private void Render(Bitmap bitmap, MyTrackedPerson myTrackedPerson, MyBlobs myBlobs)
{
Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal, new Action(delegate()
{
// Update the bitmap image
BitmapImage bitmapImage = ConvertBitmap(bitmap);
if (bitmapImage != null)
{
imgStream.Source = bitmapImage;
}
// Update the data labels
lblFacesDetected.Content = string.Format("Faces Detected: {0}", myTrackedPerson.FacesDetected);
lblFaceH.Content = string.Format("Face Rect H: {0}", myTrackedPerson.FaceH);
lblFaceW.Content = string.Format("Face Rect W: {0}", myTrackedPerson.FaceW);
lblFaceX.Content = string.Format("Face Coord X: {0}", myTrackedPerson.FaceX);
lblFaceY.Content = string.Format("Face Coord Y: {0}", myTrackedPerson.FaceY);
lblFaceDepth.Content = string.Format("Face Depth: {0}", myTrackedPerson.FaceDepth);
lblNumberPersons.Content = string.Format("Persons Detected: {0}", myTrackedPerson.PersonsDetected);
lblPersonH.Content = string.Format("Person Rect H: {0}", myTrackedPerson.H);
lblPersonW.Content = string.Format("Person Rect W: {0}", myTrackedPerson.W);
lblPersonX.Content = string.Format("Person Coord X: {0}", myTrackedPerson.X);
lblPersonY.Content = string.Format("Person Coord Y: {0}", myTrackedPerson.Y);
// Show or hide the markers
if (chkShowMarkers.IsChecked == true)
{
if (myTrackedPerson.FacesDetected == 1)
{
rectFaceMarker.Height = myTrackedPerson.FaceH;
rectFaceMarker.Width = myTrackedPerson.FaceW;
Canvas.SetLeft(rectFaceMarker, myTrackedPerson.FaceX);
Canvas.SetTop(rectFaceMarker, myTrackedPerson.FaceY);
rectFaceMarker.Visibility = Visibility.Visible;
}
else
{
rectFaceMarker.Visibility = Visibility.Hidden;
}
if (myTrackedPerson.PersonsDetected == 1)
{
rectPersonMarker.Height = myTrackedPerson.H;
rectPersonMarker.Width = myTrackedPerson.W;
Canvas.SetLeft(rectPersonMarker, myTrackedPerson.X);
Canvas.SetTop(rectPersonMarker, myTrackedPerson.Y);
rectPersonMarker.Visibility = Visibility.Visible;
}
else
{
rectPersonMarker.Visibility = Visibility.Hidden;
}
// draw blobs' contours (outer only)
// actually, don't bother drawing because it's stupid slow
/*
* if (myBlobs.numBlobs > 0)
* {
* for (int i = 0; i < myBlobs.numBlobs; i++)
* {
* List<PXCMPointI32> currentBlob = myBlobs.blobs[i];
*
* for (int j = 0; j < currentBlob.Count; j++)
* {
* Ellipse dot = new Ellipse();
* dot.Width = 2;
* dot.Height = 2;
*
* SolidColorBrush blueBrush = new SolidColorBrush();
* blueBrush.Color = Colors.Blue;
* dot.Fill = blueBrush;
*
* Canvas.SetLeft(dot, currentBlob[0].x);
* Canvas.SetTop(dot, currentBlob[0].y);
*
* //MainCanvas.Children.Add(dot);
* }
* }
* }
*/
}
else
{
rectFaceMarker.Visibility = Visibility.Hidden;
rectPersonMarker.Visibility = Visibility.Hidden;
}
}));
}
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();
}
}
