private void Update()
{
// Start AcquireFrame-ReleaseFrame loop
while (sm.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Acquire color image data
PXCMCapture.Sample sample = sm.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out colorData);
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Create an instance of MyTrackedPerson
MyTrackedPerson myTrackedPerson = new MyTrackedPerson();
// Acquire person tracking data
personData = personModule.QueryOutput();
myTrackedPerson.PersonsDetected = personData.QueryNumberOfPeople();
if (myTrackedPerson.PersonsDetected == 1)
{
// person track data
PXCMPersonTrackingData.Person trackedPerson = personData.QueryPersonData(PXCMPersonTrackingData.AccessOrderType.ACCESS_ORDER_BY_ID, 0);
PXCMPersonTrackingData.PersonTracking trackedPersonData = trackedPerson.QueryTracking();
PXCMPersonTrackingData.BoundingBox2D personBox = trackedPersonData.Query2DBoundingBox();
myTrackedPerson.X = personBox.rect.x;
myTrackedPerson.Y = personBox.rect.y;
myTrackedPerson.H = personBox.rect.h;
myTrackedPerson.W = personBox.rect.w;
// Acquire face tracking data
faceData.Update();
myTrackedPerson.FacesDetected = faceData.QueryNumberOfDetectedFaces();
if (myTrackedPerson.FacesDetected == 1)
{
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
PXCMFaceData.DetectionData faceDetectionData = face.QueryDetection();
PXCMRectI32 faceRectangle;
faceDetectionData.QueryBoundingRect(out faceRectangle);
myTrackedPerson.FaceH = faceRectangle.h;
myTrackedPerson.FaceW = faceRectangle.w;
myTrackedPerson.FaceX = faceRectangle.x;
myTrackedPerson.FaceY = faceRectangle.y;
float faceDepth;
faceDetectionData.QueryFaceAverageDepth(out faceDepth);
myTrackedPerson.FaceDepth = faceDepth;
//save image
if (doit == true)
{
colorBitmap.Save("myBitmap" + imgID + ".bmp");
doit = false;
stopwatch.Start();
}
else if (stopwatch.Elapsed.Seconds > 10)
{
imgID++;
doit = true;
stopwatch.Reset();
}
}
//IRobotCreate.SetDrive(40, 40);
//my.servoNeck.setTargetPosition(1500);
my.servos.move(Behaviour.neck, 100);//change because new servo class
if ((0 < (myTrackedPerson.X)) && ((myTrackedPerson.X) <= 120))
{
//my.servoShoulder.setTargetPosition(1300);
my.servos.move(Behaviour.neck, 90);
IRobotCreate.SetDrive(20, -20);
}
else if ((120 < (myTrackedPerson.X)) && ((myTrackedPerson.X) < 310))
{
// follow up based on face depth
//my.servoShoulder.setTargetPosition(1500);
my.servos.move(Behaviour.head, 100);//change because new servo class
float depth = myTrackedPerson.FaceDepth - (int)myTrackedPerson.FaceDepth % 100;
if (myTrackedPerson.FacesDetected == 1 && depth < 1750 && depth > 1400)
{
IRobotCreate.SetDrive(0, 0);
}
else if (myTrackedPerson.FacesDetected == 1 && depth < 1400)
{
IRobotCreate.SetDrive(-100, -100);
}
else if (myTrackedPerson.FacesDetected == 1 && depth > 1750)
{
IRobotCreate.SetDrive(100, 100);
}
}
else if (310 <= (myTrackedPerson.X))
{
//my.servoShoulder.setTargetPosition(1700);
my.servos.move(Behaviour.head, 120);//change because new servo class
IRobotCreate.SetDrive(-20, 20);
}
}
//my.servoNeck.SetSpeed(40);
// my.servoShoulder.SetSpeed(40);
my.servos.setSpeed(Behaviour.neck, 100); //change because new servo class
my.servos.setSpeed(Behaviour.head, 100); //change because new servo class
// Update UI
Render(colorBitmap, myTrackedPerson);
// Release resources
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
sm.ReleaseFrame();
}
}
private void Update()
{
// Start AcquireFrame-ReleaseFrame loop
while (sm.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Acquire color image data
PXCMCapture.Sample sample = sm.QuerySample();
Bitmap colorBitmap;
PXCMImage.ImageData colorData;
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out colorData);
colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);
// Create an instance of MyTrackedPerson
MyTrackedPerson myTrackedPerson = new MyTrackedPerson();
MyBlobs myBlobs = new MyBlobs();
// Acquire person tracking data
personData = personModule.QueryOutput();
myTrackedPerson.PersonsDetected = personData.QueryNumberOfPeople();
if (myTrackedPerson.PersonsDetected == 1)
{
PXCMPersonTrackingData.Person trackedPerson = personData.QueryPersonData(PXCMPersonTrackingData.AccessOrderType.ACCESS_ORDER_BY_ID, 0);
PXCMPersonTrackingData.PersonTracking trackedPersonData = trackedPerson.QueryTracking();
PXCMPersonTrackingData.BoundingBox2D personBox = trackedPersonData.Query2DBoundingBox();
myTrackedPerson.X = personBox.rect.x;
myTrackedPerson.Y = personBox.rect.y;
myTrackedPerson.H = personBox.rect.h;
myTrackedPerson.W = personBox.rect.w;
/*
* PXCMPersonTrackingData.PersonJoints personJoints = trackedPerson.QuerySkeletonJoints();
* PXCMPersonTrackingData.PersonJoints.SkeletonPoint[] skeletonPoints = new PXCMPersonTrackingData.PersonJoints.SkeletonPoint[personJoints.QueryNumJoints()];
* trackedPerson.QuerySkeletonJoints().QueryJoints(skeletonPoints);
* if (skeletonPoints.Length > 0)
* skeletonPoints[0].GetType();
*/
}
// Acquire face tracking data
faceData.Update();
myTrackedPerson.FacesDetected = faceData.QueryNumberOfDetectedFaces();
if (myTrackedPerson.FacesDetected == 1)
{
PXCMFaceData.Face face = faceData.QueryFaceByIndex(0);
PXCMFaceData.DetectionData faceDetectionData = face.QueryDetection();
PXCMRectI32 faceRectangle;
faceDetectionData.QueryBoundingRect(out faceRectangle);
myTrackedPerson.FaceH = faceRectangle.h;
myTrackedPerson.FaceW = faceRectangle.w;
myTrackedPerson.FaceX = faceRectangle.x;
myTrackedPerson.FaceY = faceRectangle.y;
float faceDepth;
faceDetectionData.QueryFaceAverageDepth(out faceDepth);
myTrackedPerson.FaceDepth = faceDepth;
}
blobData.Update();
int numBlobs = blobData.QueryNumberOfBlobs();
myBlobs.numBlobs = numBlobs;
myBlobs.blobs = new List <List <PXCMPointI32> >(numBlobs);
myBlobs.closestPoints = new List <PXCMPoint3DF32>(4);
for (int i = 0; i < numBlobs; i++)
{
PXCMBlobData.IBlob blob;
pxcmStatus result1 = blobData.QueryBlob(i, PXCMBlobData.SegmentationImageType.SEGMENTATION_IMAGE_DEPTH, PXCMBlobData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, out blob);
if (result1 == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMPoint3DF32 closestPoint = blob.QueryExtremityPoint(PXCMBlobData.ExtremityType.EXTREMITY_CLOSEST);
myBlobs.closestPoints.Add(closestPoint);
int numContours = blob.QueryNumberOfContours();
if (numContours > 0)
{
// only deal with outer contour
for (int j = 0; j < numContours; j++)
{
PXCMBlobData.IContour contour;
pxcmStatus result2 = blob.QueryContour(j, out contour);
if (result2 == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (contour.IsOuter())
{
PXCMPointI32[] points;
pxcmStatus result3 = contour.QueryPoints(out points);
if (result3 == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
int numPoints = points.Length;
myBlobs.blobs.Add(points.ToList <PXCMPointI32>());
}
}
}
}
}
}
}
// Update UI
Render(colorBitmap, myTrackedPerson, myBlobs);
// serialize to json and send all clients
var personJson = JsonConvert.SerializeObject(myTrackedPerson);
personSockets.ToList().ForEach(s => s.Send(personJson));
var blobJson = JsonConvert.SerializeObject(myBlobs);
blobSockets.ToList().ForEach(s => s.Send(blobJson));
// deserialize json as follows
//MyTrackedPerson deserializedProduct = JsonConvert.DeserializeObject<MyTrackedPerson>(json);
// Release resources
colorBitmap.Dispose();
sample.color.ReleaseAccess(colorData);
sm.ReleaseFrame();
}
}
