public MainWindow()
{
InitializeComponent();
_senseManager = PXCMSenseManager.CreateInstance();
_senseManager.EnableHand();
var handManager = _senseManager.QueryHand();
_handConfig = handManager.CreateActiveConfiguration();
_handConfig.EnableGesture("thumb_up");
_handConfig.EnableGesture("thumb_down");
//_handConfig.EnableGesture("fist");
//_handConfig.EnableGesture("spreadfingers");
_handConfig.EnableAllAlerts();
_handConfig.ApplyChanges();
var status = _senseManager.Init();
if (status >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_cancellationTokenSource = new CancellationTokenSource();
_task = Task.Factory.StartNew(x => ProcessInput(_cancellationTokenSource.Token),
TaskCreationOptions.LongRunning,
_cancellationTokenSource.Token);
}
}
public MainWindow()
{
InitializeComponent();
handWaving = false;
handTrigger = false;
msgTimer = 0;
//Instantiate and initialize the SenseManager
senseManager = PXCMSenseManager.CreateInstance();
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
senseManager.EnableHand();
senseManager.Init();
//Configure the Hand Module
hand = senseManager.QueryHand();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("v_sign");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
// Start the worker thread
processingThread = new Thread(new ThreadStart(ProcessingThread));
processingThread.Start();
}
// ジェスチャーが選択されたときに呼ばれるイベント
private void ComboGesture_SelectionChanged(object sender,
SelectionChangedEventArgs e)
{
var index = ComboGesture.SelectedIndex;
if (index == -1)
{
return;
}
// 選択されたインデックスのジェスチャー名を取得する
string gestureName;
var sts = handConfig.QueryGestureNameByIndex(index, out gestureName);
if (sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
// 一度すべてのジェスチャーを切り、選択されたジェスチャーを有効にする
handConfig.DisableAllGestures();
handConfig.EnableGesture(gestureName, true);
handConfig.ApplyChanges();
// ジェスチャーの検出数を初期化する
leftGestureCount = rightGestureCount = 0;
}
public Camera(params PXCMHandConfiguration.OnFiredGestureDelegate[] dlgts)
{
// Create the manager
this._session = PXCMSession.CreateInstance();
this._mngr = this._session.CreateSenseManager();
// streammmm
PXCMVideoModule.DataDesc desc = new PXCMVideoModule.DataDesc();
desc.deviceInfo.streams = PXCMCapture.StreamType.STREAM_TYPE_COLOR | PXCMCapture.StreamType.STREAM_TYPE_DEPTH;
this._mngr.EnableStreams(desc);
//this._mngr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, Camera.WIDTH, Camera.HEIGHT, 30);
//this._mngr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, Camera.WIDTH, Camera.HEIGHT, 30);
// Hands
this._mngr.EnableHand();
this._hand = this._mngr.QueryHand();
this._handData = this._hand.CreateOutput();
// Hands config
PXCMHandConfiguration conf = this._hand.CreateActiveConfiguration();
conf.EnableGesture("spreadfingers", false);
conf.EnableGesture("thumb_up", false);
// Subscribe hands alerts
conf.EnableAllAlerts();
conf.SubscribeAlert(this.onFiredAlert);
// Subscribe all gestures
foreach (PXCMHandConfiguration.OnFiredGestureDelegate subscriber in dlgts)
{
conf.SubscribeGesture(subscriber);
}
// and the private one for debug
conf.SubscribeGesture(this.onFiredGesture);
// Apply it all
conf.ApplyChanges();
// Set events
this._handler = new PXCMSenseManager.Handler();
this._handler.onModuleProcessedFrame = this.onModuleProcessedFrame;
this._mngr.Init(this._handler);
}
public Camera()
{
this.action = new Action();
this.rockCounter = 0;
directionTimer = new System.Timers.Timer(1000);
directionTimer.Elapsed += directionTimer_Elapsed;
pinchTimer = new System.Timers.Timer(500);
pinchTimer.Elapsed += pinchTimer_Elapsed;
rockTimer = new System.Timers.Timer(300);
rockTimer.Elapsed += rockTimer_Elapsed;
// Create the manager
this._session = PXCMSession.CreateInstance();
this._mngr = this._session.CreateSenseManager();
// streammmm
PXCMVideoModule.DataDesc desc = new PXCMVideoModule.DataDesc();
desc.deviceInfo.streams = PXCMCapture.StreamType.STREAM_TYPE_COLOR | PXCMCapture.StreamType.STREAM_TYPE_DEPTH;
this._mngr.EnableStreams(desc);
//this._mngr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, Camera.WIDTH, Camera.HEIGHT, 30);
//this._mngr.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, Camera.WIDTH, Camera.HEIGHT, 30);
// Hands
this._mngr.EnableHand();
this._hand = this._mngr.QueryHand();
this._handData = this._hand.CreateOutput();
// Hands config
PXCMHandConfiguration conf = this._hand.CreateActiveConfiguration();
conf.EnableGesture("two_fingers_pinch_open", true);
// Subscribe hands alerts
conf.EnableAllAlerts();
//conf.SubscribeAlert(this.onFiredAlert);
conf.EnableTrackedJoints(true);
// and the private one for debug
//conf.SubscribeGesture(this.onFiredGesture);
// Apply it all
conf.ApplyChanges();
// Set events
this._handler = new PXCMSenseManager.Handler();
this._handler.onModuleProcessedFrame = this.onModuleProcessedFrame;
this._mngr.Init(this._handler);
}
/// <summary> 手の検出の初期化 </summary>
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if (handAnalyzer == null)
{
throw new Exception("手の検出器の取得に失敗しました");
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if (handData == null)
{
throw new Exception("手の検出器の作成に失敗しました");
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption(6);
}
// 手の検出の設定
config = handAnalyzer.CreateActiveConfiguration();
//config.EnableSegmentationImage(true);
config.EnableJointSpeed(PXCMHandData.JointType.JOINT_MIDDLE_TIP, PXCMHandData.JointSpeedType.JOINT_SPEED_AVERAGE, 100);
//config.EnableGesture("v_sign");
config.EnableGesture("thumb_up");
config.EnableGesture("thumb_down");
//config.EnableGesture("tap");
//config.EnableGesture("fist");
config.SubscribeGesture(OnFiredGesture);
config.ApplyChanges();
config.Update();
gestureTimer.Start();
}
public override void Listen()
{
// attach the controller to the PXCM sensor
_senseManager = Session.CreateSenseManager();
_senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
_senseManager.EnableHand();
_handModule = _senseManager.QueryHand();
_handData = _handModule.CreateOutput();
_handConfiguration = _handModule.CreateActiveConfiguration();
_handConfiguration.SubscribeGesture(_handGestureHandler);
_handConfiguration.SubscribeAlert(_handAlertHandler);
_handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TRACKED);
_handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_CALIBRATED);
_handConfiguration.EnableGesture("full_pinch");
_handConfiguration.EnableGesture("thumb_up");
_handConfiguration.ApplyChanges();
_senseManager.Init(_handler);
sensorActive = true;
_senseManager.StreamFrames(true);
_senseManager.Close();
}
public MainWindow()
{
InitializeComponent();
_senseManager = PXCMSenseManager.CreateInstance();
_senseManager.EnableHand();
var handManager = _senseManager.QueryHand();
_handConfig = handManager.CreateActiveConfiguration();
_handConfig.EnableGesture("thumb_up");
_handConfig.EnableGesture("thumb_down");
_handConfig.EnableAllAlerts();
_handConfig.ApplyChanges();
var status = _senseManager.Init();
if (status >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
_cancellationTokenSource = new CancellationTokenSource();
_task = Task.Factory.StartNew(x => ProcessInput(_cancellationTokenSource.Token),
TaskCreationOptions.LongRunning,
_cancellationTokenSource.Token);
}
}
private void ConfigureHandModule()
{
timerCount = Stopwatch.StartNew();
hand = senseManager.QueryHand();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("spreadfingers");
handConfig.EnableGesture("two_fingers_pinch_open");
handConfig.EnableGesture("wave");
handConfig.EnableGesture("swipe");
handConfig.EnableGesture("swipe_left");
handConfig.EnableGesture("swipe_right");
handConfig.EnableGesture("fist");
handConfig.EnableGesture("thumb_up");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
}
public override void Init(PXCMSenseManager sManager)
{
this.senseManager = sManager;
hand = senseManager.QueryHand();
face = senseManager.QueryFace();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("wave");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
faceConfic = face.CreateActiveConfiguration();
faceConfic.QueryExpressions();
faceConfic.EnableAllAlerts();
faceConfic.ApplyChanges();
PXCMFaceConfiguration.ExpressionsConfiguration expc = faceConfic.QueryExpressions();
expc.Enable();
expc.EnableAllExpressions();
faceConfic.ApplyChanges();
Console.WriteLine("init smile done");
}
public MainWindow()
{
InitializeComponent();
// Instantiate and initialize the SenseManager
_senseManager = PXCMSenseManager.CreateInstance();
_senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
_senseManager.EnableHand();
_senseManager.Init();
// Configure the Hand Module
_hand = _senseManager.QueryHand();
_handConfig = _hand.CreateActiveConfiguration();
_handConfig.EnableGesture("wave");
_handConfig.EnableAllAlerts();
_handConfig.ApplyChanges();
// Start the worker thread
_processingThread = new Thread(new ThreadStart(ProcessingThread));
_processingThread.Start();
}
void OnEnable()
{
Initialized = false;
/* Create a SenseManager instance */
SenseManager = PXCMSenseManager.CreateInstance();
if (SenseManager == null)
{
print("Unable to create the pipeline instance");
return;
}
if (_speechCommandsRef.Count != 0)
{
SetSenseOption(SenseOption.SenseOptionID.Speech);
}
int numberOfEnabledModalities = 0;
//Set mode according to RunMode - play from file / record / live stream
if (RunMode == MCTTypes.RunModes.PlayFromFile)
{
//CHECK IF FILE EXISTS
if (!System.IO.File.Exists(FilePath))
{
Debug.LogWarning("No Filepath Set Or File Doesn't Exist, Run Mode Will Be Changed to Live Stream");
RunMode = MCTTypes.RunModes.LiveStream;
}
else
{
PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
cManager.SetFileName(FilePath, false);
Debug.Log("SenseToolkitManager: Playing from file: " + FilePath);
}
}
if (RunMode == MCTTypes.RunModes.RecordToFile)
{
//CHECK IF PATH
string PathOnly = FilePath;
while (!PathOnly[PathOnly.Length - 1].Equals('\\'))
{
PathOnly = PathOnly.Remove(PathOnly.Length - 1, 1);
}
if (!System.IO.Directory.Exists(PathOnly))
{
Debug.LogWarning("No Filepath Set Or Path Doesn't Exist, Run Mode Will Be Changed to Live Stream");
RunMode = MCTTypes.RunModes.LiveStream;
}
else
{
PXCMCaptureManager cManager = SenseManager.QueryCaptureManager();
cManager.SetFileName(FilePath, true);
Debug.Log("SenseToolkitManager: Recording to file: " + FilePath);
}
}
/* Enable modalities according to the set options*/
if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
{
SenseManager.EnableFace();
SenseManager.EnableEmotion();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Face).Enabled = true;
SetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
{
_sts = SenseManager.EnableHand();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Hand).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
{
_sts = SenseManager.EnableTracker();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
{
if (!SpeechManager.IsInitialized)
{
if (SpeechManager.InitalizeSpeech())
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled = true;
numberOfEnabledModalities++;
}
else
{
UnsetSenseOption(SenseOption.SenseOptionID.Speech);
}
}
else
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Speech).Enabled = true;
numberOfEnabledModalities++;
}
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoDepthStream, true) ||
IsSenseOptionSet(SenseOption.SenseOptionID.PointCloud, true))
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, 0, 0, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoDepthStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoIRStream, true))
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, 0, 0, 0);
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoIRStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoColorStream, true))
{
if (ColorImageQuality == MCTTypes.RGBQuality.FullHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HalfHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
}
else
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
}
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoColorStream).Enabled = true;
numberOfEnabledModalities++;
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.VideoSegmentation, true))
{
if (ColorImageQuality == MCTTypes.RGBQuality.FullHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 1280, 720, 0);
}
else if (ColorImageQuality == MCTTypes.RGBQuality.HalfHD)
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 960, 540, 0);
}
else
{
SenseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 0);
}
SenseManager.Enable3DSeg();
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Initialized = true;
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.VideoSegmentation).Enabled = true;
numberOfEnabledModalities++;
}
/* Initialize the execution */
_sts = SenseManager.Init();
if (_sts < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (numberOfEnabledModalities > 0)
{
Debug.LogError("Unable to initialize all modalities");
}
return;
}
//Set different configurations:
// Face
if (IsSenseOptionSet(SenseOption.SenseOptionID.Face, true))
{
var faceModule = SenseManager.QueryFace();
var faceConfiguration = faceModule.CreateActiveConfiguration();
if (faceConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
faceConfiguration.Update();
faceConfiguration.detection.isEnabled = true;
faceConfiguration.detection.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.landmarks.isEnabled = true;
faceConfiguration.landmarks.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.pose.isEnabled = true;
faceConfiguration.pose.smoothingLevel = PXCMFaceConfiguration.SmoothingLevelType.SMOOTHING_DISABLED;
faceConfiguration.DisableAllAlerts();
faceConfiguration.strategy = PXCMFaceConfiguration.TrackingStrategyType.STRATEGY_APPEARANCE_TIME;
if ((NumberOfDetectedFaces < 1) || (NumberOfDetectedFaces > 15))
{
Debug.Log("Ilegal value for Number Of Detected Faces, value is set to 1");
NumberOfDetectedFaces = 1;
}
faceConfiguration.detection.maxTrackedFaces = NumberOfDetectedFaces;
faceConfiguration.landmarks.maxTrackedFaces = NumberOfDetectedFaces;
faceConfiguration.pose.maxTrackedFaces = NumberOfDetectedFaces;
PXCMFaceConfiguration.ExpressionsConfiguration expressionConfig = faceConfiguration.QueryExpressions();
expressionConfig.Enable();
expressionConfig.EnableAllExpressions();
faceConfiguration.ApplyChanges();
faceConfiguration.Dispose();
FaceModuleOutput = faceModule.CreateOutput();
Emotion = SenseManager.QueryEmotion();
UnsetSenseOption(SenseOption.SenseOptionID.VideoColorStream);
}
// Hand
if (IsSenseOptionSet(SenseOption.SenseOptionID.Hand, true))
{
PXCMHandModule handAnalysis = SenseManager.QueryHand();
PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
throw new UnityException("CreateActiveConfiguration returned null");
}
handConfiguration.Update();
//handConfiguration.EnableAllGestures();
handConfiguration.EnableGesture("v_sign");
handConfiguration.EnableGesture("thumb_up");
handConfiguration.EnableGesture("thumb_down");
//handConfiguration.EnableGesture ("two_fingers_pinch_open");
handConfiguration.EnableGesture("spreadfingers");
handConfiguration.EnableGesture("fist");
handConfiguration.EnableStabilizer(true);
handConfiguration.DisableAllAlerts();
handConfiguration.EnableSegmentationImage(false);
handConfiguration.ApplyChanges();
handConfiguration.Dispose();
HandDataOutput = handAnalysis.CreateOutput();
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Object, true))
{
if (_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled != true)
{
_senseOptions.Find(i => i.ID == SenseOption.SenseOptionID.Object).Enabled = true;
OnDisable();
OnEnable();
}
}
if (IsSenseOptionSet(SenseOption.SenseOptionID.Speech, true))
{
UpdateSpeechCommands();
SpeechManager.Start();
}
// Create an instance for the projection & blob extractor
if (Projection == null)
{
Projection = SenseManager.QueryCaptureManager().QueryDevice().CreateProjection();
}
if (BlobExtractor == null)
{
SenseManager.session.CreateImpl <PXCMBlobExtractor>(out BlobExtractor);
}
// Set initialization flag
Initialized = true;
}
public void HandPipeLine()
{
PXCMSenseManager pp = m_form.Session.CreateSenseManager();
if (pp == null)
{
throw new Exception("PXCMSenseManager null");
}
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 360);
//手 初始化
PXCMHandModule handAnalysis;
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
PXCMHandConfiguration handConfiguration = null;
PXCMHandData handData = null;
pxcmStatus status = pp.EnableHand();
handAnalysis = pp.QueryHand();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null)
{
Console.WriteLine("hand module load failed");
return;
}
handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
Console.WriteLine("Failed Create Configuration");
return;
}
handData = handAnalysis.CreateOutput();
if (handData == null)
{
Console.WriteLine("Failed Create Output");
return;
}
if (pp.Init(handler) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("init failed");
return;
}
if (handConfiguration != null)
{
PXCMHandData.TrackingModeType trackingMode = PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND;
// 配置收的Tracking Mode
trackingMode = PXCMHandData.TrackingModeType.TRACKING_MODE_FULL_HAND;
handConfiguration.SetTrackingMode(trackingMode);
handConfiguration.EnableAllAlerts();
handConfiguration.EnableSegmentationImage(true);
bool isEnabled = handConfiguration.IsSegmentationImageEnabled();
handConfiguration.ApplyChanges();
int totalNumOfGestures = handConfiguration.QueryGesturesTotalNumber();
if (totalNumOfGestures > 0)
{
for (int i = 0; i < totalNumOfGestures; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) ==
pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine(gestureName);
}
}
}
}
int frameCounter = 0;
int frameNumber = 0;
while (!m_form.Stopped)
{
string gestureName = "fist";
if (handConfiguration != null)
{
if (string.IsNullOrEmpty(gestureName) == false)
{
if (handConfiguration.IsGestureEnabled(gestureName) == false)
{
handConfiguration.DisableAllGestures();
handConfiguration.EnableGesture(gestureName, true);
handConfiguration.ApplyChanges();
}
}
else
{
handConfiguration.DisableAllGestures();
handConfiguration.ApplyChanges();
}
}
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
frameCounter++;
if (pp.IsConnected())
{
PXCMCapture.Sample sample;
sample = pp.QueryHandSample();
if (sample != null && sample.depth != null)
{
// frameNumber = liveCamera ? frameCounter : instance.captureManager.QueryFrameIndex();
frameNumber = frameCounter;
}
//bool b=(sample.ir==null);
//b = (sample.color== null);
//b = (sample.left == null);
//b = (sample.right == null);
DisplayPicture(sample.depth);
if (handData != null)
{
handData.Update();
SaveHandData(handData);
}
m_form.UpdatePic();
}
pp.ReleaseFrame();
}
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
pp.Close();
pp.Dispose();
}
/* Using PXCMSenseManager to handle data */
public void SimplePipeline()
{
form.UpdateInfo(String.Empty, Color.Black);
bool liveCamera = false;
bool flag = true;
PXCMSenseManager instance = null;
_disconnected = false;
instance = form.g_session.CreateSenseManager();
if (instance == null)
{
form.UpdateStatus("Failed creating SenseManager");
return;
}
if (form.GetRecordState())
{
instance.captureManager.SetFileName(form.GetFileName(), true);
PXCMCapture.DeviceInfo info;
if (form.Devices.TryGetValue(form.GetCheckedDevice(), out info))
{
instance.captureManager.FilterByDeviceInfo(info);
}
}
else if (form.GetPlaybackState())
{
instance.captureManager.SetFileName(form.GetFileName(), false);
instance.captureManager.SetRealtime(false);
}
else
{
PXCMCapture.DeviceInfo info;
if (String.IsNullOrEmpty(form.GetCheckedDevice()))
{
form.UpdateStatus("Device Failure");
return;
}
if (form.Devices.TryGetValue(form.GetCheckedDevice(), out info))
{
instance.captureManager.FilterByDeviceInfo(info);
}
liveCamera = true;
}
/* Set Module */
pxcmStatus status = instance.EnableHand(form.GetCheckedModule());
PXCMHandModule handAnalysis = instance.QueryHand();
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR || handAnalysis == null)
{
form.UpdateStatus("Failed Loading Module");
return;
}
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
PXCMHandData handData = handAnalysis.CreateOutput();
if (handConfiguration == null)
{
form.UpdateStatus("Failed Create Configuration");
return;
}
if (handData == null)
{
form.UpdateStatus("Failed Create Output");
return;
}
if (form.getInitGesturesFirstTime() == false)
{
int totalNumOfGestures = handConfiguration.QueryGesturesTotalNumber();
if (totalNumOfGestures > 0)
{
this.form.UpdateGesturesToList("", 0);
for (int i = 0; i < totalNumOfGestures; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) ==
pxcmStatus.PXCM_STATUS_NO_ERROR)
{
this.form.UpdateGesturesToList(gestureName, i + 1);
}
}
form.setInitGesturesFirstTime(true);
form.UpdateGesturesListSize();
}
}
FPSTimer timer = new FPSTimer(form);
form.UpdateStatus("Init Started");
if (handAnalysis != null && instance.Init(handler) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.DeviceInfo dinfo;
PXCMCapture.Device device = instance.captureManager.device;
if (device != null)
{
pxcmStatus result = device.QueryDeviceInfo(out dinfo);
if (result == pxcmStatus.PXCM_STATUS_NO_ERROR && dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
device.SetIVCAMFilterOption(6);
}
_maxRange = device.QueryDepthSensorRange().max;
}
if (handConfiguration != null)
{
handConfiguration.EnableAllAlerts();
handConfiguration.EnableSegmentationImage(true);
handConfiguration.ApplyChanges();
handConfiguration.Update();
}
form.UpdateStatus("Streaming");
int frameCounter = 0;
int frameNumber = 0;
string nextPageGesture, previousPageGesture, firstPageGesture, endPageGesture;
HandsRecognition.Hand nextHand, previousHand, firstHand, endHand;
while (!form.stop)
{
form.GetHandType(out nextHand, out previousHand, out firstHand, out endHand);
form.GetGestureName(out nextPageGesture, out previousPageGesture, out firstPageGesture, out endPageGesture);
handConfiguration.DisableAllGestures();
if (string.IsNullOrEmpty(nextPageGesture) == false && handConfiguration.IsGestureEnabled(nextPageGesture) == false)
{
handConfiguration.EnableGesture(nextPageGesture, true);
NextPageGesture.Gesture = nextPageGesture;
NextPageGesture.handler = form.NextPage;
NextPageGesture.HandType = nextHand;
}
if (string.IsNullOrEmpty(previousPageGesture) == false && handConfiguration.IsGestureEnabled(previousPageGesture) == false)
{
handConfiguration.EnableGesture(previousPageGesture, true);
PreviousPageGesture.Gesture = previousPageGesture;
PreviousPageGesture.handler = form.PreviousPage;
PreviousPageGesture.HandType = previousHand;
}
if (string.IsNullOrEmpty(firstPageGesture) == false && handConfiguration.IsGestureEnabled(firstPageGesture) == false)
{
handConfiguration.EnableGesture(firstPageGesture, true);
FirstPageGesture.Gesture = firstPageGesture;
FirstPageGesture.handler = form.FirstPage;
FirstPageGesture.HandType = firstHand;
}
if (string.IsNullOrEmpty(endPageGesture) == false && handConfiguration.IsGestureEnabled(endPageGesture) == false)
{
handConfiguration.EnableGesture(endPageGesture, true);
EndPageGesture.Gesture = endPageGesture;
EndPageGesture.handler = form.EndPage;
EndPageGesture.HandType = endHand;
}
handConfiguration.ApplyChanges();
if (instance.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
frameCounter++;
if (!DisplayDeviceConnection(!instance.IsConnected()))
{
if (handData != null)
{
handData.Update();
}
PXCMCapture.Sample sample = instance.QueryHandSample();
if (sample != null && sample.depth != null)
{
DisplayPicture(sample.depth, handData);
if (handData != null)
{
frameNumber = liveCamera ? frameCounter : instance.captureManager.QueryFrameIndex();
DisplayJoints(handData);
DisplayGesture(handData, frameNumber);
DisplayAlerts(handData, frameNumber);
}
form.UpdatePanel();
}
timer.Tick();
}
instance.ReleaseFrame();
}
// Clean Up
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
}
else
{
form.UpdateStatus("Init Failed");
flag = false;
}
foreach (PXCMImage pxcmImage in m_images)
{
pxcmImage.Dispose();
}
instance.Close();
instance.Dispose();
if (flag)
{
form.UpdateStatus("Stopped");
}
}
public MainWindow()
{
InitializeComponent();
//set the current date and time
currentDateTime = DateTime.Now.ToString("yyyyMMddHHmmssfff");
//set total timer count to 0 and init vars
highPerformanceTimer = new HiPerfTimer();
totalHighPerfTimeElapsed = 0;
numLinesWritten = 0; //set the total number of lines written to 0 so we can track when to start the timer
//init pipe stuff
pipeClient = new MyClient(PIPE_NAME);
pipeClient.SendMessage("I Am Intel RealSense");
//Debug.WriteLine("Server Ready");
//initialise combobox
populateComboBox();
//init the exprToDisplay global var
exprToDisplay = "";
//Work on the file
//create paths
string dirToCreate = "data";
string dirToCreateFull = System.IO.Path.GetFullPath(dirToCreate);
Directory.CreateDirectory(dirToCreateFull);
dirToCreate = "video";
dirToCreateFull = System.IO.Path.GetFullPath(dirToCreate);
Directory.CreateDirectory(dirToCreateFull);
//create the csv file to write to
file = new StreamWriter("data/" + currentDateTime + "data" + ".csv");
//initialise global expressions array - faster to add the keys here?
var enumListMain = Enum.GetNames(typeof(PXCMFaceData.ExpressionsData.FaceExpression));
exprTable = new Hashtable();
string initLine = "";
//Add the column schema
//Initial line: timestamp and high prec time
initLine += "TIMESTAMP,HIGH_PRECISION_TIME_FROM_START,STIMCODE";
//add all the expression data columns
for (int i = 0; i < enumListMain.Length; i++)
{
exprTable.Add(enumListMain[i], 0);
initLine += "," + enumListMain[i];
}
//add the bounding rectangle column
initLine += "," + "BOUNDING_RECTANGLE_HEIGHT" + "," + "BOUNDING_RECTANGLE_WIDTH" + "," + "BOUNDING_RECTANGLE_X" + "," + "BOUNDING_RECTANGLE_Y";
//add the average depth column
initLine += "," + "AVERAGE_DEPTH";
//add landmark points column
for (int i = 0; i < LANDMARK_POINTS_TOTAL; i++)
{
initLine += "," + "LANDMARK_" + i + "_X";
initLine += "," + "LANDMARK_" + i + "_Y";
}
//add euler angles columns
initLine += "," + "EULER_ANGLE_PITCH" + "," + "EULER_ANGLE_ROLL" + "," + "EULER_ANGLE_YAW";
initLine += "," + "QUATERNION_W" + "," + "QUATERNION_X" + "," + "QUATERNION_Y" + "," + "QUATERNION_Z";
//write the initial row to the file
file.WriteLine(initLine);
//configure the camera mode selection box
cbCameraMode.Items.Add("Color");
cbCameraMode.Items.Add("IR");
cbCameraMode.Items.Add("Depth");
//configure initial camera mode
cameraMode = "Color";
//initialise global vars
numFacesDetected = 0;
handWaving = false;
handTrigger = false;
handResetTimer = 0;
lEyeClosedIntensity = 0;
lEyeClosed = false;
lEyeClosedTrigger = false;
lEyeClosedResetTimer = 0;
rEyeClosed = false;
rEyeClosedTrigger = false;
rEyeClosedResetTimer = 0;
rEyeClosedIntensity = 0;
emotionEvidence = 0;
blinkTrigger = false;
blinkResetTimer = 0;
//global fps vars
prevTime = 0;
stopwatch = new Stopwatch();
// Instantiate and initialize the SenseManager
senseManager = PXCMSenseManager.CreateInstance();
if (senseManager == null)
{
MessageBox.Show("Cannot initialise sense manager: closing in 20s, report to Sriram");
Thread.Sleep(20000);
Environment.Exit(1);
}
//capture samples
senseManager.captureManager.SetFileName("video/" + currentDateTime + ".raw", true);
//Enable color stream
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS);
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS);
senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, STREAM_WIDTH, STREAM_HEIGHT, STREAM_FPS);
//Enable face and hand tracking AND EMOTION TRACKING
senseManager.EnableHand();
senseManager.EnableFace();
senseManager.EnableEmotion();
//Initialise the senseManager - begin collecting data
senseManager.Init();
// Configure the Hand Module
hand = senseManager.QueryHand();
handConfig = hand.CreateActiveConfiguration();
handConfig.EnableGesture("wave");
handConfig.EnableAllAlerts();
handConfig.ApplyChanges();
//Configure the Face Module
face = senseManager.QueryFace();
faceConfig = face.CreateActiveConfiguration();
faceConfig.EnableAllAlerts();
faceConfig.detection.isEnabled = true; //enables querydetection function to retrieve face loc data
faceConfig.detection.maxTrackedFaces = 1; //MAXIMUM TRACKING - 1 FACE
faceConfig.ApplyChanges();
//Configure the sub-face-module Expressions
exprConfig = faceConfig.QueryExpressions();
exprConfig.Enable();
exprConfig.EnableAllExpressions();
faceConfig.ApplyChanges();
// Start the worker thread that processes the captured data in real-time
processingThread = new Thread(new ThreadStart(ProcessingThread));
processingThread.Start();
}
public static void start(IoT_RealSense_Surfing frm)
{
keepLooping = true;
iot_form = frm;
InitializeMqqtClient();
PXCMSession session = PXCMSession.CreateInstance();
// Querying the SDK version
Console.WriteLine(frm.comboTarget.SelectedText);
if (session != null)
{
// Optional steps to send feedback to Intel Corporation to understand how often each SDK sample is used.
PXCMMetadata md = session.QueryInstance <PXCMMetadata>();
if (md != null)
{
string sample_name = "Emotion Viewer CS";
md.AttachBuffer(1297303632, System.Text.Encoding.Unicode.GetBytes(sample_name));
}
//Application.Run(new MainForm(session));
//session.Dispose();
}
//PXCMSession.ImplVersion version = session.QueryVersion();
//Console.WriteLine("RealSense SDK Version {0}.{1}", version.major, version.minor);
session.CreateImpl <PXCMRotation>(out rotationHelper);
// Creating the SenseManager
PXCMSenseManager senseManager = session.CreateSenseManager();
if (senseManager == null)
{
Console.WriteLine("Failed to create the SenseManager object.");
return;
}
// Enabling Emotion Module
pxcmStatus enablingModuleStatus = senseManager.EnableEmotion();
if (enablingModuleStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to enable the Emotion Module");
return;
}
// Getting the instance of the Emotion Module
PXCMEmotion emotionModule = senseManager.QueryEmotion();
if (emotionModule == null)
{
Console.WriteLine("Failed to query the emotion module");
return;
}
// Initializing the camera
if (senseManager.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to initialize the SenseManager");
return;
}
// Enabling the Hand module
pxcmStatus enablingModuleStatus1 = senseManager.EnableHand("Hand Module");
if (enablingModuleStatus1 != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to enable the Hand Module");
return;
}
// Getting the instance of the Hand Module
PXCMHandModule handModule = senseManager.QueryHand();
if (handModule == null)
{
Console.WriteLine("Failed to get the HandModule object.");
return;
}
// Creating an active configuration
PXCMHandConfiguration handConfiguration = handModule.CreateActiveConfiguration();
if (handConfiguration == null)
{
Console.WriteLine("Failed to create the HandConfiguration object.");
return;
}
// Listing the available gestures
int supportedGesturesCount = handConfiguration.QueryGesturesTotalNumber();
if (supportedGesturesCount > 0)
{
Console.WriteLine("Supported gestures:");
for (int i = 0; i < supportedGesturesCount; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("\t" + gestureName);
}
}
}
// Enabling some gestures
String[] enabledGestures = { GESTURE_CLICK, GESTURE_VSIGN, GESTURE_FIST, GESTURE_SPREADFINGERS };
foreach (String gesture in enabledGestures)
{
if (!handConfiguration.IsGestureEnabled(gesture))
{
handConfiguration.EnableGesture(gesture);
}
}
handConfiguration.ApplyChanges();
// Creating a data output object
PXCMHandData handData = handModule.CreateOutput();
if (handData == null)
{
Console.WriteLine("Failed to create the HandData object.");
return;
}
// Initializing the SenseManager
if (senseManager.Init() != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine(senseManager.Init());
return;
}
// Looping to query the hands information
while (keepLooping)
{
// Acquiring a frame
if (senseManager.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
// Updating the hand data
if (handData != null)
{
handData.Update();
}
//ProcessHands(handData);
ProcessGestures(handData);
ProcessEmotions(emotionModule);
// Releasing the acquired frame
senseManager.ReleaseFrame();
/* using another frame to process different stuff? may be...
* // Acquiring a frame
* if (senseManager.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
* {
* break;
* }
*
* // Processing Emotions
* ProcessEmotions(emotionModule);
*
* // Releasing the acquired frame
* senseManager.ReleaseFrame();*/
}
// Releasing resources
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
rotationHelper.Dispose();
senseManager.Close();
senseManager.Dispose();
session.Dispose();
client.Disconnect();
}
// RS
private void STButton_Click(object sender, RoutedEventArgs e) {
EXButton.IsEnabled = true;
STButton.IsEnabled = false;
// init the sense manager
_senseManager = PXCMSenseManager.CreateInstance();
// enable hand analysis in the multimodal pipeline
_senseManager.EnableTouchlessController();
// init the pipeline
if (_senseManager.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR) {
MessageBox.Show("RealSense Camera init failed");
}
// get an instance of the touchless control
_touchlessController = _senseManager.QueryTouchlessController();
// register fo ux event
_touchlessController.SubscribeEvent(OnTouchlessControllerUXEventHandler); //event
_touchlessController.SubscribeAlert(OnFiredAlertEventHandler); //alert
// configuration
pxcmStatus rc;
PXCMTouchlessController.ProfileInfo pInfo;
rc = _touchlessController.QueryProfile(out pInfo);
pInfo.config = PXCMTouchlessController.ProfileInfo.Configuration.Configuration_Allow_Zoom
| PXCMTouchlessController.ProfileInfo.Configuration.Configuration_Allow_Selection
| PXCMTouchlessController.ProfileInfo.Configuration.Configuration_Allow_Back;
rc = _touchlessController.SetProfile(pInfo);
// configure hand module
_hand = _senseManager.QueryHand();
_handConfig = _hand.CreateActiveConfiguration();
_handConfig.EnableGesture("thumb_up", true); // true is importment
_handConfig.EnableGesture("v_sign", true);
_handConfig.SubscribeGesture(OnFiredGestureEventHandler);
_handConfig.ApplyChanges();
// processing loop
_processingThread = new Thread(new ThreadStart(ProcessingThread));
_processingThread.Start();
}