private void Initialize()
{
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");
}
// 3Dスキャンを有効にする
var sts = senseManager.Enable3DScan();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("初期化に失敗しました");
}
// パイプラインを初期化する
sts = senseManager.Init();
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("初期化に失敗しました");
}
// ミラー表示にする
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(
PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL);
// 3Dスキャンの初期化
Initialize3dScan();
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
Close();
}
}
public void StreamColorDepth(String scanType) /* Stream Color and Depth Synchronously or Asynchronously */
{
bool sts = true;
PXCM3DScan.Configuration scan_config = new PXCM3DScan.Configuration();
String statusString;
/* Create an instance of the PXCSenseManager interface */
PXCMSenseManager pp = PXCMSenseManager.CreateInstance();
if (pp == null)
{
form.UpdateStatus("Failed to create sense manager");
return;
}
if (pp.captureManager == null)
{
form.UpdateStatus("Capture manager does not exist");
return;
}
if (!form.IsModeLive())
{
pp.captureManager.SetFileName(form.GetFileName(), form.IsModeRecord());
}
/* Set Input Source */
PXCMCapture.DeviceInfo dinfo2 = form.GetCheckedDevice();
if (form.IsModeLive() || form.IsModeRecord())
{
pp.captureManager.FilterByDeviceInfo(dinfo2);
}
if (form.IsModeRecord())
{
// Delay recording frames until the scan starts
pp.captureManager.SetPause(true);
}
else if (!form.IsModeLive())
{
// Disable real-time mode if we are playing back a file
// to ensure that frames are not skipped.
pp.captureManager.SetRealtime(false);
}
/* Set Color & Depth Resolution */
PXCMCapture.Device.StreamProfile cinfo = form.GetColorConfiguration();
if (cinfo.imageInfo.format != 0)
{
Single cfps = cinfo.frameRate.max;
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, cinfo.imageInfo.width, cinfo.imageInfo.height, cfps);
}
PXCMCapture.Device.StreamProfile dinfo = form.GetDepthConfiguration();
if (dinfo.imageInfo.format != 0)
{
Single dfps = dinfo.frameRate.max;
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
}
/* Initialization */
FPSTimer timer = new FPSTimer(form);
if (form.IsModeLive())
{
form.UpdateStatus("Initializing...");
}
/* Enable the 3D Scan video module */
pxcmStatus result = pp.Enable3DScan();
if (result != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
pp.Close();
pp.Dispose();
form.UpdateStatus("Enable3DScan() returned " + result);
return;
}
/* Initialize the camera system */
result = pp.Init();
form.UpdateStatus("");
device = pp.captureManager.device;
if (result >= pxcmStatus.PXCM_STATUS_NO_ERROR && device != null)
{
bool bAutoExpAndWBChanged = false;
bool bAutoExposureEnabled = true;
bool bAutoWhiteBalanceEnabled = true;
/* Setup the scanning configuration */
if (scanType == "Object")
{
scan_config.mode = PXCM3DScan.ScanningMode.OBJECT_ON_PLANAR_SURFACE_DETECTION;
}
else if (scanType == "Face")
{
scan_config.mode = PXCM3DScan.ScanningMode.FACE;
}
else if (scanType == "Body")
{
scan_config.mode = PXCM3DScan.ScanningMode.BODY;
}
else if (scanType == "Head")
{
scan_config.mode = PXCM3DScan.ScanningMode.HEAD;
}
else if (scanType == "Full")
{
scan_config.mode = PXCM3DScan.ScanningMode.VARIABLE;
}
/* Select the Targeting Options */
scan_config.options = PXCM3DScan.ReconstructionOption.NONE;
if (form.isSolidificationSelected())
{
scan_config.options
|= (PXCM3DScan.ReconstructionOption.SOLIDIFICATION);
}
if (form.isTextureSelected())
{
scan_config.options
|= (PXCM3DScan.ReconstructionOption.TEXTURE);
}
if (form.isLandmarksSelected())
{
scan_config.options
|= (PXCM3DScan.ReconstructionOption.LANDMARKS);
}
//scan_config.useMarker = form.isUseMarkerChecked();
scan_config.flopPreviewImage = form.isFlopPreviewImageSelected();
/* Try to initialize the scanning system */
PXCM3DScan scan = pp.Query3DScan();
sts = false;
if (scan == null)
{
form.UpdateStatus("3DScan module not found.");
}
else
{
result = scan.SetConfiguration(scan_config);
if (result < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
scan.Dispose();
// Show the configuration related error code
switch (result)
{
case pxcmStatus.PXCM_STATUS_FEATURE_UNSUPPORTED:
form.UpdateStatus("Configuration not supported.");
break;
case pxcmStatus.PXCM_STATUS_ITEM_UNAVAILABLE:
form.UpdateStatus("Face module not found.");
break;
default:
form.UpdateStatus("SetConfiguration returned an error.");
break;
}
}
else
{
sts = true;
}
}
// Conditionally finish the initialization and enter the main loop
if (sts == true)
{
// Subscribe to recieve range and tracking alerts
scan.Subscribe(OnAlert);
Projection projection = new Projection(
pp.session, device, dinfo.imageInfo);
Boolean bScanning = false;
Boolean bPlaybackStarted = false;
form.Invoke(new Action(() => form.SetButtonState(sample3dscan.cs.MainForm.ButtonState.Ce_SSd)));
while (form.reconstruct_requested || !form.GetStopState())
{
if (form.GetScanRequested()) /* one time latch */
{
form.Invoke(new Action(() => form.SetScanRequested(false)));
// Delay recording frames until the start of the scan is requested
if (form.IsModeRecord())
{
pp.captureManager.SetPause(false);
}
// If the max tri/vert controls are enabled,
// use the set values. Otherwise, disabled decimation
// by setting the values to zero.
/*
* scan_config.maxTriangles = form.getMaxTrianglesEnabledChecked()
* ? form.getMaxTriangles() : 0;
* scan_config.maxVertices = form.getMaxVerticesEnabledChecked()
* ? form.getMaxVertices() : 0;
*/
// Request that the scan starts as soon as possible
scan_config.startScan = true;
scan.SetConfiguration(scan_config);
/* Update the status bar to help users understand what the detector is looking for */
if (form.IsModeLive())
{
if (scan_config.mode == PXCM3DScan.ScanningMode.OBJECT_ON_PLANAR_SURFACE_DETECTION)
{
form.UpdateStatus("Object not detected. Place object on flat surface in center of view.");
}
}
}
else if (form.reconstruct_requested)
{
sts = SaveMesh(scan);
}
/* Get preview image from the 3D Scan video module */
if (!form.GetStopState())
{
/* Wait until a frame is ready: Synchronized or Asynchronous */
if (pp.AcquireFrame() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
projection.Dispose();
if (!form.IsModeLive())
{
form.Invoke(new Action(() => form.EndScan()));
sts = SaveMesh(scan);
}
break;
}
/* Get preview image from the 3D Scan video module */
PXCMImage preview_image = scan.AcquirePreviewImage();
pp.ReleaseFrame();
/* Display Image and Status */
if (preview_image != null)
{
form.SetBitmap(preview_image);
if (scan.IsScanning())
{
statusString = "Scanning";
timer.Tick(statusString + " ");
if (bScanning == false) // Lazy initializer
{
bScanning = true; // One way latch
// Once the scanning process starts, we want to enable the Reconstruct button
form.Invoke(new Action(() => form.SetButtonState(sample3dscan.cs.MainForm.ButtonState.Ce_ESe)));
// Object, head and body scanning with a rear facing camera involves walking
// around the target, which effectivly exposes the camera to the full
// environment, similar to a panorama. To avoid undesirable color
// inconsistencies (realted to the response of the auto-exposure/wb changes),
// it usually works best to disable them.
// Note that these property changes are restored (below).
if (device.deviceInfo.orientation
== PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING &&
scan_config.mode != PXCM3DScan.ScanningMode.FACE &&
form.IsModeLive())
{
bAutoExpAndWBChanged = true;
bAutoExposureEnabled = device.QueryColorAutoExposure();
device.SetColorAutoExposure(false);
bAutoWhiteBalanceEnabled = device.QueryColorAutoWhiteBalance();
device.SetColorAutoWhiteBalance(false);
}
}
}
else
{
if (!form.IsModeLive() && !form.IsModeRecord()) // In playback mode, automatically request the scan
{
if (bPlaybackStarted == false) // Lazy initializer
{
bPlaybackStarted = true; // One way latch
form.scan_requested = true;
form.Invoke(new Action(() => form.StartScanning(false)));
form.Invoke(new Action(() => form.SetButtonState(sample3dscan.cs.MainForm.ButtonState.Ce_ESe)));
}
}
else
{
if (!form.GetStopState())
{
if (isScanReady(form.landmarksChecked()))
{
form.Invoke(new Action(() => form.EnableReconstruction(true)));
}
else
{
form.Invoke(new Action(() => form.EnableReconstruction(false)));
}
}
}
}
preview_image.Dispose();
}
}
}
projection.Dispose();
scan.Dispose();
}
// Restore the default camera properties
if (bAutoExpAndWBChanged)
{
device.SetColorAutoExposure(bAutoExposureEnabled);
device.SetColorAutoWhiteBalance(bAutoWhiteBalanceEnabled);
}
device.Dispose();
device = null;
}
else
{
try { form.UpdateStatus(result + ""); }
catch { }
sts = false;
}
if (sts)
{
try { form.UpdateStatus(""); }
catch { }
}
pp.Close();
pp.Dispose();
try { form.Invoke(new Action(() => form.ResetStop())); }
catch { }
}
private void PopulateDepthMenus(ToolStripMenuItem device_item)
{
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
desc.cuids[0] = PXCMCapture.CUID;
DepthMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
PXCMSenseManager pp = session.CreateSenseManager();
if (pp == null)
{
return;
}
if (pp.Enable3DScan() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
PXCM3DScan s = pp.Query3DScan();
if (s == null)
{
return;
}
PXCMVideoModule m = s.QueryInstance <PXCMVideoModule>();
if (m == null)
{
return;
}
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();;
PXCMCapture.Device.StreamProfile color_profile = GetColorConfiguration();
if (((int)dinfo2.streams & (int)PXCMCapture.StreamType.STREAM_TYPE_DEPTH) != 0)
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_DEPTH];
bool bFound = false;
int i = 0;
PXCMVideoModule.DataDesc inputs;
while ((m.QueryCaptureProfile(i++, out inputs) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if ((sprofile.imageInfo.height == inputs.streams.depth.sizeMax.height) &&
(sprofile.imageInfo.width == inputs.streams.depth.sizeMax.width) &&
(sprofile.frameRate.max == inputs.streams.depth.frameRate.max) &&
(color_profile.frameRate.max == inputs.streams.depth.frameRate.max))
{
bFound = true;
}
}
if (bFound)
{
if (sprofile.options != (PXCMCapture.Device.StreamOption) 0x20000) // do not show Depth Confidence
{
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Depth_Item_Click));
profiles[sm1] = sprofile;
DepthMenu.DropDownItems.Add(sm1);
}
}
}
}
device.Dispose();
}
capture.Dispose();
}
m.Dispose();
pp.Dispose();
if (DepthMenu.DropDownItems.Count > 0)
{
(DepthMenu.DropDownItems[DepthMenu.DropDownItems.Count - 1] as ToolStripMenuItem).Checked = true;
}
}
private void PopulateColorMenus(ToolStripMenuItem device_item)
{
OperatingSystem os_version = Environment.OSVersion;
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
ColorMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
PXCMSenseManager pp = session.CreateSenseManager();
if (pp == null)
{
return;
}
if (pp.Enable3DScan() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
PXCM3DScan s = pp.Query3DScan();
if (s == null)
{
return;
}
PXCMVideoModule m = s.QueryInstance <PXCMVideoModule>();
if (m == null)
{
return;
}
int count = 0;
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();;
if (dinfo2.streams.HasFlag(PXCMCapture.StreamType.STREAM_TYPE_COLOR))
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_COLOR];
// Only populate profiles which are supported by the module
bool bFound = false;
int i = 0;
PXCMVideoModule.DataDesc inputs;
PXCMImage.PixelFormat format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
if (dinfo2.orientation != PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING)
{
format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24;
}
while ((m.QueryCaptureProfile(i++, out inputs) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if ((sprofile.imageInfo.height == inputs.streams.color.sizeMax.height) &&
(sprofile.imageInfo.width == inputs.streams.color.sizeMax.width) &&
(sprofile.frameRate.max == inputs.streams.color.frameRate.max) &&
(sprofile.imageInfo.format == format) &&
(0 == (sprofile.options & PXCMCapture.Device.StreamOption.STREAM_OPTION_UNRECTIFIED)))
{
bFound = true;
if (dinfo2.orientation != PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING)
{ // Hide rear facing resolutions when the front facing camera is connected...
if (sprofile.imageInfo.width == 640)
{
bFound = false;
}
}
// On Windows 7, filter non-functional 30 fps modes
if (Environment.OSVersion.Version.Major == 6 && Environment.OSVersion.Version.Minor == 1)
{
if (sprofile.frameRate.max == 30)
{
bFound = false;
}
}
}
}
if (bFound)
{
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Color_Item_Click));
profiles[sm1] = sprofile;
ColorMenu.DropDownItems.Add(sm1);
count++;
}
}
}
device.Dispose();
}
capture.Dispose();
}
m.Dispose();
pp.Dispose();
if (count > 0)
{
(ColorMenu.DropDownItems[ColorMenu.DropDownItems.Count - 1] as ToolStripMenuItem).Checked = true;
}
}
private void Initialize()
{
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" );
}
// 3Dスキャンを有効にする
var sts = senseManager.Enable3DScan();
if ( sts < pxcmStatus.PXCM_STATUS_NO_ERROR ) {
throw new Exception( "初期化に失敗しました" );
}
// パイプラインを初期化する
sts = senseManager.Init();
if ( sts < pxcmStatus.PXCM_STATUS_NO_ERROR ) {
throw new Exception( "初期化に失敗しました" );
}
// ミラー表示にする
senseManager.QueryCaptureManager().QueryDevice().SetMirrorMode(
PXCMCapture.Device.MirrorMode.MIRROR_MODE_HORIZONTAL );
// 3Dスキャンの初期化
Initialize3dScan();
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
Close();
}
}