void Update()
{
//Dynamically Pause/Enable Modules
int numberOfEnabledModules = 0;
foreach (var option in _senseOptions)
{
if (option.RefCounter == 0 && option.Enabled)
{
if (option.ModuleCUID > 0)
{
SenseManager.PauseModule(option.ModuleCUID, true);
}
option.Enabled = false;
}
else if (option.RefCounter > 0 && !option.Enabled)
{
if (!option.Initialized)
{
OnDisable();
OnEnable();
Start();
}
if (option.ModuleCUID > 0)
{
SenseManager.PauseModule(option.ModuleCUID, false);
}
option.Enabled = true;
}
if (option.Enabled)
{
numberOfEnabledModules++;
}
}
//Update Speech commands if changed
if (_speechCommandsChanged)
{
UpdateSpeechCommands();
SpeechManager.Reset();
}
// Every frame update all the data
if (Initialized && numberOfEnabledModules > 0)
{
_sts = SenseManager.AcquireFrame(true, 100);
if (_sts == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Enabled)
{
if (ImageRgbOutput != null)
{
ImageRgbOutput.Dispose();
}
if (_captureSample == null)
{
_captureSample = SenseManager.QuerySample();
}
if (_captureSample.color != null)
{
ImageRgbOutput = _captureSample.color;
ImageRgbOutput.QueryInstance <PXCMAddRef>().AddRef();
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Enabled ||
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.PointCloud).Enabled)
{
if (ImageDepthOutput != null)
{
ImageDepthOutput.Dispose();
}
if (_captureSample == null)
{
_captureSample = SenseManager.QuerySample();
}
if (_captureSample.depth != null)
{
ImageDepthOutput = _captureSample.depth;
ImageDepthOutput.QueryInstance <PXCMAddRef>().AddRef();
if (!_isInitBlob)
{
PXCMImage.ImageInfo info = ImageDepthOutput.QueryInfo();
BlobExtractor.Init(info);
BlobExtractor.SetMaxBlobs(MaxBlobsToDetect);
_isInitBlob = true;
}
if (PointCloud == null)
{
PointCloud = new PXCMPoint3DF32[ImageDepthOutput.info.width * ImageDepthOutput.info.height];
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.PointCloud).Enabled)
{
if (PointCloud == null)
{
PointCloud = new PXCMPoint3DF32[ImageDepthOutput.info.width * ImageDepthOutput.info.height];
}
_sts = Projection.QueryVertices(ImageDepthOutput, PointCloud);
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.UVMap).Enabled)
{
if (UvMap == null)
{
UvMap = new PXCMPointF32[ImageDepthOutput.info.width * ImageDepthOutput.info.height];
}
Projection.QueryUVMap(ImageDepthOutput, UvMap);
}
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Enabled)
{
if (ImageIROutput != null)
{
ImageIROutput.Dispose();
}
if (_captureSample == null)
{
_captureSample = SenseManager.QuerySample();
}
if (_captureSample.ir != null)
{
ImageIROutput = _captureSample.ir;
ImageIROutput.QueryInstance <PXCMAddRef>().AddRef();
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Enabled)
{
if (Image3DSegmentationOutput != null)
{
Image3DSegmentationOutput.Dispose();
}
PXCM3DSeg seg = SenseManager.Query3DSeg();
if (seg != null)
{
Image3DSegmentationOutput = seg.AcquireSegmentedImage();
}
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Enabled)
{
FaceModuleOutput.Update();
}
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Enabled)
{
HandDataOutput.Update();
}
_captureSample = null;
SenseManager.ReleaseFrame();
}
//Speech
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled)
{
SpeechManager.QueryRecognizedCommands(out SpeechOutput);
}
}
}
void Start()
{
sm = mask_utils.PipelineManager.session.CreateSenseManager();
if (sm == null)
{
return;
}
mask_utils.PipelineManager.session.CreateImpl <PXCMBlobExtractor>(out m_blob);
if (m_blob == null)
{
return;
}
mask_utils.PipelineManager.session.CreateImpl <PXCMContourExtractor>(out m_contour);
if (m_contour == null)
{
return;
}
/* request depth stream as part of the pipeline*/
sm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 640, 480);
/* Initialize the pipeline*/
if (sm.Init() == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Query available capture devices and make sure we have a valid RS device*/
PXCMCapture.DeviceInfo dinfo;
sm.QueryCaptureManager().QueryDevice().QueryDeviceInfo(out dinfo);
if (dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
/* Set the depth stream confidence threshold value - Any depth pixels with a confidence score below the threshold will be set to the low confidence pixel value*/
sm.QueryCaptureManager().QueryDevice().SetDepthConfidenceThreshold(10);
/* Set the smoothing aggressiveness parameter - High smoothing effect for distances between 850mm to 1000mm bringing good accuracy with moderate sharpness level.*/
sm.QueryCaptureManager().QueryDevice().SetIVCAMFilterOption(6);
}
/* The BlobData structure describes the parameters of the detected blob*/
blobData = new PXCMBlobExtractor.BlobData[2];
pointOuter = new PXCMPointI32[2][];
pointInner = new PXCMPointI32[2][];
/* Set Blob tracking parameters */
float bSmooth = mask_utils.PipelineManager.BlobSmoothing;
m_blob.SetSmoothing(bSmooth);
float maxDepth = mask_utils.PipelineManager.MaxBlobDepth;
m_blob.SetMaxDistance(maxDepth);
int maxBlobs = mask_utils.PipelineManager.MaxBlobs;
m_blob.SetMaxBlobs(maxBlobs);
/* Set Contour smoothing parameters */
float contourSmooth = mask_utils.PipelineManager.ContourSmoothing;
m_contour.SetSmoothing(contourSmooth);
}
else
{
OnDisable();
}
}