private void TrackPose(PXCMFaceData.Face faceDataFace)
{
PXCMFaceData.PoseData poseData = faceDataFace.QueryPose();
PXCMFaceData.HeadPosition headPosition;
PXCMFaceData.PoseEulerAngles poseAngles;
//TODO: What the hell is quaternion pose?
//PXCMFaceData.PoseQuaternion pose;
if (poseData.QueryHeadPosition(out headPosition) && poseData.QueryPoseAngles(out poseAngles))
{
UserHeadPose.Tracked = true;
UserHeadPose.Center = new Point()
{
X = headPosition.headCenter.x,
Y = headPosition.headCenter.y,
Z = headPosition.headCenter.z
};
UserHeadPose.Yaw = poseAngles.yaw;
UserHeadPose.Pitch = poseAngles.pitch;
UserHeadPose.Roll = poseAngles.roll;
}
else
{
UserHeadPose.Reset();
}
}
/// <summary>
/// 保存筛选32点的数据
/// </summary>
/// <param name="qface"></param>
/// <param name="frameCount"></param>
private void Savedata_less(PXCMFaceData.Face qface, int frameCount)
{
////zz
PXCMFaceData.PoseData posedata = qface.QueryPose();
PXCMFaceData.LandmarksData Idata = qface.QueryLandmarks();
PXCMFaceData.LandmarkPoint[] points;
PXCMFaceData.PoseEulerAngles angles;
PXCMFaceData.HeadPosition headpostion;
posedata.QueryPoseAngles(out angles);
posedata.QueryHeadPosition(out headpostion);
Idata.QueryPoints(out points);
string time = DateTime.Now.ToString("yyyy-MM-dd") + " " + DateTime.Now.ToString("hh:mm:ss:fff");
sw_less.Write(frameCount.ToString().PadRight(5) + '\t' + time + '\t' + expressionNumber.ToString() + '\t');
int[] a = new int[32] {
76, 77, 12, 16, 14, 10, 20, 24, 18, 22, 71, 0, 4, 74, 5, 9, 29, 26, 31, 30, 32, 39, 33, 47, 46, 48, 51, 52, 50, 56, 66, 61
};
int t = 0;
for (int i = 0; i < 32; i++)
{
//string LandmarkPointName = "points[a[t]].source.index";
string LandmarkPointName = MarkPointName(points[a[t]].source.index);
float Positionworld_x = points[a[t]].world.x;
float Positionworld_y = points[a[t]].world.y;
float Positionworld_z = points[a[t]].world.z;
float PositionImage_x = points[a[t]].image.x;
float PositionImage_y = points[a[t++]].image.y;
sw_less.Write((a[i]).ToString() + '\t'
+ LandmarkPointName.ToString() + '\t'
+ Positionworld_x.ToString().PadRight(25) + '\t'
+ Positionworld_y.ToString().PadRight(25) + '\t'
+ Positionworld_z.ToString().PadRight(25) + '\t'
+ PositionImage_x.ToString().PadRight(25) + '\t'
+ PositionImage_y.ToString().PadRight(25) + '\t');
}
float HeadCenter_x = headpostion.headCenter.x;
float HeadCenter_y = headpostion.headCenter.y;
float HeadCenter_z = headpostion.headCenter.z;
float PoseEulerAngles_pitch = angles.pitch;
float PoseEulerAngles_roll = angles.roll;
float PoseEulerAngles_yaw = angles.yaw;
sw_less.Write(HeadCenter_x.ToString().PadRight(25) + '\t'
+ HeadCenter_y.ToString().PadRight(25) + '\t'
+ HeadCenter_z.ToString().PadRight(25) + '\t'
+ PoseEulerAngles_pitch.ToString().PadRight(25) + '\t'
+ PoseEulerAngles_roll.ToString().PadRight(25) + '\t'
+ PoseEulerAngles_yaw.ToString().PadRight(25) + '\t');
sw_less.WriteLine();
}
private void TrackUserPosition(PXCMFaceData.Face faceDataFace)
{
if (faceDataFace == null)
{
ResetUserTrackData();
return;
}
PXCMFaceData.PoseData poseData = faceDataFace.QueryPose();
PXCMFaceData.HeadPosition headPosition;
PXCMFaceData.PoseEulerAngles poseAngles;
if (poseData != null &&
poseData.QueryHeadPosition(out headPosition) && poseData.QueryPoseAngles(out poseAngles))
{
IsUserTracked = true;
UserHeadPositionX = headPosition.headCenter.x;
UserHeadPositionY = headPosition.headCenter.y;
UserHeadPositionZ = headPosition.headCenter.z;
UserHeadPositionYaw = poseAngles.yaw;
UserHeadPositionPitch = poseAngles.pitch;
UserHeadPositionRoll = poseAngles.roll;
}
else
{
ResetUserTrackData();
}
}
//顔のフレームの更新処理
private void updateFaceFrame()
{
// フレームデータを取得する
PXCMCapture.Sample sample = senceManager.QuerySample();
UpdateColorImage(sample.color);
//SenceManagerモジュールの顔のデータを更新する
faceData.Update();
//検出した顔の数を取得する
int numFaces = faceData.QueryNumberOfDetectedFaces();
//追加：顔の姿勢情報を格納するための変数を用意する
PXCMFaceData.PoseEulerAngles[] poseAngle = new PXCMFaceData.PoseEulerAngles[POSE_MAXFACES];
if (senceManager != null)
{
//それぞれの顔ごとに情報取得および描画処理を行う
for (int i = 0; i < numFaces; ++i)
{
//顔の情報を取得する
PXCMFaceData.Face face = faceData.QueryFaceByIndex(i);
// 顔の位置を取得:Depthで取得する
var detection = face.QueryDetection();
if (detection != null)
{
PXCMRectI32 faceRect;
detection.QueryBoundingRect(out faceRect);
//顔の位置に合わせて長方形を変更
TranslateTransform transform = new TranslateTransform(faceRect.x, faceRect.y);
rect[i].Width = faceRect.w;
rect[i].Height = faceRect.h;
rect[i].Stroke = Brushes.Blue;
rect[i].StrokeThickness = 3;
rect[i].RenderTransform = transform;
//追加：ポーズ(顔の向きを取得)：Depth使用時のみ
PXCMFaceData.PoseData pose = face.QueryPose();
if (pose != null)
{
//顔の位置に合わせて姿勢情報を表示
tb[i, 0].RenderTransform = new TranslateTransform(transform.X, transform.Y - 30);
tb[i, 1].RenderTransform = new TranslateTransform(transform.X, transform.Y - 60);
tb[i, 2].RenderTransform = new TranslateTransform(transform.X, transform.Y - 90);
//追加：顔の姿勢情報(Yaw, Pitch, Roll)の情報
pose.QueryPoseAngles(out poseAngle[i]);
tb[i, 0].Text = "pitch:" + poseAngle[i].pitch;
tb[i, 1].Text = "roll:" + poseAngle[i].roll;
tb[i, 2].Text = "yaw:" + poseAngle[i].yaw;
}
}
}
}
}
public void DrawPose(PXCMFaceData.Face face)
{
Debug.Assert(face != null);
PXCMFaceData.PoseEulerAngles poseAngles;
PXCMFaceData.PoseData pdata = face.QueryPose();
if (pdata == null)
{
return;
}
if (!Pose.Checked || !pdata.QueryPoseAngles(out poseAngles))
{
return;
}
if (isRegisteredDetected(face)) // Main condition for fixed head
{
//SendFaceValue(FaceData);
lock (m_bitmapLock)
{
using (Graphics graphics = Graphics.FromImage(m_bitmap))
using (var brush = new SolidBrush(m_faceTextOrganizer.Colour))
using (var font = new Font(FontFamily.GenericMonospace, m_faceTextOrganizer.FontSize, FontStyle.Bold))
{
string yawText = String.Format("Yaw = {0}",
Convert.ToInt32(poseAngles.yaw).ToString(CultureInfo.InvariantCulture));
graphics.DrawString(yawText, font, brush, m_faceTextOrganizer.PoseLocation.X,
m_faceTextOrganizer.PoseLocation.Y);
string pitchText = String.Format("Pitch = {0}",
Convert.ToInt32(poseAngles.pitch).ToString(CultureInfo.InvariantCulture));
graphics.DrawString(pitchText, font, brush, m_faceTextOrganizer.PoseLocation.X,
m_faceTextOrganizer.PoseLocation.Y + m_faceTextOrganizer.FontSize);
string rollText = String.Format("Roll = {0}",
Convert.ToInt32(poseAngles.roll).ToString(CultureInfo.InvariantCulture));
graphics.DrawString(rollText, font, brush, m_faceTextOrganizer.PoseLocation.X,
m_faceTextOrganizer.PoseLocation.Y + 2 * m_faceTextOrganizer.FontSize);
/*
* Invoking and Sending Value to the Viewer Window form
* */
//SendFaceValue(poseAngles.yaw.ToString());
FaceDataValue = poseAngles.yaw.ToString();
//SendFaceData sfdd = new SendFaceData(DrawPose);
//this.Invoke(sfdd, new object[] { poseAngles.yaw.ToString() });
Invoke(new SendFaceData(SendFaceValue), new Object[] { (poseAngles.yaw), (poseAngles.pitch) });
Thread.Sleep(1);
}
}
}
}
private void GetFacePose(PXCMFaceData.Face face, out float pitch, out float yaw, out float roll)
{
pitch = -99.0f; yaw = -99.0f; roll = -99.0f;
PXCMFaceData.PoseData poseData = face.QueryPose();
if (poseData != null)
{
PXCMFaceData.PoseEulerAngles angles;
poseData.QueryPoseAngles(out angles);
pitch = angles.pitch;
yaw = angles.yaw;
roll = angles.roll;
}
}
private void ElaborateSample(PXCMCapture.Sample sample, PXCMFaceData.Face face)
{
if (sample == null)
{
return;
}
WriteableBitmap imageRGB = null;
bool isPoseVisible = false;
float pitchValue = 0, yawValue = 0, rollValue = 0;
if (sample.color != null)
{
imageRGB = sample.color.GetImage();
}
if (face != null)
{
PXCMFaceData.PoseData poseData = face.QueryPose();
PXCMFaceData.PoseEulerAngles poseAngles;
if (poseData.QueryPoseAngles(out poseAngles))
{
isPoseVisible = true;
pitchValue = poseAngles.pitch;
yawValue = poseAngles.yaw;
rollValue = poseAngles.roll;
}
}
if (imageRGB != null)
{
imageRGB.Freeze();
}
Dispatcher.Invoke(() =>
{
this.ImageRGB = imageRGB;
this.IsPoseVisible = isPoseVisible;
this.Pitch = pitchValue;
this.Roll = rollValue;
this.Yaw = yawValue;
});
}
private static void UpdateFace()
{
landmarksData = null;
if (faceData == null)
{
return;
}
faceData.Update();
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
if (face != null)
{
landmarksData = face.QueryLandmarks();
expressionData = face.QueryExpressions();
poseData = face.QueryPose();
UpdateFaceOrientation(poseData);
UpdateFacePosition(poseData);
UpdateFaceGeometry(landmarksData);
}
}
public void DrawPose(PXCMFaceData.Face face)
{
Debug.Assert(face != null);
PXCMFaceData.PoseEulerAngles poseAngles;
PXCMFaceData.PoseData pdata = face.QueryPose();
if (pdata == null)
{
return;
}
if (!Pose.Checked || !pdata.QueryPoseAngles(out poseAngles))
{
return;
}
lock (m_bitmapLock)
{
using (Graphics graphics = Graphics.FromImage(m_bitmap))
using (var brush = new SolidBrush(m_faceTextOrganizer.Colour))
using (var font = new Font(FontFamily.GenericMonospace, m_faceTextOrganizer.FontSize, FontStyle.Bold))
{
string yawText = String.Format("Yaw = {0}",
Convert.ToInt32(poseAngles.yaw).ToString(CultureInfo.InvariantCulture));
graphics.DrawString(yawText, font, brush, m_faceTextOrganizer.PoseLocation.X,
m_faceTextOrganizer.PoseLocation.Y);
string pitchText = String.Format("Pitch = {0}",
Convert.ToInt32(poseAngles.pitch).ToString(CultureInfo.InvariantCulture));
graphics.DrawString(pitchText, font, brush, m_faceTextOrganizer.PoseLocation.X,
m_faceTextOrganizer.PoseLocation.Y + m_faceTextOrganizer.FontSize);
string rollText = String.Format("Roll = {0}",
Convert.ToInt32(poseAngles.roll).ToString(CultureInfo.InvariantCulture));
graphics.DrawString(rollText, font, brush, m_faceTextOrganizer.PoseLocation.X,
m_faceTextOrganizer.PoseLocation.Y + 2 * m_faceTextOrganizer.FontSize);
}
}
}
/// <summary>
/// Update is called every frame, if the MonoBehaviour is enabled.
/// </summary>
void Update()
{
/* Make sure PXCMSenseManager Instance is Initialized */
if (psm == null)
{
return;
}
/* Wait until any frame data is available true(aligned) false(unaligned) */
if (psm.AcquireFrame(true) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
/* Retrieve face tracking data if ready */
faceAnalyzer = psm.QueryFace();
if (faceAnalyzer != null)
{
PXCMFaceData _outputData = faceAnalyzer.CreateOutput();
if (_outputData != null)
{
_outputData.Update();
for (int i = 0; i < _outputData.QueryNumberOfDetectedFaces(); i++)
{
PXCMFaceData.Face _iFace = _outputData.QueryFaceByIndex(i);
if (_iFace != null)
{
/* Retrieve 78 Landmark Points */
PXCMFaceData.LandmarksData LandmarkData = _iFace.QueryLandmarks();
if (LandmarkData != null)
{
PXCMFaceData.LandmarkPoint[] landmarkPoints = new PXCMFaceData.LandmarkPoint[MaxPoints];
if (LandmarkData.QueryPoints(out landmarkPoints))
{
faceRenderer.DisplayJoints2D(landmarkPoints);
}
}
/* Retrieve Detection Data */
PXCMFaceData.DetectionData detectionData = _iFace.QueryDetection();
if (detectionData != null)
{
PXCMRectI32 rect;
if (detectionData.QueryBoundingRect(out rect))
{
faceRenderer.SetDetectionRect(rect);
}
}
/* Retrieve Pose Data */
PXCMFaceData.PoseData poseData = _iFace.QueryPose();
if (poseData != null)
{
PXCMFaceData.PoseQuaternion poseQuaternion;
if (poseData.QueryPoseQuaternion(out poseQuaternion))
{
faceRenderer.DisplayPoseQuaternion(poseQuaternion);
}
}
/* Retrieve Expression Data */
PXCMFaceData.ExpressionsData expressionData = _iFace.QueryExpressions();
if (expressionData != null)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult expressionResult;
if (expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN, out expressionResult))
{
faceRenderer.DisplayExpression(expressionResult, PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN);
}
}
}
}
/* Retrieve Alert Data */
PXCMFaceData.AlertData _alertData;
for (int i = 0; i < _outputData.QueryFiredAlertsNumber(); i++)
{
if (_outputData.QueryFiredAlertData(i, out _alertData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
faceRenderer.DisplayAlerts(_alertData);
}
}
}
_outputData.Dispose();
}
/* Retrieve a sample from the camera */
PXCMCapture.Sample sample = psm.QueryFaceSample();
if (sample != null)
{
colorImage = sample.color;
if (colorImage != null)
{
if (colorTexture2D == null)
{
/* If not allocated, allocate a Texture2D */
colorTexture2D = new Texture2D(colorImage.info.width, colorImage.info.height, TextureFormat.ARGB32, false);
/* Associate the Texture2D with a gameObject */
colorPlane.renderer.material.mainTexture = colorTexture2D;
//colorPlane.renderer.material.mainTextureScale = new Vector2(-1f, 1f);
}
/* Retrieve the image data in Texture2D */
PXCMImage.ImageData colorImageData;
colorImage.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out colorImageData);
colorImageData.ToTexture2D(0, colorTexture2D);
colorImage.ReleaseAccess(colorImageData);
/* Apply the texture to the GameObject to display on */
colorTexture2D.Apply();
}
}
/* Realease the frame to process the next frame */
psm.ReleaseFrame();
}
private void updateFaceFrame()
{
PXCMCapture.Sample sample = this.senseManager.QuerySample();
this.image = sample.color;
if (this.image != null)
{
this.invalidate = true;
}
this.faceData.Update();
// get number of faces
FOutFaceLandmarkPoints.SliceCount = 0;
FOutFaceExpressionsResult.SliceCount = 0;
int numFaces = this.faceData.QueryNumberOfDetectedFaces();
for (int i = 0; i < numFaces; ++i)
{
// get faces info
PXCMFaceData.Face face = this.faceData.QueryFaceByIndex(i);
// get face position by Depth
var detection = face.QueryDetection();
if (detection != null)
{
// detection
PXCMRectI32 faceRect;
detection.QueryBoundingRect(out faceRect);
int sliceCount = i + 1;
FOutFacePosition.SliceCount = sliceCount;
FOutFacePosition[i] = new Vector2D(faceRect.x, faceRect.y);
FOutFaceWidth.SliceCount = sliceCount;
FOutFaceWidth[i] = faceRect.w;
FOutFaceHeight.SliceCount = sliceCount;
FOutFaceHeight[i] = faceRect.h;
// pose(only use Depth mode)
PXCMFaceData.PoseData pose = face.QueryPose();
if (pose != null)
{
// faces angle
PXCMFaceData.PoseEulerAngles poseAngle = new PXCMFaceData.PoseEulerAngles();
pose.QueryPoseAngles(out poseAngle);
FOutFacePose.SliceCount = sliceCount;
FOutFacePose[i] = new Vector3D(poseAngle.pitch, poseAngle.yaw, poseAngle.roll);
}
// landmarks
PXCMFaceData.LandmarksData landmarks = face.QueryLandmarks();
FOutFaceLandmarkBinSize.SliceCount = sliceCount;
if (landmarks != null)
{
// number of feature points from landmarks
int numPoints = landmarks.QueryNumPoints();
FOutFaceLandmarkBinSize[i] = numPoints;
PXCMFaceData.LandmarkPoint[] landmarkPoints = new PXCMFaceData.LandmarkPoint[numPoints];
int prevSliceCount = FOutFaceLandmarkPoints.SliceCount;
FOutFaceLandmarkPoints.SliceCount = prevSliceCount + numPoints;
if (landmarks.QueryPoints(out landmarkPoints))
{
for (int j = 0; j < numPoints; j++)
{
int index = prevSliceCount + j;
FOutFaceLandmarkPoints[index] = new Vector2D(landmarkPoints[j].image.x, landmarkPoints[j].image.y);
}
}
}
else
{
FOutFaceLandmarkBinSize[i] = 0;
FOutFaceLandmarkPoints.SliceCount = 0;
}
PXCMFaceData.ExpressionsData expressionData = face.QueryExpressions();
if (expressionData != null)
{
for (int j = 0; j < FInExpressions.SliceCount; j++)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult expressionResult;
if (expressionData.QueryExpression(FInExpressions[j], out expressionResult))
{
FOutFaceExpressionsResult.SliceCount++;
FOutFaceExpressionsResult[j] = expressionResult.intensity;
}
else
{
// do nothing
}
}
}
else
{
FOutFaceExpressionsResult.SliceCount = 0;
}
PXCMFaceData.PulseData pulseData = face.QueryPulse();
if (pulseData != null)
{
FOutPulse.SliceCount = sliceCount;
FOutPulse[i] = pulseData.QueryHeartRate();
}
}
}
}
public override bool Process(Trigger trigger)
{
trigger.ErrorDetected = false;
if (!SenseToolkitManager.Instance.IsSenseOptionSet(SenseOption.SenseOptionID.Face))
{
trigger.ErrorDetected = true;
return(false);
}
if (!(trigger is TrackTrigger))
{
trigger.ErrorDetected = true;
return(false);
}
// make sure we have valid values
if (RealWorldBoxDimensions.x <= 0)
{
RealWorldBoxDimensions.x = 1;
}
if (RealWorldBoxDimensions.y <= 0)
{
RealWorldBoxDimensions.y = 1;
}
if (RealWorldBoxDimensions.z <= 0)
{
RealWorldBoxDimensions.z = 1;
}
if (SenseToolkitManager.Instance.Initialized
&&
SenseToolkitManager.Instance.FaceModuleOutput != null)
{
if (SenseToolkitManager.Instance.FaceModuleOutput.QueryNumberOfDetectedFaces() == 0)
{
((TrackTrigger)trigger).Position = Vector3.zero;
return(false);
}
PXCMFaceData.Face singleFaceOutput = null;
singleFaceOutput = SenseToolkitManager.Instance.FaceModuleOutput.QueryFaceByIndex(FaceIndex);
bool success = false;
if (singleFaceOutput != null && singleFaceOutput.QueryUserID() >= 0)
{
// Process Tracking
if (trigger is TrackTrigger)
{
TrackTrigger specificTrigger = (TrackTrigger)trigger;
var landmarksData = singleFaceOutput.QueryLandmarks();
bool hasLandmarks = false;
if (landmarksData != null)
{
PXCMFaceData.LandmarkPoint outpt = null;
bool hasPoint = landmarksData.QueryPoint(landmarksData.QueryPointIndex(LandmarkToTrack), out outpt);
if (hasPoint)
{
hasLandmarks = outpt.confidenceWorld != 0;
}
}
if (!hasLandmarks && useBoundingBox)
{
PXCMRectI32 rect = new PXCMRectI32();
if (singleFaceOutput.QueryDetection() != null && singleFaceOutput.QueryDetection().QueryBoundingRect(out rect))
{
float depth;
singleFaceOutput.QueryDetection().QueryFaceAverageDepth(out depth);
float bbCenterX = (rect.x + rect.w / 2);
float bbCenterY = (rect.y + rect.h / 2);
Vector3 vec = new Vector3();
if (_pos_ijz == null)
{
_pos_ijz = new PXCMPoint3DF32[1] {
new PXCMPoint3DF32()
};
}
_pos_ijz[0].x = bbCenterX;
_pos_ijz[0].y = bbCenterY;
_pos_ijz[0].z = depth;
if (_pos3d == null)
{
_pos3d = new PXCMPoint3DF32[1] {
new PXCMPoint3DF32()
};
}
SenseToolkitManager.Instance.Projection.ProjectDepthToCamera(_pos_ijz, _pos3d);
Vector3 position = new Vector3();
vec.x = _pos3d[0].x / 10f;
vec.y = _pos3d[0].y / 10f;
vec.z = _pos3d[0].z / 10f;
// Clamp and normalize to the Real World Box
TrackingUtilityClass.ClampToRealWorldInputBox(ref vec, RealWorldBoxCenter, RealWorldBoxDimensions);
TrackingUtilityClass.Normalize(ref vec, RealWorldBoxCenter, RealWorldBoxDimensions);
if (!float.IsNaN(vec.x) && !float.IsNaN(vec.y) && !float.IsNaN(vec.z))
{
specificTrigger.Position = vec;
return(true);
}
}
else
{
specificTrigger.Position = Vector3.zero;
return(false);
}
}
else if (landmarksData == null && !useBoundingBox)
{
specificTrigger.Position = Vector3.zero;
return(false);
}
else
{
int landmarkId = landmarksData.QueryPointIndex(LandmarkToTrack);
PXCMFaceData.LandmarkPoint point = null;
landmarksData.QueryPoint(landmarkId, out point);
// Translation
if (point != null)
{
Vector3 vec = new Vector3();
vec.x = -point.world.x * 100f;
vec.y = point.world.y * 100f;
vec.z = point.world.z * 100f;
if (vec.x + vec.y + vec.z == 0)
{
specificTrigger.Position = Vector3.zero;
return(false);
}
// Clamp and normalize to the Real World Box
TrackingUtilityClass.ClampToRealWorldInputBox(ref vec, RealWorldBoxCenter, RealWorldBoxDimensions);
TrackingUtilityClass.Normalize(ref vec, RealWorldBoxCenter, RealWorldBoxDimensions);
if (!float.IsNaN(vec.x) && !float.IsNaN(vec.y) && !float.IsNaN(vec.z))
{
specificTrigger.Position = vec;
success = true;
}
}
//Rotation
PXCMFaceData.PoseData poseData = singleFaceOutput.QueryPose();
if (success && poseData != null)
{
PXCMFaceData.PoseEulerAngles angles;
if (poseData.QueryPoseAngles(out angles))
{
if (!float.IsNaN(angles.pitch) && !float.IsNaN(angles.yaw) && !float.IsNaN(angles.roll))
{
Quaternion q = Quaternion.Euler(-angles.pitch, angles.yaw, -angles.roll);
specificTrigger.RotationQuaternion = q;
return(true);
}
}
}
}
}
}
}
return(false);
}
// Update is called once per frame
void Update()
{
if (session == null)
{
return;
}
// For accessing hand data
handAnalyzer = session.QueryHand();
faceAnalyzer = session.QueryFace();
if (handAnalyzer != null)
{
PXCMHandData handData = handAnalyzer.CreateOutput();
if (handData != null)
{
handData.Update();
PXCMHandData.IHand IHAND; // Ihand instance for accessing future data
// Int32 IhandData; // for QueryOpenness Value
// PXCMPoint3DF32 location; // Stores hand tracking position
//Fills IHAND with information to later be grabbed and used for tracking + openness
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, 0, out IHAND);
// If there is data in Ihand
if (IHAND != null)
{
// Debug.DrawLine(transform.position, hit.point, Color.red);
// Inits hand tracking from the center of the hand.
// location = IHAND.QueryMassCenterWorld();
// if (mCurrentDart != null)
// {
// Vector3 locationUnity = new Vector3(location.x, location.y, location.z);
// mCurrentDart.transform.localPosition = locationUnity * RSScale;
// }
}
}
handAnalyzer.Dispose();
session.ReleaseFrame();
}
if (faceAnalyzer != null)
{
PXCMFaceData facedata = faceAnalyzer.CreateOutput();
if (facedata != null)
{
Int32 nfaces = facedata.QueryNumberOfDetectedFaces();
for (Int32 i = 0; i < nfaces; i++)
{
// Retrieve the face landmark data instance
PXCMFaceData.Face face = facedata.QueryFaceByIndex(i);
PXCMFaceData.PoseData pdata = face.QueryPose();
// retrieve the pose information
PXCMFaceData.PoseEulerAngles angles;
pdata.QueryPoseAngles(out angles);
Debug.Log("Eular Angles yaw : " + angles.yaw);
Debug.Log("Eular Angles pitch: " + angles.pitch);
Debug.Log("Eular Angles Roll: " + angles.roll);
angles.pitch = gameObject.transform.rotation.z;
angles.yaw = gameObject.transform.rotation.y;
}
// device is a PXCMCapture.Device instance
}
}
}
public override bool Process(Trigger trigger)
{
trigger.ErrorDetected = false;
if (!SenseToolkitManager.Instance.IsSenseOptionSet(SenseOption.SenseOptionID.Face))
{
trigger.ErrorDetected = true;
return(false);
}
if (!(trigger is TrackTrigger))
{
trigger.ErrorDetected = true;
return(false);
}
bool success = false;
// make sure we have valid values
if (RealWorldBoxDimensions.x <= 0)
{
RealWorldBoxDimensions.x = 1;
}
if (RealWorldBoxDimensions.y <= 0)
{
RealWorldBoxDimensions.y = 1;
}
if (RealWorldBoxDimensions.z <= 0)
{
RealWorldBoxDimensions.z = 1;
}
if (SenseToolkitManager.Instance.Initialized
&&
SenseToolkitManager.Instance.FaceModuleOutput != null)
{
if (SenseToolkitManager.Instance.FaceModuleOutput.QueryNumberOfDetectedFaces() == 0)
{
return(false);
}
PXCMFaceData.Face singleFaceOutput = null;
singleFaceOutput = SenseToolkitManager.Instance.FaceModuleOutput.QueryFaceByIndex(FaceIndex);
if (singleFaceOutput != null && singleFaceOutput.QueryUserID() >= 0)
{
// Process Tracking
if (trigger is TrackTrigger)
{
TrackTrigger specificTrigger = (TrackTrigger)trigger;
var landmarksData = singleFaceOutput.QueryLandmarks();
if (landmarksData == null)
{
return(false);
}
int landmarkId = landmarksData.QueryPointIndex(LandmarkToTrack);
PXCMFaceData.LandmarkPoint point = null;
landmarksData.QueryPoint(landmarkId, out point);
// Translation
if (point != null)
{
Vector3 vec = new Vector3();
vec.x = point.world.x * 100;
vec.y = point.world.y * 100;
vec.z = point.world.z * 100;
if (vec.x + vec.y + vec.z == 0)
{
return(false);
}
// Clamp and normalize to the Real World Box
TrackingUtilityClass.ClampToRealWorldInputBox(ref vec, RealWorldBoxCenter, RealWorldBoxDimensions);
TrackingUtilityClass.Normalize(ref vec, RealWorldBoxCenter, RealWorldBoxDimensions);
if (!float.IsNaN(vec.x) && !float.IsNaN(vec.y) && !float.IsNaN(vec.z))
{
specificTrigger.Position = vec;
success = true;
}
}
//Rotation
PXCMFaceData.PoseData poseData = singleFaceOutput.QueryPose();
if (poseData != null)
{
PXCMFaceData.PoseEulerAngles angles;
if (poseData.QueryPoseAngles(out angles))
{
if (!float.IsNaN(angles.pitch) && !float.IsNaN(angles.yaw) && !float.IsNaN(angles.roll))
{
Quaternion q = Quaternion.Euler(-angles.pitch, angles.yaw, -angles.roll);
specificTrigger.RotationQuaternion = q;
success = true;
}
}
}
}
}
return(success);
}
return(success);
}
//zz
private void Savedata(PXCMFaceData faceOutput)
{
////zz
PXCMFaceData.Face qface = faceOutput.QueryFaceByIndex(0);
PXCMFaceData.PoseData posedata = qface.QueryPose();
PXCMFaceData.LandmarksData Idata = qface.QueryLandmarks();
PXCMFaceData.LandmarkPoint[] points;
PXCMFaceData.PoseEulerAngles angles;
PXCMFaceData.HeadPosition headpostion;
posedata.QueryPoseAngles(out angles);
posedata.QueryHeadPosition(out headpostion);
Idata.QueryPoints(out points);
string connSting;
connSting = "server=localhost;database=RealSense;Integrated Security=True ";
SqlConnection sConn = new SqlConnection(connSting);
try
{
sConn.Open();
}
catch (Exception ex)
{
Console.WriteLine("链接错误:" + ex.Message);
}
int[] a = new int[32] {
76, 77, 12, 16, 14, 10, 20, 24, 18, 22, 70, 0, 4, 7, 5, 9, 29, 26, 31, 30, 32, 39, 33, 47, 46, 48, 51, 52, 50, 56, 65, 61
};
int t = 0;
for (int i = 0; i < 32; i++)
{
string sql_Insert;
string times = DateTime.Now.ToString("yyyy-MM-dd") + " " + DateTime.Now.ToString("hh:mm:ss");
string LandmarkPointName = MarkPointName(points[a[t]].source.index);
float Positionworld_x = points[a[t]].world.x;
float Positionworld_y = points[a[t]].world.y;
float Positionworld_z = points[a[t]].world.z;
float PositionImage_x = points[a[t]].image.x;
float PositionImage_y = points[a[t++]].image.y;
float HeadCenter_x = headpostion.headCenter.x;
float HeadCenter_y = headpostion.headCenter.y;
float HeadCenter_z = headpostion.headCenter.z;
float PoseEulerAngles_pitch = angles.pitch;
float PoseEulerAngles_roll = angles.roll;
float PoseEulerAngles_yaw = angles.yaw;
sql_Insert = "insert into FaceData(time,LandmarkPointName,[Positionworld.x],[Positionworld.y],[Positionworld.z],[PositionImage.x],[PositionImage.y],[HeadCenter.x],[HeadCenter.y],[HeadCenter.z],[PoseEulerAngles.pitch],[PoseEulerAngles.roll],[PoseEulerAngles.yaw])values('"
+ times + "','"
+ LandmarkPointName + "','"
+ Positionworld_x + "','"
+ Positionworld_y + "','"
+ Positionworld_z + "','"
+ PositionImage_x + "','"
+ PositionImage_y + "','"
+ HeadCenter_x + "','"
+ HeadCenter_y + "','"
+ HeadCenter_z + "','"
+ PoseEulerAngles_pitch + "','"
+ PoseEulerAngles_roll + "','"
+ PoseEulerAngles_yaw + "')";
SqlCommand sCmd = new SqlCommand(sql_Insert, sConn);
sCmd.ExecuteNonQuery();
}
sConn.Close();
}
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"));
}));
}
}
}
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Acquire the color image data
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
int topScore = 0;
FaceExpression expression = FaceExpression.None;
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
try
{
IBarcodeReader reader = new BarcodeReader();
// load a bitmap
//var barcodeBitmap = (Bitmap)Bitmap.LoadFrom("C:\\sample-barcode-image.png");
// detect and decode the barcode inside the bitmap
var result = reader.Decode(colorBitmap);
// do something with the result
if (result != null)
{
MessageBox.Show(result.BarcodeFormat.ToString());
MessageBox.Show(result.Text);
}
}
catch (Exception ex)
{
}
// Get face data
if (faceData != null)
{
faceData.Update();
numFacesDetected = faceData.QueryNumberOfDetectedFaces();
if (numFacesDetected > 0)
{
// Get the first face detected (index 0)
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
// Retrieve face location data
PXCMFaceData.DetectionData faceDetectionData = face.QueryDetection();
if (faceDetectionData != null)
{
PXCMRectI32 faceRectangle;
faceDetectionData.QueryBoundingRect(out faceRectangle);
if ((faceRectangle.h > 90) || (faceRectangle.w > 90))
{
faceRectangleHeight = faceRectangle.h * 3 / 2;
faceRectangleWidth = faceRectangle.w * 3 / 2;
}
else if (((faceRectangle.h < 90) || (faceRectangle.w < 90)) && ((faceRectangle.h > 70) || (faceRectangle.w > 70)))
{
faceRectangleHeight = faceRectangle.h * 2;
faceRectangleWidth = faceRectangle.w * 2;
}
else
{
faceRectangleHeight = faceRectangle.h * 5 / 2;
faceRectangleWidth = faceRectangle.w * 5 / 2;
}
faceRectangleX = faceRectangle.x;
faceRectangleY = faceRectangle.y;
}
// Retrieve pose estimation data
PXCMFaceData.PoseData facePoseData = face.QueryPose();
if (facePoseData != null)
{
PXCMFaceData.PoseEulerAngles headAngles;
facePoseData.QueryPoseAngles(out headAngles);
headRoll = headAngles.roll;
headPitch = headAngles.pitch;
headYaw = headAngles.yaw;
}
// Retrieve expression data
PXCMFaceData.ExpressionsData expressionData = face.QueryExpressions();
if (expressionData != null)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult score;
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_KISS, out score);
expressionScore[Convert.ToInt32(FaceExpression.Kiss)] = score.intensity;
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN, out score);
expressionScore[Convert.ToInt32(FaceExpression.Open)] = score.intensity;
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_SMILE, out score);
expressionScore[Convert.ToInt32(FaceExpression.Smile)] = score.intensity;
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_TONGUE_OUT, out score);
expressionScore[Convert.ToInt32(FaceExpression.Tongue)] = score.intensity;
// Determine the highest scoring expression
for (int i = 1; i < TotalExpressions; i++)
{
if (expressionScore[i] > topScore)
{
expression = (FaceExpression)i;
}
}
}
// Process face recognition data
if (face != null)
{
// Retrieve the recognition data instance
recognitionData = face.QueryRecognition();
// Set the user ID and process register/unregister logic
if (recognitionData.IsRegistered())
{
userId = Convert.ToString(recognitionData.QueryUserID());
if (doUnregister)
{
recognitionData.UnregisterUser();
SaveDatabaseToFile();
doUnregister = false;
if (_persistentDict.ContainsKey(userId) == true)
{
_persistentDict.Remove(userId);
}
}
}
else
{
if (doRegister)
{
int uId = recognitionData.RegisterUser();
SaveDatabaseToFile();
if (newUserName != "")
{
if (_persistentDict.ContainsKey(uId.ToString()) == false)
{
_persistentDict.Add(uId.ToString(), newUserName);
_persistentDict.Flush();
newUserName = "";
}
}
// Capture a jpg image of registered user
colorBitmap.Save("image.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
doRegister = false;
}
else
{
userId = "New User";
}
}
}
}
else
{
userId = "No users in view";
}
}
//hand = senseManager.QueryHand();
//if (hand != null)
//{
// // Retrieve the most recent processed data
// handData = hand.CreateOutput();
// handData.Update();
// // Get number of tracked hands
// nhands = handData.QueryNumberOfHands();
// if (nhands > 0)
// {
// // Retrieve hand identifier
// handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 0, out handId);
// // Retrieve hand data
// handData.QueryHandDataById(handId, out ihand);
// PXCMHandData.BodySideType bodySideType = ihand.QueryBodySide();
// if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
// {
// leftHand = true;
// }
// else if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
// {
// leftHand = false;
// }
// // Retrieve all hand joint data
// for (int i = 0; i < nhands; i++)
// {
// for (int j = 0; j < 0x20; j++)
// {
// PXCMHandData.JointData jointData;
// ihand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
// nodes[i][j] = jointData;
// }
// }
// // Get world coordinates for tip of middle finger on the first hand in camera range
// handTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.x;
// handTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.y;
// handTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.z;
// swipehandTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.x;
// swipehandTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.y;
// swipehandTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.z;
// //Console.Out.WriteLine("Before x={0}", swipehandTipX);
// //Console.Out.WriteLine("Before speed={0}", nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].speed.x);
// // Retrieve gesture data
// if (handData.IsGestureFired("spreadfingers", out gestureData)) { gesture = Gesture.FingerSpread; }
// else if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData)) { gesture = Gesture.Pinch; }
// else if (handData.IsGestureFired("wave", out gestureData)) { gesture = Gesture.Wave; }
// else if (handData.IsGestureFired("swipe_left", out gestureData)) { gesture = Gesture.SwipeLeft; }
// else if (handData.IsGestureFired("swipe_right", out gestureData)) { gesture = Gesture.SwipeRight; }
// else if (handData.IsGestureFired("fist", out gestureData)) { gesture = Gesture.Fist; }
// else if (handData.IsGestureFired("thumb_up", out gestureData)) { gesture = Gesture.Thumb; }
// }
// else
// {
// gesture = Gesture.Undefined;
// }
// //UpdateUI();
// if (handData != null) handData.Dispose();
//}
// Display the color stream and other UI elements
//UpdateUI(colorBitmap, expression, gesture);
UpdateUI(colorBitmap, expression);
// Release resources
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
sample.color.Dispose();
// Release the frame
senseManager.ReleaseFrame();
}
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Acquire the color image data
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Get face data
if (faceData != null)
{
faceData.Update();
numFacesDetected = faceData.QueryNumberOfDetectedFaces();
if (numFacesDetected > 0)
{
// Get the first face detected (index 0)
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
face.QueryExpressions();
PXCMFaceData.PoseData poseData = face.QueryPose();
// PXCMPoint3DF32 outHeadPosition = new PXCMPoint3DF32(); //F200 has added confidence into struct
PXCMFaceData.HeadPosition outHeadPosition = new PXCMFaceData.HeadPosition();
//processing the head pose data to find the head center position
poseData.QueryHeadPosition(out outHeadPosition);
System.Windows.Media.Media3D.Point3DCollection points = new System.Windows.Media.Media3D.Point3DCollection();
points.Add(new System.Windows.Media.Media3D.Point3D(outHeadPosition.headCenter.x,
outHeadPosition.headCenter.y, outHeadPosition.headCenter.z));
Console.WriteLine("head center position: " + points);
// poseData.QueryHeadPosition(out outHeadPosition);
PXCMFaceData.PoseEulerAngles outPoseEulerAngles = new PXCMFaceData.PoseEulerAngles();
poseData.QueryPoseAngles(out outPoseEulerAngles);
roll = (int)outPoseEulerAngles.roll;
pitch = (int)outPoseEulerAngles.pitch;
yaw = (int)outPoseEulerAngles.yaw;
// PXCMFaceData.LandmarkType.LANDMARK_EYE_LEFT_CENTER what can I do with this?
if (pitch + 12 > 10)
{
headUp = true;
}
else
{
headUp = false;
}
if (pitch < -10)
{
headDown = true;
}
else
{
headDown = false;
}
if (roll > 5)
{
headTiltLeft = true;
}
else
{
headTiltLeft = false;
}
if (roll < -5)
{
headTiltRight = true;
}
else
{
headTiltRight = false;
}
if (yaw > 5)
{
headTurnLeft = true;
}
else
{
headTurnLeft = false;
}
if (yaw < -5)
{
headTurnRight = true;
}
else
{
headTurnRight = false;
}
//Console.WriteLine("Rotation: " + outPoseEulerAngles.roll + " " + outPoseEulerAngles.pitch + " " + outPoseEulerAngles.yaw);
PXCMFaceData.ExpressionsData edata = face.QueryExpressions();
// retrieve the expression information
PXCMFaceData.ExpressionsData.FaceExpressionResult smileScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesUpScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesDownScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesTurnLeftScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult eyesTurnRightScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult headTiltedLeftScore;
PXCMFaceData.ExpressionsData.FaceExpressionResult headTurnedLeftScore;
// PXCMFaceData.ExpressionsData.FaceExpressionResult headUpScore;
//PXCMFaceData.ExpressionsData.FaceExpressionResult headDownScore;
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_SMILE, out smileScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_UP, out eyesUpScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_DOWN, out eyesDownScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_TURN_LEFT, out eyesTurnLeftScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_TURN_RIGHT, out eyesTurnRightScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_TILT_LEFT, out headTiltedLeftScore);
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_TURN_LEFT, out headTurnedLeftScore);
// edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_UP, out headUpScore);
//edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_HEAD_DOWN, out headDownScore);
smile = smileScore.intensity;
eyesUp = eyesUpScore.intensity;
if (eyesUp == 100)
{
eyeIsUp = true;
}
else
{
eyeIsUp = false;
}
eyesDown = eyesDownScore.intensity;
if (eyesDown == 100)
{
eyeIsDown = true;
}
else
{
eyeIsDown = false;
}
eyesTurnLeft = eyesTurnLeftScore.intensity;
eyesTurnRight = eyesTurnRightScore.intensity;
// headTiltLeft = headTiltedLeftScore.intensity;
// headTurnLeft= headTurnedLeftScore.intensity;
// headUp = headUpScore.intensity;
//headDown = headDownScore.intensity;
PXCMCapture.Device device = senseManager.captureManager.device;
device.SetIVCAMAccuracy(PXCMCapture.Device.IVCAMAccuracy.IVCAM_ACCURACY_FINEST);
// eyeIsUP= CheckFaceExpression(edata, FaceExpression.EXPRESSION_EYES_UP, 15);
if ((headTiltLeft | headTurnLeft) & headUp & (eyesTurnLeft == 100) & (!eyeIsDown))
{
looksForward = true;
}
else if ((headTiltRight | headTurnRight) & headUp & (eyesTurnRight == 100) & (!eyeIsDown))
{
looksForward = true;
}
/* else if (headTiltRight & (headDown|headUp) & (!headTurnRight) & (eyesTurnRight==100))
* looksForward = true;
* else if (headTiltLeft & (headDown|headUp) & (!headTurnLeft) & (eyesTurnLeft == 100))
* looksForward = true;
* */
else
{
looksForward = eyeIsUp;
}
// headTiltLeftThreshold = CheckFaceExpression(edata, FaceExpression.EXPRESSION_HEAD_TILT_LEFT, 15);
//csv mona
// var csv = new StringBuilder();
// outputs 10:00 PM
// var newLine = string.Format("{0},{1},{2},{3},{4}{5}", DateTime.Now.ToString("dd-MM-yyyy-hh:mm:ss:fff"), roll, pitch, yaw, eyesUp, Environment.NewLine);
// csv.Append(newLine);
// string pathString = System.IO.Path.Combine(filePath, fileName);
// File.AppendAllText(pathString, csv.ToString());
// Retrieve face location data
PXCMFaceData.DetectionData faceDetectionData = face.QueryDetection();
if (faceDetectionData != null)
{
PXCMRectI32 faceRectangle;
faceDetectionData.QueryBoundingRect(out faceRectangle);
faceRectangleHeight = faceRectangle.h;
faceRectangleWidth = faceRectangle.w;
faceRectangleX = faceRectangle.x;
faceRectangleY = faceRectangle.y;
}
// Process face recognition data
if (face != null)
{
// Retrieve the recognition data instance
recognitionData = face.QueryRecognition();
// Set the user ID and process register/unregister logic
if (recognitionData.IsRegistered())
{
userId = Convert.ToString(recognitionData.QueryUserID());
if (doUnregister)
{
recognitionData.UnregisterUser();
doUnregister = false;
}
}
else
{
if (doRegister)
{
recognitionData.RegisterUser();
// Capture a jpg image of registered user
colorBitmap.Save("image.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
doRegister = false;
}
else
{
userId = "Unrecognized";
}
}
}
}
else
{
userId = "No users in view";
}
}
// Display the color stream and other UI elements
UpdateUI(colorBitmap);
// Release resources
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
sample.color.Dispose();
// Release the frame
senseManager.ReleaseFrame();
}
}
private void CaptureProcess()
{
Sender = new UDPSender(CurrentIpAdress, Convert.ToInt32(currentPort));
while (senseManager.AcquireFrame(true).IsSuccessful())
{
PXCMCapture.Sample sample = senseManager.QuerySample();
PXCMImage.ImageData colorImageData;
Bitmap colorBitmap;
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out colorImageData);
colorBitmap = colorImageData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
if (faceModule != null)
{
PXCMFaceData faceData = faceModule.CreateOutput();
faceData.Update();
numberTrackedFace = faceData.QueryNumberOfDetectedFaces();
PXCMFaceData.Face faceDataFace = faceData.QueryFaceByIndex(0);
if (faceDataFace != null)
{
PXCMFaceData.DetectionData faceDetectionData = faceDataFace.QueryDetection();
PXCMFaceData.LandmarksData landMarksData = faceDataFace.QueryLandmarks();
if (faceDetectionData != null) //Запись переменных нахождения фейса
{
PXCMRectI32 faceRectangle;
faceDetectionData.QueryFaceAverageDepth(out faceAverageDepth);
faceDetectionData.QueryBoundingRect(out faceRectangle);
faceRectangleHeight = faceRectangle.h;
faceRectangleWidth = faceRectangle.w;
faceRectangleX = faceRectangle.x;
faceRectangleY = faceRectangle.y;
PXCMFaceData.LandmarkPoint[] points; //Херачим точки на фейс
if (landMarksData != null)
{
bool res = landMarksData.QueryPoints(out points);
Graphics graphics = Graphics.FromImage(colorBitmap);
Font font = new Font(System.Drawing.FontFamily.GenericMonospace, 12, System.Drawing.FontStyle.Bold);
foreach (PXCMFaceData.LandmarkPoint landmark in points)
{
point.X = landmark.image.x + LandMarkAlingment;
point.Y = landmark.image.y + LandMarkAlingment;
//Console.WriteLine(point.X);
if (landmark.confidenceImage == 0)
{
graphics.DrawString("X", font, System.Drawing.Brushes.Brown, point);
}
else
{
graphics.DrawString("*", font, System.Drawing.Brushes.CornflowerBlue, point);
}
Connect = Math.Min(landmark.confidenceImage, 1);
}
}
}
var connectMessage = new SharpOSC.OscMessage("/expressions/connectMessage", Connect);
Sender.Send(connectMessage);
PXCMFaceData.PoseData facePoseData = faceDataFace.QueryPose(); //переменные поворота для анимации головы
if (facePoseData != null)
{
PXCMFaceData.PoseEulerAngles headAngles;
facePoseData.QueryPoseAngles(out headAngles);
headRoll = headAngles.roll;
headYaw = headAngles.yaw;
headPitch = headAngles.pitch;
}
PXCMFaceData.ExpressionsData expressionData = faceDataFace.QueryExpressions();
if (expressionData != null)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult score;
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_KISS, out score);
Dispatcher.Invoke(() => kissExpression.Text = Convert.ToString(score.intensity));
var kissMessage = new SharpOSC.OscMessage("/expressions/kiss", score.intensity);
Sender.Send(kissMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_MOUTH_OPEN, out score);
Dispatcher.Invoke(() => mouthExpression.Text = Convert.ToString(score.intensity));
var mouthMessage = new SharpOSC.OscMessage("/expressions/mouth", score.intensity);
Sender.Send(mouthMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_SMILE, out score);
Dispatcher.Invoke(() => smileExpression.Text = Convert.ToString(score.intensity));
var smileMessage = new SharpOSC.OscMessage("/expressions/smile", score.intensity);
Sender.Send(smileMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_TONGUE_OUT, out score);
Dispatcher.Invoke(() => tongueExpression.Text = Convert.ToString(score.intensity));
var tongueOutMessage = new SharpOSC.OscMessage("/expressions/tongueout", score.intensity);
Sender.Send(tongueOutMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_BROW_LOWERER_LEFT, out score);
Dispatcher.Invoke(() => leftBrowLowExpression.Text = Convert.ToString(score.intensity));
var leftBrowLowMessage = new SharpOSC.OscMessage("/expressions/leftBrowLow", score.intensity);
Sender.Send(leftBrowLowMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_BROW_LOWERER_RIGHT, out score);
Dispatcher.Invoke(() => rightBrowLowExpression.Text = Convert.ToString(score.intensity));
var rightBrowLowMessage = new SharpOSC.OscMessage("/expressions/rightBrowLow", score.intensity);
Sender.Send(rightBrowLowMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_BROW_RAISER_LEFT, out score);
Dispatcher.Invoke(() => leftBrowRaiseExpression.Text = Convert.ToString(score.intensity));
var leftBrowRaiseMessage = new SharpOSC.OscMessage("/expressions/leftBrowRaise", score.intensity);
Sender.Send(leftBrowRaiseMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_BROW_RAISER_RIGHT, out score);
Dispatcher.Invoke(() => rightBrowRaiseExpression.Text = Convert.ToString(score.intensity));
var rightBrowRaiseMessage = new SharpOSC.OscMessage("/expressions/rightBrowRaise", score.intensity);
Sender.Send(rightBrowRaiseMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_CLOSED_LEFT, out score);
Dispatcher.Invoke(() => leftEyeClosedExpression.Text = Convert.ToString(score.intensity));
var leftEyeClosedMessage = new SharpOSC.OscMessage("/expressions/leftEyeClosed", score.intensity);
Sender.Send(leftEyeClosedMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_CLOSED_RIGHT, out score);
Dispatcher.Invoke(() => rightEyeClosedExpression.Text = Convert.ToString(score.intensity));
var rightEyeClosedMessage = new SharpOSC.OscMessage("/expressions/rightEyeClosed", score.intensity);
Sender.Send(rightEyeClosedMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_TURN_LEFT, out score);
Dispatcher.Invoke(() => eyesTurnLeftExpression.Text = Convert.ToString(score.intensity));
var eyesTurnLeftMessage = new SharpOSC.OscMessage("/expressions/eyesTurnLeft", score.intensity);
Sender.Send(eyesTurnLeftMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_TURN_RIGHT, out score);
Dispatcher.Invoke(() => eyesTurnRightExpression.Text = Convert.ToString(score.intensity));
var eyesTurnRightMessage = new SharpOSC.OscMessage("/expressions/eyesTurnRight", score.intensity);
Sender.Send(eyesTurnRightMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_DOWN, out score);
Dispatcher.Invoke(() => eyesDownExpression.Text = Convert.ToString(score.intensity));
var eyesDownMessage = new SharpOSC.OscMessage("/expressions/eyesDown", score.intensity);
Sender.Send(eyesDownMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_UP, out score);
Dispatcher.Invoke(() => eyesUpExpression.Text = Convert.ToString(score.intensity));
var eyesUpMessage = new SharpOSC.OscMessage("/expressions/eyesUp", score.intensity);
Sender.Send(eyesUpMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_PUFF_LEFT, out score);
Dispatcher.Invoke(() => puffLeftExpression.Text = Convert.ToString(score.intensity));
var leftPuffMessage = new SharpOSC.OscMessage("/expressions/leftPuff", score.intensity);
Sender.Send(leftPuffMessage);
expressionData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_PUFF_RIGHT, out score);
Dispatcher.Invoke(() => puffRightExpression.Text = Convert.ToString(score.intensity));
var rightPuffMessage = new SharpOSC.OscMessage("/expressions/rightPuff", score.intensity);
Sender.Send(rightPuffMessage);
}
}
faceData.Dispose();
}
UpdateUI(colorBitmap);
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorImageData);
senseManager.ReleaseFrame();
}
}
