public void StartReceive()
{
IsStarted = true;
TcpClient client = null;
_networkService.OnConnectionsChanged += (s, e) =>
{
client = e.Connections.FirstOrDefault();
};
if (_networkService.ConnectToServer())
{
if (client != null)
{
IFormatter formatter = new BinaryFormatter();
Task.Factory.StartNew(() =>
{
while (IsStarted)
{
OnFrame.Invoke(this, new ScreenShareEventArgs()
{
Capture = formatter.Deserialize(client.GetStream()) as byte[]
});
}
});
}
}
}
public bool Decode(OnPacket onPacket, OnFrame onFrame)
{
int ret = ffmpeg.av_read_frame(formatContext, packet);
if (ret < 0)
{
return(false);
}
onPacket?.Invoke(packet);
ret = ffmpeg.avcodec_send_packet(context, packet);
if (ret < 0)
{
return(true);
}
while (ret >= 0)
{
ret = ffmpeg.avcodec_receive_frame(context, frame);
if ((ret == ffmpeg.AVERROR(ffmpeg.EAGAIN)) || (ret == ffmpeg.AVERROR_EOF))
{
return(true);
}
else if (ret < 0)
{
throw new Exception("error during encoding");
}
Console.WriteLine($"id: {context->frame_number}");
onFrame?.Invoke(frame);
}
return(true);
}
void stream__NewFrame(object sender, AForge.Video.NewFrameEventArgs eventArgs)
{
if (OnFrame != null)
{
OnFrame.Invoke(this, new FrameEventArgs {
Image = eventArgs.Frame
});
}
}
private void PushPixelToFrameBuffer(float sample)
{
framePtr[framePtrIndex] = sample;
framePtrIndex++;
if (framePtrIndex >= width)
{
OnFrame?.Invoke(framePtr, width);
framePtrIndex = 0;
}
}
private void InvokeEvents()
{
if (Device == null)
{
throw new InvalidOperationException("Renderer is null");
}
FrameStarting?.Invoke(this, Device);
OnFrame?.Invoke(this, Device);
FrameEnding?.Invoke(this, Device);
}
/// <summary>Handles the body frame data arriving from the sensor</summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
using (BodyFrame BFrame = e.FrameReference.AcquireFrame()) {
if (BFrame != null)
{
if (bodies == null)
{
bodies = new Body[BFrame.BodyCount];
}
Frm.TmSpan = e.FrameReference.RelativeTime;
Frm.FloorClip = BFrame.FloorClipPlane;
Frm.FrameNum = FrameCnt;
// The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
// As long as those body objects are not disposed and not set to null in the array, those body objects will be reused.
BFrame.GetAndRefreshBodyData(bodies);
bool FrameHasTrackedBodies = false;
for (int BNdx = 0; BNdx < bodies.Length; BNdx++)
{
if (bodies[BNdx].IsTracked == true)
{
FrameHasTrackedBodies = true;
Frm.BodyNdx = BNdx;
BJoints = bodies[BNdx].Joints;
foreach (JointType JType in BJoints.Keys)
{
Frm.CamPos[(int)JType] = BJoints[JType].Position;
Frm.SmoothedCSP[(int)JType] = BJoints[JType].Position; // overwritten if smoothing is called later
Frm.TrackState[(int)JType] = BJoints[JType].TrackingState;
}
OnFrame?.Invoke(Frm);
}
}
if (FrameHasTrackedBodies == true)
{
FrameCnt++;
}
}
}
}
private void InvokeEvents()
{
if (Device == null)
{
throw new InvalidOperationException("Renderer is null");
}
OnFrameStarting?.Invoke(this, Device);
if (!Device.IsDrawing)
{
Device.BeginScene();
}
OnFrame?.Invoke(this, Device);
if (Device.IsDrawing)
{
Device.EndScene();
}
OnFrameEnding?.Invoke(this, Device);
}
public KeyFrameScheduler(
TimeSpan?beginTime,
TimeSpan?duration,
TValue initialValue,
IEnumerable <IKeyFrame <TValue> >?frames,
OnFrame onFrame,
Action <EndReason> onCompleted)
{
CurrentValue = initialValue;
frames ??= Enumerable.Empty <IKeyFrame <TValue> >();
frames = duration.HasValue
? frames.Where(k => k != null && k.KeyTime.TimeSpan <= duration.Value)
: frames.Trim();
_frames = frames.ToList();
_frames.Sort(KeyFrameComparer <TValue> .Instance);
_beginTime = beginTime;
_duration = duration;
_onFrame = onFrame;
_onCompleted = onCompleted;
}
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);
}
public void DoFrame(long frameTimeNanos)
{
Choreographer.Instance.PostFrameCallback(this);
OnFrame?.Invoke(frameTimeNanos);
}
private void Update()
{
OnFrame?.Invoke();
}
/// <summary>
/// 服务端处理客户端信息循环。
/// </summary>
protected async void ClientLoop(TcpClient tc)
{
try
{
using (NetworkStream stream = tc.GetStream())
using (Timer timer = new Timer((object obj) => { stream.Close(); }, null, Timeout.Infinite, Timeout.Infinite))
{
await WriteFrame(stream, new Common.Frames.Information.RequestFrame()).ConfigureAwait(false);
timer.Change(Common.Configs.HelloTimeout, Timeout.Infinite);
var informationFrame = await ReadFrame(stream).ConfigureAwait(false) as Common.Frames.Information.AnswerFrame;
timer.Change(Timeout.Infinite, Timeout.Infinite);
if (informationFrame == null)
{
throw new Exception("Invalid Hello.");
}
ClientData client = new ClientData(this, tc, informationFrame);
try
{
OnConnect?.Invoke(client);
}
catch { }
try
{
Heartbeat(stream);
while (true)
{
timer.Change(Common.Configs.HeartbeatInterval * 3, Timeout.Infinite);
FrameBase frame = await ReadFrame(stream).ConfigureAwait(false);
timer.Change(Timeout.Infinite, Timeout.Infinite);
if (Common.Configs.Debug)
{
Console.WriteLine("R >" + frame.GetType().ToString());
}
OnFrame?.Invoke(client, frame);
}
}
catch { }
try
{
OnDisconnect?.Invoke(client);
}
catch { }
}
}
catch (Exception ex)
{
if (Common.Configs.Debug)
{
Console.WriteLine(ex.Message);
}
}
}
static unsafe void Main(string[] args)
{
Decoder decoder = new Decoder();
decoder.Initialize();
// decoder.Start("1.h264");
decoder.Start("rtmp://localhost:1935/live/test");
OnPacket onPacket = (packet) => {
Console.WriteLine($"length: {packet->size}");
byte[] data = new byte[packet->size];
Marshal.Copy((IntPtr)packet->data, data, 0, packet->size);
// Console.WriteLine("data: " + string.Concat(data.Select(b => string.Format("0x{0},", b.ToString("X2"))).ToArray()));
byte[] NALHeader = new byte[] { 0xAA, 0xBB, 0xCC, 0xDD };
int startIndex = 0;
int pos;
while ((pos = data.IndexOf(NALHeader, startIndex)) >= 0)
{
byte[] content = new byte[4];
Array.Copy(data, pos + 4, content, 0, 4);
int length = BitConverter.ToInt32(content, 0);
content = new byte[length];
Buffer.BlockCopy(data, pos + 4 + 4, content, 0, length);
string userData = System.Text.Encoding.UTF8.GetString(Decompress(content));
Console.WriteLine($"SEI length: {length}, {userData}");
startIndex = pos + 4 + 4 + length;
}
};
OnFrame onFrame = (frame) => {
Mat mat = new Mat(frame->height, frame->width, MatType.CV_8UC3, new Scalar(0, 0, 0));
mat = mat.CvtColor(ColorConversionCodes.BGR2YUV_I420);
IntPtr ptr = mat.Data;
int length1 = frame->linesize[0] * frame->height;
byte[] data = new byte[length1];
Marshal.Copy((IntPtr)frame->data[0], data, 0, length1);
for (int i = 0; i < frame->height; ++i, ptr += frame->width)
{
Marshal.Copy(data, frame->linesize[0] * i, ptr, frame->width);
}
int length2 = frame->linesize[1] * frame->height / 2;
data = new byte[length2];
Marshal.Copy((IntPtr)frame->data[1], data, 0, length2);
for (int i = 0; i < frame->height / 2; ++i, ptr += frame->width / 2)
{
Marshal.Copy(data, frame->linesize[1] * i, ptr, frame->width / 2);
}
int length3 = frame->linesize[2] * frame->height / 2;
data = new byte[length3];
Marshal.Copy((IntPtr)frame->data[2], data, 0, length3);
for (int i = 0; i < frame->height / 2; ++i, ptr += frame->width / 2)
{
Marshal.Copy(data, frame->linesize[2] * i, ptr, frame->width / 2);
}
mat = mat.CvtColor(ColorConversionCodes.YUV2BGR_I420);
Cv2.ImShow($"mat", mat);
Cv2.WaitKey(0);
};
while (decoder.Decode(onPacket, null))
{
}
decoder.Stop();
decoder.Dispose();
}
public void SetState(States state, OnFrame onTrigger)
{
onTriggerSingle += onTrigger;
SetState(state);
}
protected void Update()
{
switch (source)
{
case SOURCE.SolAR:
if (camera.getNextImage(inputImage) != FrameworkReturnCode._SUCCESS)
{
return;
}
break;
case SOURCE.Unity:
if (!webcam.didUpdateThisFrame)
{
return;
}
var ptr = webcam.GetNativeTexturePtr();
if (inputTex == null)
{
int w = webcam.width;
int h = webcam.height;
inputTex = Texture2D.CreateExternalTexture(w, h, TextureFormat.RGB24, false, false, ptr);
}
else
{
inputTex.UpdateExternalTexture(ptr);
}
break;
}
count++;
var isTracking = pipeline.Proceed(inputImage, pose, camera) == FrameworkReturnCode._SUCCESS;
//if(mode == PIPELINE.SLAM)
//{
//}
foreach (GameObject g in GameObject.FindGameObjectsWithTag("SolARObject"))
{
g.transform.GetComponent <Renderer>().enabled = isTracking;
}
if (isTracking)
{
if (mogrify)
{
overlay3D.draw(pose, inputImage);
}
}
OnStatus?.Invoke(isTracking);
switch (display)
{
case DISPLAY.SolAR:
enabled = (imageViewer.display(inputImage) == FrameworkReturnCode._SUCCESS);
break;
case DISPLAY.Unity:
inputImage.ToUnity(ref inputTex);
OnFrame?.Invoke(inputTex);
break;
}
}
public void Frame()
{
_surface.Clear(Color.Purple);
OnFrame.Raise(this, new FrameEventArgs(_surface));
}
