public override void Work(Graphics g)
{
// Retrieve gesture data
hand = senseManager.QueryHand();
face = senseManager.QueryFace(); //
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
handWaving = handData.IsGestureFired("wave", out gestureData);
}
if (face != null)
{
faceData = face.CreateOutput();
faceData.Update();
//surching faces
Int32 nfaces = faceData.QueryNumberOfDetectedFaces();
for (Int32 i = 0; i < nfaces; i++)
{
// Retrieve the data instance
PXCMFaceData.Face faceI = faceData.QueryFaceByIndex(i);
PXCMFaceData.ExpressionsData edata = faceI.QueryExpressions();
if (edata != null)
{
edata.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_SMILE, out score);
if (score.intensity >= 25)
{
smiling = true;
}
else
{
smiling = false;
}
Console.WriteLine(i + ": " + score.intensity);
}
}
faceData.Dispose();
}
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
// Get color image data
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);
// Retrieve gesture data
hand = senseManager.QueryHand();
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
handWaving = handData.IsGestureFired("v_sign", out gestureData);
}
// Update the user interface
UpdateUI(colorBitmap);
// Release the frame
if (handData != null)
{
handData.Dispose();
}
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
senseManager.ReleaseFrame();
}
}
pxcmStatus newHandFrame(PXCMHandModule hand)
{
if (hand != null)
{
PXCMHandData handData = hand.CreateOutput();
handData.Update();
PXCMHandData.IHand iHandDataLeft = null, iHandDataRight = null;
PXCMHandData.JointData jointData = null;
PXCMImage image = null;
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_LEFT_HANDS, 0, out iHandDataLeft);
handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, 0, out iHandDataRight);
if (handForm != null && !handForm.IsDisposed)
{
this.handForm.HandCount = handData.QueryNumberOfHands();
if (iHandDataLeft != null)
{
iHandDataLeft.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.LeftHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
if (iHandDataRight != null)
{
iHandDataRight.QuerySegmentationImage(out image);
if (image != null)
{
PXCMImage.ImageData data = new PXCMImage.ImageData();
image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);
handForm.RightHand = data.ToBitmap(0, image.info.width, image.info.height);
image.ReleaseAccess(data);
}
}
}
if (iHandDataLeft != null)
{
if (jointData == null)
{
iHandDataLeft.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (iHandDataRight != null)
{
if (jointData == null)
{
iHandDataRight.QueryTrackedJoint(PXCMHandData.JointType.JOINT_INDEX_TIP, out jointData);
}
}
if (jointData != null && canTrack.Checked)
{
Cursor.Position = new System.Drawing.Point(
(int)((640.0f - jointData.positionImage.x) * Screen.PrimaryScreen.Bounds.Width / 640.0f),
(int)(jointData.positionImage.y * Screen.PrimaryScreen.Bounds.Height / 480.0f));
PXCMHandData.GestureData gestureData = null;
if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
Program.DoMouseClick();
}
Console.WriteLine("Z Position: " + jointData.positionWorld.z);
}
handData.Dispose();
}
return(pxcmStatus.PXCM_STATUS_NO_ERROR);
}
public void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
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();
}
}
senseManager.ReleaseFrame();
}
}
private void ProcessingHandThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
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);
// 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;
// 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
{
gesture = Gesture.Undefined;
}
// Get alert status
for (int i = 0; i < handData.QueryFiredAlertsNumber(); i++)
{
PXCMHandData.AlertData alertData;
if (handData.QueryFiredAlertData(i, out alertData) != pxcmStatus.PXCM_STATUS_NO_ERROR) { continue; }
//Displaying last alert
switch (alertData.label)
{
case PXCMHandData.AlertType.ALERT_HAND_DETECTED:
detectionAlert = "Hand Detected";
detectionStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED:
detectionAlert = "Hand Not Detected";
detectionStatusOk = false;
break;
case PXCMHandData.AlertType.ALERT_HAND_CALIBRATED:
calibrationAlert = "Hand Calibrated";
calibrationStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_NOT_CALIBRATED:
calibrationAlert = "Hand Not Calibrated";
calibrationStatusOk = false;
break;
case PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS:
bordersAlert = "Hand Inside Borders";
borderStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS:
bordersAlert = "Hand Out Of Borders";
borderStatusOk = false;
break;
}
}
UpdateUI();
if (handData != null) handData.Dispose();
}
senseManager.ReleaseFrame();
}
}
private void ProcessingThread()
{
// Start AcquireFrame/ReleaseFrame loop - MAIN PROCESSING LOOP
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (firstFrame == true)
{
firstFrame = false;
//pipeClient.SendMessage(CAMERA_CONNECTED_MESSAGE);
}
//Get sample from the sensemanager to convert to bitmap and show
PXCMCapture.Sample sample = senseManager.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData = null;
// Get color/ir image data
if (cameraMode == "Color")
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
else if (cameraMode == "IR")
sample.ir.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
else if (cameraMode == "Depth")
;// -> broken! // sample.depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH, out colorData);
else
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
//convert it to bitmap
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Retrieve hand and face data AND EMOTION DATA
hand = senseManager.QueryHand();
face = senseManager.QueryFace();
emotion = senseManager.QueryEmotion();
//Process hand data
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
handWaving = handData.IsGestureFired("wave", out gestureData);
}
//Process face data
if (face != null)
{
// Retrieve the most recent processed data
faceData = face.CreateOutput();
faceData.Update();
numFacesDetected = faceData.QueryNumberOfDetectedFaces();
if (numFacesDetected > 0)
{
// for (Int32 i = 0; i < numFacesDetected; i++) --> MULTIPLE FACE DETECTION DISABLED, UNCOMMENT TO INCLUDE
// {
// PXCMFaceData.Face singleFace = faceData.QueryFaceByIndex(i); --> FOR MULTIPLE FACE DETECTION
//get all possible data from frame
PXCMFaceData.Face singleFaceData = faceData.QueryFaceByIndex(0); //only getting first face!
PXCMFaceData.ExpressionsData singleExprData = singleFaceData.QueryExpressions();
PXCMFaceData.DetectionData detectionData = singleFaceData.QueryDetection();
PXCMFaceData.LandmarksData landmarksData = singleFaceData.QueryLandmarks();
PXCMFaceData.PoseData poseData = singleFaceData.QueryPose();
//Work on face location data from detectionData
if (detectionData != null)
{
// vars are defined globally
detectionData.QueryBoundingRect(out boundingRect);
detectionData.QueryFaceAverageDepth(out averageDepth);
}
//Work on getting landmark data
if (landmarksData != null)
{
//var is defined globally
landmarksData.QueryPoints(out landmarkPoints);
}
//Work on getting euler angles for face pose data
if (poseData != null)
{
//var is defined globally
poseData.QueryPoseAngles(out eulerAngles);
poseData.QueryPoseQuaternion(out quaternionAngles);
}
//Do work on all face location data from singleExprData
if (singleExprData != null)
{
//get scores and intensities for right and left eye closing - 22 possible expressions --> put into hashtable
PXCMFaceData.ExpressionsData.FaceExpressionResult score;
//this gets a list of enum names as strings
var enumNames = Enum.GetNames(typeof(PXCMFaceData.ExpressionsData.FaceExpression));
//for all enumnames, calculate the
for (int j = 0; j < enumNames.Length; j++)
{
PXCMFaceData.ExpressionsData.FaceExpressionResult innerScore;
singleExprData.QueryExpression((PXCMFaceData.ExpressionsData.FaceExpression)(j), out innerScore);
//Console.WriteLine((PXCMFaceData.ExpressionsData.FaceExpression)(j));
exprTable[enumNames[j]] = innerScore.intensity;
}
//Attempt to write to file if there are any significant events
/* //check if everything is 0
bool significantEntry = false;
foreach (DictionaryEntry entry in exprTable)
{
if (Convert.ToInt32(entry.Value.ToString()) != 0)
{
significantEntry = true;
break;
}
}
if (significantEntry) */
writeSignificantToFile(exprTable, boundingRect, averageDepth, landmarkPoints, eulerAngles, quaternionAngles);
singleExprData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_CLOSED_LEFT, out score);
lEyeClosedIntensity = score.intensity;
singleExprData.QueryExpression(PXCMFaceData.ExpressionsData.FaceExpression.EXPRESSION_EYES_CLOSED_RIGHT, out score);
rEyeClosedIntensity = score.intensity;
//eye closed logic -> will be reset in UI thread after some number of frames
if (lEyeClosedIntensity >= EYE_CLOSED_DETECT_THRESHOLD)
lEyeClosed = true;
if (rEyeClosedIntensity >= EYE_CLOSED_DETECT_THRESHOLD)
rEyeClosed = true;
}
// }
}
}
if (emotion != null)
{
int numFaces = emotion.QueryNumFaces();
for (int fid = 0; fid < numFaces; fid++)
{
//TODO - MULTIPLE FACE IMPLEMENTATION?
//retrieve all est data
PXCMEmotion.EmotionData[] arrData = new PXCMEmotion.EmotionData[10];
emotion.QueryAllEmotionData(fid, out arrData);
//find emotion with maximum evidence
int idx_outstanding_emotion = 0;
int max_evidence = arrData[0].evidence;
for (int k = 1; k < 7; k++)
{
if (arrData[k].evidence < max_evidence)
{
}
else
{
max_evidence = arrData[k].evidence;
idx_outstanding_emotion = k;
}
}
currentEmotion = arrData[idx_outstanding_emotion].eid;
//Console.WriteLine(currentEmotion.ToString());
emotionEvidence = max_evidence;
// Console.WriteLine(currentEmotion.ToString() + ":" + emotionEvidence.ToString());
}
}
// Update the user interface
UpdateUI(colorBitmap);
// Release the frame
if (handData != null) handData.Dispose();
// colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
senseManager.ReleaseFrame();
}
}
public bool IsGestureFired(string Gesture)
{
PXCMHandData.GestureData data;
return(HandData.IsGestureFired(Gesture, out data));
}
