public void DrawLocation(PXCMFaceData.Face face)
{
Debug.Assert(face != null);
if (m_bitmap == null || !Detection.Checked)
{
return;
}
PXCMFaceData.DetectionData detection = face.QueryDetection();
if (detection == null)
{
return;
}
lock (m_bitmapLock)
{
using (Graphics graphics = Graphics.FromImage(m_bitmap))
using (var pen = new Pen(m_faceTextOrganizer.Colour, 3.0f))
using (var brush = new SolidBrush(m_faceTextOrganizer.Colour))
using (var font = new Font(FontFamily.GenericMonospace, m_faceTextOrganizer.FontSize, FontStyle.Bold))
{
graphics.DrawRectangle(pen, m_faceTextOrganizer.RectangleLocation);
String faceId = String.Format("Face ID: {0}",
face.QueryUserID().ToString(CultureInfo.InvariantCulture));
graphics.DrawString(faceId, font, brush, m_faceTextOrganizer.FaceIdLocation);
}
}
}
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);
}
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);
}
