{
while (_Paush)
{
Application.DoEvents();
}
if (realSenseManager.AcquireFrame(true).IsError())
{
break;
}
var isConnected = realSenseManager.IsConnected();
if (isConnected)
{
var sample = realSenseManager.QueryFaceSample();
if (sample == null)
{
realSenseManager.ReleaseFrame();
continue;
}
#region 畫面取出
PXCMImage image = null;
if (Form.ModeType == PXCMFaceConfiguration.TrackingModeType.FACE_MODE_IR)
{
image = sample.ir;
}
else
{
image = sample.color;
}
#endregion
moduleOutput.Update();//更新辨識
PXCMFaceConfiguration.RecognitionConfiguration recognition = moduleConfiguration.QueryRecognition();
if (recognition == null)
{
realSenseManager.ReleaseFrame();
continue;
}
#region 繪圖與事件
OnFrame?.Invoke(this, new FaceRecognitionEventArgs()
{
Image = ToBitmap(image)
});
FindFace(moduleOutput);
#endregion
}
//發布框
realSenseManager.ReleaseFrame();
}
#endregion
//更新資料庫緩衝區
//Buffer = moduleOutput.QueryRecognitionModule().GetDatabaseBuffer();
}
#region 釋放資源
moduleConfiguration.Dispose();
realSenseManager.Close();
realSenseManager.Dispose();
#endregion
IsDispose = true;
OnStop?.Invoke(this, null);
}
/// <summary>
/// Starts this instance.
/// </summary>
public void Start()
{
if (_sm != null)
throw new ResearchException("Camera is already started.");
_sm = PXCMSenseManager.CreateInstance();
// Configure face detection.
if (EnableFace)
{
_sm.EnableFace();
var faceModule = _sm.QueryFace();
using (PXCMFaceConfiguration faceConfig = faceModule.CreateActiveConfiguration())
{
faceConfig.EnableAllAlerts();
faceConfig.pose.isEnabled = true;
faceConfig.pose.maxTrackedFaces = 4;
if (EnableExpression)
{
PXCMFaceConfiguration.ExpressionsConfiguration expression = faceConfig.QueryExpressions();
expression.Enable();
expression.EnableAllExpressions();
faceConfig.ApplyChanges();
}
}
}
if (EnableEmotion)
{
// Configure emotion detection.
_sm.EnableEmotion();
}
if (EnableStreaming)
{
// Configure streaming.
_sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
// _sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 640, 480);
}
// Event handler for data callbacks.
var handler = new PXCMSenseManager.Handler {
onModuleProcessedFrame=OnModuleProcessedFrame
};
_sm.Init(handler);
// GO.
Debug.WriteLine("{0} Starting streaming.", Time());
_sm.StreamFrames(false);
//Debug.WriteLine("{0} End streaming.", Time());
}
private void ConfigureRealSense()
{
PXCMFaceModule faceModule;
PXCMFaceConfiguration faceConfig;
// Start the SenseManager and session
senseManager = PXCMSenseManager.CreateInstance();
captureManager = senseManager.captureManager;
// Enable the color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 60);
//senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480, 0);
// Enable the face module
senseManager.EnableFace();
faceModule = senseManager.QueryFace();
faceConfig = faceModule.CreateActiveConfiguration();
// Configure for 3D face tracking (if camera cannot support depth it will revert to 2D tracking)
faceConfig.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
// Enable facial recognition
recognitionConfig = faceConfig.QueryRecognition();
recognitionConfig.Enable();
//Enable Landmark Detection
faceConfig.landmarks.isEnabled = true;
// Create a recognition database
PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc recognitionDesc = new PXCMFaceConfiguration.RecognitionConfiguration.RecognitionStorageDesc();
recognitionDesc.maxUsers = DatabaseUsers;
//recognitionConfig.CreateStorage(DatabaseName, out recognitionDesc);
//recognitionConfig.UseStorage(DatabaseName);
LoadDatabaseFromFile();
recognitionConfig.SetRegistrationMode(PXCMFaceConfiguration.RecognitionConfiguration.RecognitionRegistrationMode.REGISTRATION_MODE_CONTINUOUS);
// Apply changes and initialize
faceConfig.ApplyChanges();
senseManager.Init();
faceData = faceModule.CreateOutput();
// Mirror image
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// Release resources
faceConfig.Dispose();
faceModule.Dispose();
}
/// <summary>
/// 面部
/// </summary>
public void FacePipeLine()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 360);
// 面部初始化
pp.EnableFace();
PXCMFaceModule faceModule = pp.QueryFace();
if (faceModule == null)
{
Debug.Assert(true);
return;
}
PXCMFaceConfiguration faceCfg = faceModule.CreateActiveConfiguration();
if (faceCfg == null)
{
Debug.Assert(true);
return;
}
faceCfg.SetTrackingMode(PXCMFaceConfiguration.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH);
faceCfg.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_CLOSEST_TO_FARTHEST;
// 单个人追踪
faceCfg.detection.maxTrackedFaces = NUM_PERSONS;
faceCfg.landmarks.maxTrackedFaces = NUM_PERSONS;
faceCfg.pose.maxTrackedFaces = NUM_PERSONS;
// 表情初始化
PXCMFaceConfiguration.ExpressionsConfiguration expressionCfg = faceCfg.QueryExpressions();
if (expressionCfg == null)
{
throw new Exception("ExpressionsConfiguration null");
}
expressionCfg.properties.maxTrackedFaces = NUM_PERSONS;
expressionCfg.EnableAllExpressions();
faceCfg.detection.isEnabled = true;
faceCfg.landmarks.isEnabled = true;
faceCfg.pose.isEnabled = true;
if (expressionCfg != null)
{
expressionCfg.Enable();
}
//脉搏初始化
PXCMFaceConfiguration.PulseConfiguration pulseConfiguration = faceCfg.QueryPulse();
if (pulseConfiguration == null)
{
throw new Exception("pulseConfiguration null");
}
pulseConfiguration.properties.maxTrackedFaces = NUM_PERSONS;
if (pulseConfiguration != null)
{
pulseConfiguration.Enable();
}
// 面部识别功能初始化
//PXCMFaceConfiguration.RecognitionConfiguration qrecognition = faceCfg.QueryRecognition();
//if (qrecognition == null)
//{
// throw new Exception("PXCMFaceConfiguration.RecognitionConfiguration null");
//}
//else
//{
// qrecognition.Enable();
//}
faceCfg.ApplyChanges();
if (pp.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("Init failed");
}
else
{
using (PXCMFaceData faceData = faceModule.CreateOutput())
{
if (faceData == null)
{
throw new Exception("face data failure");
}
while (!m_form.Stopped)
{
if (pp.AcquireFrame(true).IsError())
{
break;
}
var isConnected = pp.IsConnected();
if (isConnected)
{
var sample = pp.QueryFaceSample();
if (sample == null)
{
pp.ReleaseFrame();
continue;
}
// default is COLOR
DisplayPicture(sample.color);
// 如果检测脸数==0，则continue
faceData.Update();
int nFace = faceData.QueryNumberOfDetectedFaces();
if (nFace == 0)
{
continue;
}
// 存
//PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
//SaveFaceLandmarkData(face);
//SaveFacialExpressionData(face);
// 获取脸部特征点数据
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
Landmarks.updateData(face);
// 获取表情数据
PXCMFaceData.ExpressionsData edata = face.QueryExpressions();
// 多线程加锁，数据同步，与VideoModule会发生竞争
lock (EmotionModel.svmFeature)
{
if (edata != null)
{
// 提取表情数据
int startIdx = EmotionModel.FaceExpressionStartIdx;
for (int i = 0; i < 22; i++)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult score;
edata.QueryExpression((PXCMFaceData.ExpressionsData.FaceExpression)i, out score);
Expression.facialExpressionIndensity[i] = score.intensity;
// 设置SVM Feature
EmotionModel.svmFeature[startIdx + i].Index = startIdx + i;
EmotionModel.svmFeature[startIdx + i].Value = score.intensity;
}
}
// 提取特征点位置数据
int startIdx2 = EmotionModel.FaceLandmarkStartIdx;
for (int i = 0; i < EmotionModel.FaceLandmarkCnt; i++)
{
// 设置SVM Feature
EmotionModel.svmFeature[startIdx2 + i].Index = startIdx2 + i;
EmotionModel.svmFeature[startIdx2 + i].Value = Landmarks.Landmarks[i];
}
}
m_form.UpdatePic();
}
pp.ReleaseFrame();
}
}
}
pp.Close();
pp.Dispose();
}