internal void BindConnect()
{
foreach (string endpoint in _bindings)
{
_socket.Bind(endpoint);
}
foreach (string endpoint in _connections)
{
_socket.Connect(endpoint);
}
if (_subscription != null)
{
// _socket.Subscribe(_subscription);
using (var subscription = new ZFrame(_subscription))
{
_socket.Send(subscription);
}
}
}
// Capturing and processing the video frame by frame
private void VideoLoop(UtilitiesOF.SequenceReader reader)
{
Thread.CurrentThread.IsBackground = true;
String root = AppDomain.CurrentDomain.BaseDirectory;
FaceModelParameters model_params = new FaceModelParameters(root, true, false, false);
// Initialize the face detector
FaceDetector face_detector = new FaceDetector(model_params.GetHaarLocation(), model_params.GetMTCNNLocation());
// If MTCNN model not available, use HOG
if (!face_detector.IsMTCNNLoaded())
{
model_params.SetFaceDetector(false, true, false);
}
CLNF face_model = new CLNF(model_params);
GazeAnalyserManaged gaze_analyser = new GazeAnalyserManaged();
DateTime?startTime = CurrentTime;
var lastFrameTime = CurrentTime;
while (running)
{
//////////////////////////////////////////////
// CAPTURE FRAME AND DETECT LANDMARKS FOLLOWED BY THE REQUIRED IMAGE PROCESSING
//////////////////////////////////////////////
RawImage frame = reader.GetNextImage();
lastFrameTime = CurrentTime;
processing_fps.AddFrame();
var grayFrame = reader.GetCurrentFrameGray();
if (mirror_image)
{
frame.Mirror();
grayFrame.Mirror();
}
bool detectionSucceeding = ProcessFrame(face_model, gaze_analyser, model_params, frame, grayFrame, reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
lock (recording_lock)
{
if (recording)
{
// Add objects to recording queues
List <float> pose = new List <float>();
face_model.GetPose(pose, reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
RawImage image = new RawImage(frame);
recording_objects.Enqueue(new Tuple <RawImage, bool, List <float> >(image, detectionSucceeding, pose));
}
}
List <Tuple <System.Windows.Point, System.Windows.Point> > lines = null;
List <Tuple <float, float> > eye_landmarks = null;
List <System.Windows.Point> landmarks = new List <System.Windows.Point>();
List <Tuple <System.Windows.Point, System.Windows.Point> > gaze_lines = null;
Tuple <float, float> gaze_angle = new Tuple <float, float>(0, 0);
var visibilities = face_model.GetVisibilities();
double scale = face_model.GetRigidParams()[0];
if (detectionSucceeding)
{
List <Tuple <float, float> > landmarks_doubles = face_model.CalculateAllLandmarks();
foreach (var p in landmarks_doubles)
{
landmarks.Add(new System.Windows.Point(p.Item1, p.Item2));
}
eye_landmarks = face_model.CalculateVisibleEyeLandmarks();
gaze_lines = gaze_analyser.CalculateGazeLines(reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
gaze_angle = gaze_analyser.GetGazeAngle();
lines = face_model.CalculateBox(reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
}
if (reset)
{
face_model.Reset();
reset = false;
}
// Visualisation updating
try
{
Dispatcher.Invoke(DispatcherPriority.Render, new TimeSpan(0, 0, 0, 0, 200), (Action)(() =>
{
if (latest_img == null)
{
latest_img = frame.CreateWriteableBitmap();
}
List <float> pose = new List <float>();
face_model.GetPose(pose, reader.GetFx(), reader.GetFy(), reader.GetCx(), reader.GetCy());
int yaw = (int)(pose[4] * 180 / Math.PI + 0.5);
int yaw_abs = Math.Abs(yaw);
int roll = (int)(pose[5] * 180 / Math.PI + 0.5);
int roll_abs = Math.Abs(roll);
int pitch = (int)(pose[3] * 180 / Math.PI + 0.5);
int pitch_abs = Math.Abs(pitch);
YawLabel.Content = yaw_abs + "°";
RollLabel.Content = roll_abs + "°";
PitchLabel.Content = pitch_abs + "°";
if (yaw > 0)
{
YawLabelDir.Content = "Right";
}
else if (yaw < 0)
{
YawLabelDir.Content = "Left";
}
else
{
YawLabelDir.Content = "Straight";
}
if (pitch > 0)
{
PitchLabelDir.Content = "Down";
}
else if (pitch < 0)
{
PitchLabelDir.Content = "Up";
}
else
{
PitchLabelDir.Content = "Straight";
}
if (roll > 0)
{
RollLabelDir.Content = "Left";
}
else if (roll < 0)
{
RollLabelDir.Content = "Right";
}
else
{
RollLabelDir.Content = "Straight";
}
XPoseLabel.Content = (int)pose[0] + " mm";
YPoseLabel.Content = (int)pose[1] + " mm";
ZPoseLabel.Content = (int)pose[2] + " mm";
String x_angle = String.Format("{0:F0}°", gaze_angle.Item1 * (180.0 / Math.PI));
String y_angle = String.Format("{0:F0}°", gaze_angle.Item2 * (180.0 / Math.PI));
YawLabelGaze.Content = x_angle;
PitchLabelGaze.Content = y_angle;
if (gaze_angle.Item1 > 0)
{
YawLabelGazeDir.Content = "Right";
}
else if (gaze_angle.Item1 < 0)
{
YawLabelGazeDir.Content = "Left";
}
else
{
YawLabelGazeDir.Content = "Straight";
}
if (gaze_angle.Item2 > 0)
{
PitchLabelGazeDir.Content = "Down";
}
else if (gaze_angle.Item2 < 0)
{
PitchLabelGazeDir.Content = "Up";
}
else
{
PitchLabelGazeDir.Content = "Straight";
}
double confidence = face_model.GetConfidence();
if (confidence < 0)
{
confidence = 0;
}
else if (confidence > 1)
{
confidence = 1;
}
frame.UpdateWriteableBitmap(latest_img);
webcam_img.Clear();
webcam_img.Source = latest_img;
webcam_img.Confidence.Add(confidence);
webcam_img.FPS = processing_fps.GetFPS();
if (detectionSucceeding)
{
webcam_img.OverlayLines.Add(lines);
webcam_img.OverlayPoints.Add(landmarks);
webcam_img.OverlayPointsVisibility.Add(visibilities);
webcam_img.FaceScale.Add(scale);
List <System.Windows.Point> eye_landmark_points = new List <System.Windows.Point>();
foreach (var p in eye_landmarks)
{
eye_landmark_points.Add(new System.Windows.Point(p.Item1, p.Item2));
}
webcam_img.OverlayEyePoints.Add(eye_landmark_points);
webcam_img.GazeLines.Add(gaze_lines);
// Publish the information for other applications
String str_head_pose = String.Format("{0}:{1:F2}, {2:F2}, {3:F2}, {4:F2}, {5:F2}, {6:F2}", "HeadPose", pose[0], pose[1], pose[2],
pose[3] * 180 / Math.PI, pose[4] * 180 / Math.PI, pose[5] * 180 / Math.PI);
zero_mq_socket.Send(new ZFrame(str_head_pose, Encoding.UTF8));
String str_gaze = String.Format("{0}:{1:F2}, {2:F2}", "GazeAngle", gaze_angle.Item1 * (180.0 / Math.PI), gaze_angle.Item2 * (180.0 / Math.PI));
zero_mq_socket.Send(new ZFrame(str_gaze, Encoding.UTF8));
}
}));
while (running & pause)
{
Thread.Sleep(10);
}
}
catch (TaskCanceledException)
{
// Quitting
break;
}
}
reader.Close();
System.Console.Out.WriteLine("Thread finished");
}
public bool Send(string data)
{
_socket.Send(new ZFrame(data));
return(true);
}
public static bool DefaultSendMessage(ZSocket socket, ZMessage message, out ZError error)
{
return(socket.Send(message, out error));
}