static void Main(string[] args)
{
Console.WriteLine("Initializing console Skeleton Tracking sample with RealSense ... ");
// Initialize logging to output all messages with severity level INFO or higher to the console
Cubemos.Api.InitialiseLogging(Cubemos.LogLevel.CM_LL_ERROR, bWriteToConsole: true);
Cubemos.SkeletonTracking.Api skeletontrackingApi;
// Create cubemos Skeleton tracking Api handle and specify the directory containing a cubemos_license.json file
try
{
skeletontrackingApi = new Cubemos.SkeletonTracking.Api(Common.DefaultLicenseDir());
}
catch (Cubemos.Exception ex)
{
Console.WriteLine("If you haven't activated the SDK yet, please run post_installation script as described in the Getting Started Guide to activate your license.");
Console.ReadLine();
return;
}
// Initialise cubemos DNN framework with the required model
try
{
skeletontrackingApi.LoadModel(Cubemos.TargetComputeDevice.CM_CPU,
Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos");
}
catch (Cubemos.Exception ex)
{
Console.WriteLine(String.Format("Error during model loading. " +
"Please verify the model exists at the path {0}. Details: {1}", Common.DefaultModelDir() + "\\fp32\\skeleton-tracking.cubemos", ex));
Console.ReadLine();
return;
}
Console.Write("Hold the Intel RealSense with person(s) in scene and hit <ENTER>... ");
Console.ReadLine();
// Initialise the intel realsense pipeline as an acquisition device
Pipeline pipeline = new Pipeline();
Config cfg = new Config();
Context context = new Intel.RealSense.Context();
cfg.EnableStream(Intel.RealSense.Stream.Color, 1280, 720, Format.Bgr8, framerate: 30);
PipelineProfile pp = pipeline.Start(cfg);
// Set the network input size to 128 for faster inference
int networkHeight = 128;
// Acquire a single color frame and run Skeleton Tracking on it
using (var frames = pipeline.WaitForFrames())
{
var frame = frames.ColorFrame.DisposeWith(frames);
System.Drawing.Bitmap inputImage =
new System.Drawing.Bitmap(frame.Width,
frame.Height,
frame.Stride,
System.Drawing.Imaging.PixelFormat.Format24bppRgb,
frame.Data);
System.Collections.Generic.List <Cubemos.SkeletonTracking.Api.SkeletonKeypoints> skeletonKeypoints;
// Send inference request and get the skeletons
skeletontrackingApi.RunSkeletonTracking(ref inputImage, networkHeight, out skeletonKeypoints);
// Output detected skeletons
Console.WriteLine("# Persons detected: " + skeletonKeypoints.Count);
for (int skeleton_index = 0; skeleton_index < skeletonKeypoints.Count; skeleton_index++)
{
var skeleton = skeletonKeypoints[skeleton_index];
Console.WriteLine("Skeleton #" + skeleton_index);
for (int joint_index = 0; joint_index < skeleton.listJoints.Count; joint_index++)
{
Cubemos.SkeletonTracking.Api.Coordinate coordinate = skeleton.listJoints[joint_index];
Console.WriteLine("\tJoint coordinate #" + joint_index + ": " + coordinate.x + "; " +
coordinate.y);
}
}
}
Console.Write("Press <Enter> to exit... ");
Console.ReadLine();
}
public ProcessingWindow()
{
InitializeComponent();
try
{
var cfg = new Config();
using (var ctx = new Context())
{
var devices = ctx.QueryDevices();
var dev = devices[0];
Console.WriteLine("\nUsing device 0, an {0}", dev.Info[CameraInfo.Name]);
Console.WriteLine(" Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
Console.WriteLine(" Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);
var sensors = dev.QuerySensors();
var depthSensor = sensors[0];
var colorSensor = sensors[1];
var depthProfile = depthSensor.StreamProfiles
.Where(p => p.Stream == Stream.Depth)
.OrderBy(p => p.Framerate)
.Select(p => p.As <VideoStreamProfile>()).First();
var colorProfile = colorSensor.StreamProfiles
.Where(p => p.Stream == Stream.Color)
.OrderBy(p => p.Framerate)
.Select(p => p.As <VideoStreamProfile>()).First();
cfg.EnableStream(Stream.Depth, depthProfile.Width, depthProfile.Height, depthProfile.Format, depthProfile.Framerate);
cfg.EnableStream(Stream.Color, colorProfile.Width, colorProfile.Height, colorProfile.Format, colorProfile.Framerate);
}
var pp = pipeline.Start(cfg);
// Get the recommended processing blocks for the depth sensor
var sensor = pp.Device.QuerySensors().First(s => s.Is(Extension.DepthSensor));
var blocks = sensor.ProcessingBlocks.ToList();
// Allocate bitmaps for rendring.
// Since the sample aligns the depth frames to the color frames, both of the images will have the color resolution
using (var p = pp.GetStream(Stream.Color).As <VideoStreamProfile>())
{
imgColor.Source = new WriteableBitmap(p.Width, p.Height, 96d, 96d, PixelFormats.Rgb24, null);
imgDepth.Source = new WriteableBitmap(p.Width, p.Height, 96d, 96d, PixelFormats.Rgb24, null);
}
var updateColor = UpdateImage(imgColor);
var updateDepth = UpdateImage(imgDepth);
// Create custom processing block
// For demonstration purposes it will:
// a. Get a frameset
// b. Run post-processing on the depth frame
// c. Combine the result back into a frameset
// Processing blocks are inherently thread-safe and play well with
// other API primitives such as frame-queues,
// and can be used to encapsulate advanced operations.
// All invocations are, however, synchronious so the high-level threading model
// is up to the developer
block = new CustomProcessingBlock((f, src) =>
{
// We create a FrameReleaser object that would track
// all newly allocated .NET frames, and ensure deterministic finalization
// at the end of scope.
using (var releaser = new FramesReleaser())
{
foreach (ProcessingBlock p in blocks)
{
f = p.Process(f).DisposeWith(releaser);
}
f = f.ApplyFilter(align).DisposeWith(releaser);
f = f.ApplyFilter(colorizer).DisposeWith(releaser);
var frames = f.As <FrameSet>().DisposeWith(releaser);
var colorFrame = frames[Stream.Color, Format.Rgb8].DisposeWith(releaser);
var colorizedDepth = frames[Stream.Depth, Format.Rgb8].DisposeWith(releaser);
// Combine the frames into a single result
var res = src.AllocateCompositeFrame(colorizedDepth, colorFrame).DisposeWith(releaser);
// Send it to the next processing stage
src.FrameReady(res);
}
});
// Register to results of processing via a callback:
block.Start(f =>
{
using (var frames = f.As <FrameSet>())
{
var colorFrame = frames.ColorFrame.DisposeWith(frames);
var colorizedDepth = frames.First <VideoFrame>(Stream.Depth, Format.Rgb8).DisposeWith(frames);
Dispatcher.Invoke(DispatcherPriority.Render, updateDepth, colorizedDepth);
Dispatcher.Invoke(DispatcherPriority.Render, updateColor, colorFrame);
}
});
var token = tokenSource.Token;
var t = Task.Factory.StartNew(() =>
{
while (!token.IsCancellationRequested)
{
using (var frames = pipeline.WaitForFrames())
{
// Invoke custom processing block
block.Process(frames);
}
}
}, token);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Application.Current.Shutdown();
}
InitializeComponent();
}