public RealSenseEngine()
{
m_session = PXCMSession.CreateInstance();
if (m_session == null)
{
throw new RealSenseEngineException("Failed to create a Session");
}
m_senseManager = m_session.CreateSenseManager();
if (m_senseManager == null)
{
throw new RealSenseEngineException("Failed to create a SenseManager");
}
pxcmStatus res = m_senseManager.EnableTouchlessController();
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Enable Touchless Controller");
}
var handler = new PXCMSenseManager.Handler();
res = m_senseManager.Init(handler);
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Init Handler");
}
// getting touchless controller
m_touchlessController = m_senseManager.QueryTouchlessController();
if (m_touchlessController == null)
{
throw new RealSenseEngineException("Failed to Query Touchless Controller");
}
}
public RealSenseEngine()
{
m_session = PXCMSession.CreateInstance();
if (m_session == null)
{
throw new RealSenseEngineException("Failed to create a Session");
}
m_senseManager = m_session.CreateSenseManager();
if (m_senseManager == null)
{
throw new RealSenseEngineException("Failed to create a SenseManager");
}
pxcmStatus res = m_senseManager.EnableTouchlessController();
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Enable Touchless Controller");
}
var handler = new PXCMSenseManager.Handler();
res = m_senseManager.Init(handler);
if (res != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new RealSenseEngineException("Failed to Init Handler");
}
// getting touchless controller
m_touchlessController = m_senseManager.QueryTouchlessController();
if (m_touchlessController == null)
{
throw new RealSenseEngineException("Failed to Query Touchless Controller");
}
}
private void StartRealSense()
{
Console.WriteLine("Starting Touchless Controller");
pxcmStatus rc;
// creating Sense Manager
psm = PXCMSenseManager.CreateInstance();
Console.WriteLine("Creating SenseManager: " + psm == null ? "failed" : "success");
if (psm == null)
{
MessageBox.Show("Failed to create SenseManager!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
// work from file if a filename is given as command line argument
string[] args = Environment.GetCommandLineArgs();
if (args.Length > 1)
{
psm.captureManager.SetFileName(args[1], false);
}
// Enable touchless controller in the multimodal pipeline
rc = psm.EnableTouchlessController(null);
Console.WriteLine("Enabling Touchless Controller: " + rc.ToString());
if (rc != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
MessageBox.Show("Failed to enable touchless controller!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
// initialize the pipeline
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
rc = psm.Init(handler);
Console.WriteLine("Initializing the pipeline: " + rc.ToString());
if (rc != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
MessageBox.Show("Failed to initialize the pipeline!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
// getting touchless controller
ptc = psm.QueryTouchlessController();
if (ptc == null)
{
MessageBox.Show("Failed to get touchless controller!", "Failed", MessageBoxButton.OK, MessageBoxImage.Error);
Environment.Exit(-1);
}
ptc.SubscribeEvent(new PXCMTouchlessController.OnFiredUXEventDelegate(OnTouchlessControllerUXEvent));
}
// RS
private void STButton_Click(object sender, RoutedEventArgs e) {
EXButton.IsEnabled = true;
STButton.IsEnabled = false;
// init the sense manager
_senseManager = PXCMSenseManager.CreateInstance();
// enable hand analysis in the multimodal pipeline
_senseManager.EnableTouchlessController();
// init the pipeline
if (_senseManager.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR) {
MessageBox.Show("RealSense Camera init failed");
}
// get an instance of the touchless control
_touchlessController = _senseManager.QueryTouchlessController();
// register fo ux event
_touchlessController.SubscribeEvent(OnTouchlessControllerUXEventHandler); //event
_touchlessController.SubscribeAlert(OnFiredAlertEventHandler); //alert
// configuration
pxcmStatus rc;
PXCMTouchlessController.ProfileInfo pInfo;
rc = _touchlessController.QueryProfile(out pInfo);
pInfo.config = PXCMTouchlessController.ProfileInfo.Configuration.Configuration_Allow_Zoom
| PXCMTouchlessController.ProfileInfo.Configuration.Configuration_Allow_Selection
| PXCMTouchlessController.ProfileInfo.Configuration.Configuration_Allow_Back;
rc = _touchlessController.SetProfile(pInfo);
// configure hand module
_hand = _senseManager.QueryHand();
_handConfig = _hand.CreateActiveConfiguration();
_handConfig.EnableGesture("thumb_up", true); // true is importment
_handConfig.EnableGesture("v_sign", true);
_handConfig.SubscribeGesture(OnFiredGestureEventHandler);
_handConfig.ApplyChanges();
// processing loop
_processingThread = new Thread(new ThreadStart(ProcessingThread));
_processingThread.Start();
}
// system check
private void JSButton_Click(object sender, RoutedEventArgs e) {
bool passSysCheck = false;
//check internet connection
if (IsConnectedToInternet()) {
passSysCheck = true;
}
else {
Popwind_ShowInfo("Check Internet Connection");
return;
}
if (passSysCheck) {
// init the sense manager
_senseManager = PXCMSenseManager.CreateInstance();
_senseManager.EnableTouchlessController();
// init the pipeline
if (_senseManager.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR) {
passSysCheck = false;
}
if (_senseManager != null) {
_senseManager.Dispose();
}
}
if (passSysCheck) {
STButton.IsEnabled = true;
Popwind_ShowInfo("Everything is good");
}
else {
Popwind_ShowInfo("Check the RealSense Camera");
}
}
private void InitRealSense()
{
this.releaseInstances();
errorManager = new ErrorManager();
this.manager = PXCMSenseManager.CreateInstance();
if (manager == null)
{
errorManager.InitError("PXCMSenseManager::Create");
}
// Init hand module
errorManager.RunWithStatusCheck(() => manager.EnableHand(), "PXCMHandModule");
this.handModule = this.manager.QueryHand();
this.handData = this.handModule.CreateOutput();
// config hand module
var hconfig = this.handModule.CreateActiveConfiguration();
hconfig.EnableTrackedJoints(true);
//Gestures
hconfig.DisableAllGestures();
//alerts========================================================
hconfig.DisableAllAlerts();
hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_CALIBRATED);
//hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_DETECTED);
hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
// For hand tracking
hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS);
hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS);
// For user info
hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TOO_CLOSE);
hconfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TOO_FAR);
hconfig.SubscribeAlert(OnAlertFired);
//alerts=========================================================
hconfig.ApplyChanges();
hconfig.Dispose();
// Init touchless controller:: Move tracking
errorManager.RunWithStatusCheck(() => manager.EnableTouchlessController(), "TouchlessController");
this.touchController = this.manager.QueryTouchlessController();
// On processed frame callback
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler {
onModuleProcessedFrame = OnFrameProcessed
};
// UX events callback
this.touchController.SubscribeEvent(OnTouchlessControllerUxEvent);
// Init Sense manager
errorManager.RunWithStatusCheck(() => manager.Init(handler), "PXCMSenseManager::Init");
errorManager.RunWithStatusCheck(() => manager.StreamFrames(false), "PXCMSenseManager::StreamFrames");
if (this.manager.captureManager == null || this.manager.captureManager.device == null)
{
throw new NoDeviceException();
}
// Query scene info
PXCMCapture.Sample sample = null;
do {
sample = manager.QuerySample();
}
while (sample == null || sample.depth == null || sample.depth.info == null);
sceneXCenter = sample.depth.info.width / 2;
sceneYCenter = sample.depth.info.height / 2;
//Set delay before close gesture ability
Task.Factory.StartNew(() =>
{
Thread.Sleep(3000);
delayForCloseAchived = true;
this.handData.Update();
handInsideBorders = this.handData.QueryNumberOfHands() > 0;
});
// Hand tracking started.
started = true;
}