void RaiseOnUpdated(GestureCameraData data)
{
if (OnUpdated != null)
{
OnUpdated(this, new OnUpdatedEventArgs(data));
}
}
//////////////////////////////////////////////
#region Private Methods
Mesh extractHandMesh(GestureCameraData data)
{
var mesh = new Mesh();
mesh.TextureWidth = data.TextureWidth;
mesh.TextureHeight = data.TextureHeight;
mesh.Texture = data.Texture;
//頂点の追加
var indexMap = new int[data.Width, data.Height];
var depthMap = new float[data.Width, data.Height];
int index = 0;
for (int y = 0; y < data.Height; y += Skip)
{
for (int x = 0; x < data.Width; x += Skip)
{
//背景領域は無視
if (data.Blob[data.Width * y + x] == data.BlobBackground)
{
indexMap[x, y] = -1;
continue;
}
Point point;
if (data.TryGet(x, y, out point))
{
//遠いところにあるものは無視
if (MaxDepth < point.Z)
{
indexMap[x, y] = -1;
continue;
}
indexMap[x, y] = index;
depthMap[x, y] = point.Z;
mesh.AddPoint(point);
++index;
}
else
{
indexMap[x, y] = -1;
}
}
}
//メッシュインデックスの作成
//メッシュを構成する頂点が密であることが前提
for (int y = Skip; y < data.Height - Skip; y += Skip)
{
for (int x = Skip; x < data.Width - Skip; x += Skip)
{
//頂点が存在する場合は左上と右下に三角形をつくろうとする
if (indexMap[x, y] != -1)
{
int center = indexMap[x, y];
if (indexMap[x - Skip, y] != -1 && Math.Abs(depthMap[x - Skip, y] - depthMap[x, y]) < MaxDepthGap &&
indexMap[x, y - Skip] != -1 && Math.Abs(depthMap[x, y - Skip] - depthMap[x, y]) < MaxDepthGap &&
Math.Abs(depthMap[x - Skip, y] - depthMap[x, y - Skip]) < MaxDepthGap)
{
mesh.AddIndices(new int[] { indexMap[x - Skip, y],
indexMap[x, y - Skip],
center });
}
if (indexMap[x + Skip, y] != -1 && Math.Abs(depthMap[x + Skip, y] - depthMap[x, y]) < MaxDepthGap &&
indexMap[x, y + Skip] != -1 && Math.Abs(depthMap[x, y + Skip] - depthMap[x, y]) < MaxDepthGap &&
Math.Abs(depthMap[x + Skip, y] - depthMap[x, y + Skip]) < MaxDepthGap)
{
mesh.AddIndices(new int[] { center,
indexMap[x + Skip, y],
indexMap[x, y + Skip] });
}
}
//頂点が存在しない場合は1マスあけた左下と右上に三角形をつくろうとする
else
{
if (indexMap[x - Skip, y] != -1 && Math.Abs(depthMap[x - Skip, y] - depthMap[x, y + Skip]) < MaxDepthGap &&
indexMap[x, y + Skip] != -1 && Math.Abs(depthMap[x, y + Skip] - depthMap[x - Skip, y + Skip]) < MaxDepthGap &&
indexMap[x - Skip, y + Skip] != -1 && Math.Abs(depthMap[x - Skip, y + Skip] - depthMap[x - Skip, y]) < MaxDepthGap)
{
mesh.AddIndices(new int[] { indexMap[x - Skip, y],
indexMap[x, y + Skip],
indexMap[x - Skip, y + Skip] });
}
if (indexMap[x + Skip, y] != -1 && Math.Abs(depthMap[x + Skip, y] - depthMap[x, y - Skip]) < MaxDepthGap &&
indexMap[x, y - Skip] != -1 && Math.Abs(depthMap[x, y - Skip] - depthMap[x + Skip, y - Skip]) < MaxDepthGap &&
indexMap[x + Skip, y - Skip] != -1 && Math.Abs(depthMap[x + Skip, y - Skip] - depthMap[x + Skip, y]) < MaxDepthGap)
{
mesh.AddIndices(new int[] { indexMap[x + Skip, y],
indexMap[x, y - Skip],
indexMap[x + Skip, y - Skip] });
}
}
}
}
return(mesh);
}
/// <summary>
/// 手の領域のメッシュを再構成します。
/// </summary>
public void UpdateMesh(GestureCameraData data)
{
Mesh = extractHandMesh(data);
}
internal OnUpdatedEventArgs(GestureCameraData data)
{
Data = data;
}
void update()
{
if (!_pipeline.AcquireFrame(true))
{
throw new GestureCameraException("Failed to aquire frame.");
}
if (_pipeline.IsDisconnected())
{
return;
}
var color = _pipeline.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_COLOR);
var depth = _pipeline.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_DEPTH);
var gesture = _pipeline.QueryGesture();
PXCMGesture.Blob blobInfo;
GestureCameraUtil.Assert(gesture.QueryBlobData(PXCMGesture.Blob.Label.LABEL_SCENE, 0, out blobInfo), "Failed to query blob data.");
PXCMImage blob;
GestureCameraUtil.Assert(gesture.QueryBlobImage(PXCMGesture.Blob.Label.LABEL_SCENE, 0, out blob), "Failed to query blob image.");
PXCMGesture.Gesture gestureData;
var gestureDataList = new List <PXCMGesture.Gesture>();
for (uint i = 0; ; ++i)
{
if (gesture.QueryGestureData(0, PXCMGesture.GeoNode.Label.LABEL_ANY, i, out gestureData) == pxcmStatus.PXCM_STATUS_ITEM_UNAVAILABLE)
{
break;
}
gestureDataList.Add(gestureData);
}
PXCMImage.ImageData colorData;
GestureCameraUtil.Assert(
color.AcquireAccess(PXCMImage.Access.ACCESS_READ, out colorData),
"Failed to acquire access on color image.");
PXCMImage.ImageData depthData;
GestureCameraUtil.Assert(
depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, out depthData),
"Failed to acquire access on depth image.");
PXCMImage.ImageData blobData;
GestureCameraUtil.Assert(
blob.AcquireAccess(PXCMImage.Access.ACCESS_READ, out blobData),
"Failed to acquire access on blob image.");
int colorWidth = (int)color.info.width;
int colorHeight = (int)color.info.height;
var colorImage = colorData.ToByteArray(0, 3 * colorWidth * colorHeight);
int depthWidth = (int)depth.info.width;
int depthHeight = (int)depth.info.height;
var verticies = depthData.ToShortArray(0, 3 * depthWidth * depthHeight);
var uv = depthData.ToFloatArray(2, 2 * depthWidth * depthHeight);
int blobWidth = (int)blob.info.width;
int blobHeight = (int)blob.info.height;
var blobImage = blobData.ToByteArray(0, blobWidth * blobHeight);
var data = new GestureCameraData(depthWidth, depthHeight, colorWidth, colorHeight, colorImage, blobImage, blobInfo.labelBackground, gestureDataList);
for (int j = 0; j < depthHeight; ++j)
{
for (int i = 0; i < depthWidth; ++i)
{
float u = uv[2 * (j * depthWidth + i) + 0];
float v = uv[2 * (j * depthWidth + i) + 1];
int colorX = (int)(u * (colorWidth - 1));
int colorY = (int)(v * (colorHeight - 1));
if (0 > colorX || colorX > colorWidth || 0 > colorY || colorY > colorHeight)
{
continue;
}
float x = verticies[3 * (j * depthWidth + i) + 0];
float y = verticies[3 * (j * depthWidth + i) + 1];
float z = verticies[3 * (j * depthWidth + i) + 2];
if (z == _depthLowConf || z == _depthSaturation)
{
continue;
}
x *= _unit_m;
y *= _unit_m;
z *= _unit_m;
data.Set(i, j, new Point(u, v, x, y, z));
}
}
GestureCameraUtil.Assert(
color.ReleaseAccess(ref colorData),
"Failed to release access on color image.");
GestureCameraUtil.Assert(
depth.ReleaseAccess(ref depthData),
"Failed to release access on depth image.");
GestureCameraUtil.Assert(
blob.ReleaseAccess(ref blobData),
"Failed to release access to blob data)");
_pipeline.ReleaseFrame();
RaiseOnUpdated(data);
}
