/// <summary>
/// 機能の初期化
/// </summary>
private void Initialize()
{
try
{
//SenseManagerを生成
senseManager = SenseManager.CreateInstance();
SampleReader reader = SampleReader.Activate(senseManager);
//カラーストリームを有効にする
reader.EnableStream(StreamType.STREAM_TYPE_COLOR, COLOR_WIDTH, COLOR_HEIGHT, COLOR_FPS);
//パイプラインを初期化する
//(インスタンスはInit()が正常終了した後作成されるので，機能に対する各種設定はInit()呼び出し後となる)
var sts = senseManager.Init();
if (sts < Status.STATUS_NO_ERROR)
{
throw new Exception("パイプラインの初期化に失敗しました");
}
//デバイスを取得する
device = senseManager.CaptureManager.Device;
//ミラー表示にする
device.MirrorMode = MirrorMode.MIRROR_MODE_HORIZONTAL;
//座標変換オブジェクトを作成
projection = device.CreateProjection();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Close();
}
}
private void InitCamera()
{
session = Session.CreateInstance();
System.Diagnostics.Debug.WriteLine("Version: " + session.Version.major);
// Instantiate and initialize the SenseManager
senseManager = session.CreateSenseManager();
reader = SampleReader.Activate(senseManager);
reader.EnableStream(StreamType.STREAM_TYPE_COLOR, WIDTH, HEIGHT, FRAME_RATE, StreamOption.STREAM_OPTION_STRONG_STREAM_SYNC);
reader.EnableStream(StreamType.STREAM_TYPE_DEPTH, WIDTH, HEIGHT, FRAME_RATE, StreamOption.STREAM_OPTION_STRONG_STREAM_SYNC);
//Configure the Face Module
faceModule = FaceModule.Activate(senseManager);
FaceConfiguration faceConfig = faceModule.CreateActiveConfiguration();
faceConfig.Detection.isEnabled = detectionEnabled;
faceConfig.Detection.maxTrackedFaces = maxTrackedFaces;
faceConfig.Landmarks.isEnabled = landmarksEnabled;
faceConfig.Landmarks.maxTrackedFaces = maxTrackedFaces;
faceConfig.TrackingMode = Intel.RealSense.Face.TrackingModeType.FACE_MODE_COLOR_PLUS_DEPTH;
faceConfig.EnableAllAlerts();
faceConfig.ApplyChanges();
//init senseManager
senseManager.Init();
projection = senseManager.CaptureManager.Device.CreateProjection();
System.Diagnostics.Debug.WriteLine("IsConnected: " + senseManager.IsConnected());
}
protected void Init()
{
try
{
// RealSense初期化
// 参考：https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/index.html?doc_face_general_procedure.html
// 参考：.\Intel\RSSDK\sample\core\RawStreams.unity
SenseManager = SenseManager.CreateInstance();
FaceModule = FaceModule.Activate(SenseManager);
FaceModule.FrameProcessed += FaceModule_FrameProcessed;
FaceData = FaceModule.CreateOutput();
FaceConfig = FaceModule.CreateActiveConfiguration();
FaceConfig.TrackingMode = TrackingModeType.FACE_MODE_COLOR;
FaceConfig.Expressions.Properties.Enabled = true;
FaceConfig.ApplyChanges();
SampleReader = SampleReader.Activate(SenseManager);
SampleReader.EnableStream(StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
SampleReader.SampleArrived += SampleReader_SampleArrived;
SenseManager.Init();
SenseManager.StreamFrames(false);
// RawStreams
Texture = NativeTexturePlugin.Activate();
Material.mainTexture = new Texture2D(640, 480, TextureFormat.BGRA32, false);
Material.mainTextureScale = new Vector2(-1, -1);
TexPtr = Material.mainTexture.GetNativeTexturePtr();
// 解像度取得
StreamProfileSet profile;
SenseManager.CaptureManager.Device.QueryStreamProfileSet(out profile);
Resolution = profile.color.imageInfo;
// 平滑化初期化
// 参考：https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/index.html?doc_utils_the_smoother_utility.html
Smoother = Smoother.CreateInstance(SenseManager.Session);
SmoothBody = Smoother.Create3DWeighted(BodyPosSmoothWeight);
SmoothHead = Smoother.Create3DWeighted(HeadAngSmoothWeight);
SmoothEyes = Smoother.Create2DWeighted(EyesPosSmoothWeight);
SmoothEyesClose = Smoother.Create1DWeighted(EyesCloseSmoothWeight);
SmoothBrowRai = Smoother.Create1DWeighted(FaceSmoothWeight);
SmoothBrowLow = Smoother.Create1DWeighted(FaceSmoothWeight);
SmoothSmile = Smoother.Create1DWeighted(FaceSmoothWeight);
SmoothKiss = Smoother.Create1DWeighted(FaceSmoothWeight);
SmoothMouth = Smoother.Create1DWeighted(FaceSmoothWeight);
SmoothTongue = Smoother.Create1DWeighted(FaceSmoothWeight);
}
catch (Exception e)
{
ErrorLog.text = "RealSense Error\n";
ErrorLog.text += e.Message;
}
}
// Start Device
public void StartDevice()
{
if (senseManager.Init() == Status.STATUS_NO_ERROR)
{
Debug.Log(TAG + "Initialization Successful!");
isStart = true;
}
else
{
Debug.Log(TAG + "Initialization Failed!");
}
}
//public void ShowPerformanceTick()
//{
// /* Optional: Show performance tick */
// if (image != null)
// {
// timer.Tick(RS.ImageExtension.PixelFormatToString(image.Info.format) + " " + image.Info.width + "x" + image.Info.height);
// }
//}
public void InitSenseManager()
{
if (SenseManager.Init() == RS.Status.STATUS_NO_ERROR)
{
SetStatus("SenseManager Init Successfull");
}
else
{
SetStatus("SenseManager Init Failed");
Stop = true;
}
}
// Use this for initialization
void Start()
{
/* Create SenseManager Instance */
sm = SenseManager.CreateInstance();
sm.CaptureManager.Realtime = false;
// Selecting a higher resolution profile
StreamProfileSet profiles = new StreamProfileSet();
profiles.color.imageInfo.width = 1280;
profiles.color.imageInfo.height = 720;
RangeF32 f_rate = new RangeF32(30, 30);
profiles.color.frameRate = f_rate;
profiles.depth.imageInfo.width = 640;
profiles.depth.imageInfo.height = 480;
RangeF32 f_drate = new RangeF32(30, 30);
profiles.depth.frameRate = f_drate;
// Setting the resolution profile
sm.CaptureManager.FilterByStreamProfiles(profiles);
sampleReader = SampleReader.Activate(sm);
sampleReader2 = SampleReader.Activate(sm);
sampleReader2.EnableStream(StreamType.STREAM_TYPE_DEPTH, depthWidth, depthHeight, colorFPS);
// Enable and Get a segmentation instance here for configuration
seg = Seg3D.Activate(sm);
// Initialize
seg.FrameProcessed += OnFrameProcessed;
seg.OnAlert += Seg_OnAlert;
sampleReader2.SampleArrived += SampleArrived;
/* Initialize pipeline */
sm.Init();
// Flip the image horizontally
sm.CaptureManager.Device.IVCAMAccuracy = IVCAMAccuracy.IVCAM_ACCURACY_FINEST;
sm.CaptureManager.Device.MirrorMode = MirrorMode.MIRROR_MODE_HORIZONTAL;
/* Create NativeTexturePlugin to render Texture2D natively */
texPlugin = NativeTexturePlugin.Activate();
// Configuring the material and its texture
RGBMaterial.mainTexture = new Texture2D(colorWidth, colorHeight, TextureFormat.BGRA32, false); // Update material's Texture2D with enabled image size.
RGBMaterial.mainTextureScale = new Vector2(-1, -1); // Flip the image
colorTex2DPtr = RGBMaterial.mainTexture.GetNativeTexturePtr(); // Retrieve native Texture2D Pointer
/* Start Streaming */
sm.StreamFrames(false);
}
public void StartTracking()
{
SelectHardwareAndStreamProfile();
SetFaceConfiguration();
pxcmStatus senseManagerInitStatus = SenseManager.Init();
if (senseManagerInitStatus < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new Exception("SenseManager.Init() error: " + senseManagerInitStatus.ToString());
}
_shouldStop = false;
Thread threadLoop = new Thread(this.StartTrackingLoop);
threadLoop.Start();
}
// Use this for initialization
void Start()
{
/* Create SenseManager Instance */
sm = SenseManager.CreateInstance();
/* Selecting a higher resolution profile*/
StreamProfileSet profiles = new StreamProfileSet();
profiles.color.imageInfo.width = 1280;
profiles.color.imageInfo.height = 720;
RangeF32 f_rate = new RangeF32(30, 30);
profiles.color.frameRate = f_rate;
profiles.depth.imageInfo.width = 640;
profiles.depth.imageInfo.height = 480;
RangeF32 f_drate = new RangeF32(30, 30);
profiles.depth.frameRate = f_drate;
/* Setting the resolution profile */
sm.CaptureManager.FilterByStreamProfiles(profiles);
/* Enable and Get a segmentation instance here for configuration */
seg = Seg3D.Activate(sm);
/* Subscribe to seg arrived event */
seg.FrameProcessed += OnFrameProcessed;
/* Initialize pipeline */
sm.Init();
/* Create NativeTexturePlugin to render Texture2D natively */
texPlugin = NativeTexturePlugin.Activate();
SegMaterial.mainTexture = new Texture2D(segWidth, segHeight, TextureFormat.BGRA32, false); // Update material's Texture2D with enabled image size.
SegMaterial.mainTextureScale = new Vector2(-1, -1); // Flip the image
segTex2DPtr = SegMaterial.mainTexture.GetNativeTexturePtr(); // Retrieve native Texture2D Pointer
/* Start Streaming */
sm.StreamFrames(false);
}
public void StartStream()
{
SenseManager.captureManager.FilterByDeviceInfo(DeviceInfo);
// Initializing the SenseManager
pxcmStatus initSenseManagerStatus = SenseManager.Init();
// Initializing the SenseManager
if (initSenseManagerStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidRealSenseStatusException(initSenseManagerStatus, string.Format("Failed to initialize the SenseManager. Return code: {0}", initSenseManagerStatus));
}
if (SenseManager == null)
{
throw new NullReferenceException("The SenseManager isn't initialized. Please check if you already called the InitializeStream method.");
}
IsRunning = true;
CaptureThread = new Thread(() => {
while (IsRunning)
{
if (SenseManager == null || !SenseManager.IsConnected())
{
throw new Exception("The SenseManager is not ready to stream.");
}
// Acquiring a frame with ifall=true to wait for both samples to be ready (aligned samples)
pxcmStatus acquireFrameStatus = SenseManager.AcquireFrame(true);
if (acquireFrameStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidRealSenseStatusException(acquireFrameStatus, string.Format("Failed to acquire a frame. Return code: {0}", acquireFrameStatus));
}
SenseManager.ReleaseFrame();
}
});
CaptureThread.Start();
}
/* Using SenseManager to handle data */
public void SimplePipeline()
{
_form.UpdateInfo(String.Empty, System.Drawing.Color.Black);
bool liveCamera = false;
bool flag = true;
SenseManager instance = null;
_disconnected = false;
instance = _form.session.CreateSenseManager();
if (instance == null)
{
_form.UpdateStatus("Failed creating SenseManager");
_form.EnableTrackingMode(true);
return;
}
CaptureManager captureManager = instance.CaptureManager;
DeviceInfo info = null;
if (captureManager != null)
{
if (_form.GetPlaybackState())
{
captureManager.SetFileName(_form.GetFileName(), false);
info = _form.GetDeviceFromFileMenu(_form.GetFileName());
}
else
{
if (_form.Devices.Count == 0)
{
_form.UpdateStatus("No device were found");
return;
}
_form.Devices.TryGetValue(_form.GetCheckedDevice(), out info);
if (_form.GetRecordState())
{
captureManager.SetFileName(_form.GetFileName(), true);
if (_form.Devices.TryGetValue(_form.GetCheckedDevice(), out info))
{
captureManager.FilterByDeviceInfo(_form.GetCheckedDeviceInfo());
}
}
else
{
captureManager.FilterByDeviceInfo(_form.GetCheckedDeviceInfo());
liveCamera = true;
}
if (info == null)
{
_form.UpdateStatus("Device Failure");
return;
}
}
}
/* Set Module */
HandModule handAnalysis;
// SenseManager.Handler handler = new SenseManager Handler();
// handler.onModuleProcessedFrame = new SenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
HandConfiguration handConfiguration = null;
HandData handData = null;
handAnalysis = HandModule.Activate(instance);
if (handAnalysis == null)
{
_form.UpdateStatus("Failed Loading Module");
_form.EnableTrackingMode(true);
return;
}
handConfiguration = handAnalysis.CreateActiveConfiguration();
if (handConfiguration == null)
{
_form.UpdateStatus("Failed Create Configuration");
_form.EnableTrackingMode(true);
instance.Close();
instance.Dispose();
return;
}
handData = handAnalysis.CreateOutput();
if (handData == null)
{
_form.UpdateStatus("Failed Create Output");
_form.EnableTrackingMode(true);
handConfiguration.Dispose();
instance.Close();
instance.Dispose();
return;
}
FPSTimer timer = new FPSTimer(_form);
_form.UpdateStatus("Init Started");
if (instance.Init() == Status.STATUS_NO_ERROR)
{
DeviceInfo dinfo;
DeviceModel dModel = DeviceModel.DEVICE_MODEL_F200;
Device device = instance.CaptureManager.Device;
if (device != null)
{
device.QueryDeviceInfo(out dinfo);
dModel = dinfo.model;
_maxRange = device.DepthSensorRange.max;
}
if (handConfiguration != null)
{
TrackingModeType trackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
if (_form.GetFullHandModeState())
{
trackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
}
handConfiguration.TrackingMode = trackingMode;
handConfiguration.EnableAllAlerts();
handConfiguration.SegmentationImageEnabled = true;
bool isEnabled = handConfiguration.SegmentationImageEnabled;
handConfiguration.ApplyChanges();
_form.resetGesturesList();
int totalNumOfGestures = handConfiguration.NumberOfGestures;
if (totalNumOfGestures > 0)
{
this._form.UpdateGesturesToList("", 0);
for (int i = 0; i < totalNumOfGestures; i++)
{
string gestureName = string.Empty;
if (handConfiguration.QueryGestureNameByIndex(i, out gestureName) ==
Status.STATUS_NO_ERROR)
{
this._form.UpdateGesturesToList(gestureName, i + 1);
}
}
_form.UpdateGesturesListSize();
}
}
_form.UpdateStatus("Streaming");
int frameCounter = 0;
int frameNumber = 0;
while (!_form.stop)
{
string gestureName = _form.GetGestureName();
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 (instance.AcquireFrame(true) < Status.STATUS_NO_ERROR)
{
break;
}
frameCounter++;
if (!DisplayDeviceConnection(!instance.IsConnected()))
{
Sample sample = instance.Sample;
if (sample != null && sample.Depth != null)
{
frameNumber = liveCamera ? frameCounter : instance.CaptureManager.FrameIndex;
if (handData != null)
{
handData.Update();
DisplayPicture(sample.Depth, handData);
DisplayGesture(handData, frameNumber);
DisplayJoints(handData);
DisplayAlerts(handData, frameNumber);
}
_form.UpdatePanel();
}
timer.Tick();
}
instance.ReleaseFrame();
}
}
else
{
_form.UpdateStatus("Init Failed");
flag = false;
}
foreach (Image Image in _mImages)
{
Image.Dispose();
}
// Clean Up
if (handData != null)
{
handData.Dispose();
}
if (handConfiguration != null)
{
handConfiguration.Dispose();
}
instance.Close();
instance.Dispose();
if (flag)
{
_form.UpdateStatus("Stopped");
}
}
// Use this for initialization
void Start()
{
/* Create SenseManager Instance */
sm = SenseManager.CreateInstance();
/* Create a SampleReader Instance */
sampleReader = SampleReader.Activate(sm);
/* Enable Color & Depth Stream */
sampleReader.EnableStream(StreamType.STREAM_TYPE_COLOR, colorWidth, colorHeight, colorFPS);
sampleReader.EnableStream(StreamType.STREAM_TYPE_DEPTH, depthWidth, depthHeight, depthFPS);
/* Subscribe to sample arrived event */
sampleReader.SampleArrived += SampleArrived;
/////////////////////////////////////////////////////// terry add start
faceModule = FaceModule.Activate(sm);
if (faceModule == null)
{
Debug.LogError("FaceModule Initialization Failed");
}
//faceModule.FrameProcessed += FaceModule_FrameProcessed;
FaceConfiguration moduleConfiguration = faceModule.CreateActiveConfiguration();
if (moduleConfiguration == null)
{
Debug.LogError("FaceConfiguration Initialization Failed");
}
moduleConfiguration.TrackingMode = TrackingModeType.FACE_MODE_COLOR;
moduleConfiguration.Strategy = TrackingStrategyType.STRATEGY_RIGHT_TO_LEFT;
moduleConfiguration.Detection.maxTrackedFaces = 1;
moduleConfiguration.Landmarks.maxTrackedFaces = 1;
moduleConfiguration.Detection.isEnabled = true;
moduleConfiguration.Landmarks.isEnabled = true;
moduleConfiguration.Pose.isEnabled = false;
moduleConfiguration.EnableAllAlerts();
//moduleConfiguration.AlertFired += OnFiredAlert;
Status applyChangesStatus = moduleConfiguration.ApplyChanges();
Debug.Log(applyChangesStatus.ToString());
////////////////////////////////////////////////////// terry add end
/* Initialize pipeline */
sm.Init();
/* Create NativeTexturePlugin to render Texture2D natively */
texPlugin = NativeTexturePlugin.Activate();
RGBMaterial.mainTexture = new Texture2D(colorWidth, colorHeight, TextureFormat.BGRA32, false); // Update material's Texture2D with enabled image size.
RGBMaterial.mainTextureScale = new Vector2(-1, -1); // Flip the image
colorTex2DPtr = RGBMaterial.mainTexture.GetNativeTexturePtr(); // Retrieve native Texture2D Pointer
DepthMaterial.mainTexture = new Texture2D(depthWidth, depthHeight, TextureFormat.BGRA32, false); // Update material's Texture2D with enabled image size.
DepthMaterial.mainTextureScale = new Vector2(-1, -1); // Flip the image
depthTex2DPtr = DepthMaterial.mainTexture.GetNativeTexturePtr(); // Retrieve native Texture2D Pointer
/* Start Streaming */
sm.StreamFrames(false);
}