//////////////////////////////////////////////////
#region Private Methods
void buildPipeline(string deviceName, string gestureModuleName)
{
_pipeline = new UtilMPipeline();
_pipeline.QueryCapture().SetFilter(deviceName);
_pipeline.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_RGB24);
_pipeline.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_VERTICES);
_pipeline.EnableGesture(gestureModuleName);
if (!_pipeline.Init())
{
throw new GestureCameraException("Failed to initialize pipeline.");
}
float unit;
GestureCameraUtil.Assert(
_pipeline.QueryCapture().device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_UNIT, out unit),
"Failed to query sensor depth unit.");
_unit_m = unit / 1000000;
GestureCameraUtil.Assert(
_pipeline.QueryCapture().device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, out _depthLowConf),
"Failed to query sensor depth low confidence value.");
GestureCameraUtil.Assert(
_pipeline.QueryCapture().device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_SATURATION_VALUE, out _depthSaturation),
"Failed to query sensor depth saturation value.");
}
static GestureCameraUtil getInstance()
{
if (_instance == null)
{
_instance = new GestureCameraUtil();
}
return(_instance);
}
//////////////////////////////////////////////////
#region Static Methods
/// <summary>
/// Get device names.
/// Devices' group is restricted to sensor type.
/// Devices' subgroup is restricted to video capture type.
/// </summary>
/// <returns>Device names</returns>
public static string[] GetDeviceNames()
{
var session = GestureCameraUtil.GetSession();
var descOriginal = new PXCMSession.ImplDesc();
descOriginal.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
descOriginal.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
var list = new List <string>();
for (uint i = 0; ; i++)
{
PXCMSession.ImplDesc desc;
if (GestureCameraUtil.HasError(session.QueryImpl(ref descOriginal, i, out desc)))
{
break;
}
PXCMCapture capture;
if (GestureCameraUtil.HasError(session.CreateImpl <PXCMCapture>(ref desc, PXCMCapture.CUID, out capture)))
{
continue;
}
for (uint j = 0; ; j++)
{
PXCMCapture.DeviceInfo info;
if (GestureCameraUtil.HasError(capture.QueryDevice(j, out info)))
{
break;
}
list.Add(info.name.get());
}
capture.Dispose();
}
return(list.ToArray());
}
void update()
{
if (!_pipeline.AcquireFrame(true))
{
throw new GestureCameraException("Failed to aquire frame.");
}
if (_pipeline.IsDisconnected())
{
return;
}
var color = _pipeline.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_COLOR);
var depth = _pipeline.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_DEPTH);
var gesture = _pipeline.QueryGesture();
PXCMGesture.Blob blobInfo;
GestureCameraUtil.Assert(gesture.QueryBlobData(PXCMGesture.Blob.Label.LABEL_SCENE, 0, out blobInfo), "Failed to query blob data.");
PXCMImage blob;
GestureCameraUtil.Assert(gesture.QueryBlobImage(PXCMGesture.Blob.Label.LABEL_SCENE, 0, out blob), "Failed to query blob image.");
PXCMGesture.Gesture gestureData;
var gestureDataList = new List <PXCMGesture.Gesture>();
for (uint i = 0; ; ++i)
{
if (gesture.QueryGestureData(0, PXCMGesture.GeoNode.Label.LABEL_ANY, i, out gestureData) == pxcmStatus.PXCM_STATUS_ITEM_UNAVAILABLE)
{
break;
}
gestureDataList.Add(gestureData);
}
PXCMImage.ImageData colorData;
GestureCameraUtil.Assert(
color.AcquireAccess(PXCMImage.Access.ACCESS_READ, out colorData),
"Failed to acquire access on color image.");
PXCMImage.ImageData depthData;
GestureCameraUtil.Assert(
depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, out depthData),
"Failed to acquire access on depth image.");
PXCMImage.ImageData blobData;
GestureCameraUtil.Assert(
blob.AcquireAccess(PXCMImage.Access.ACCESS_READ, out blobData),
"Failed to acquire access on blob image.");
int colorWidth = (int)color.info.width;
int colorHeight = (int)color.info.height;
var colorImage = colorData.ToByteArray(0, 3 * colorWidth * colorHeight);
int depthWidth = (int)depth.info.width;
int depthHeight = (int)depth.info.height;
var verticies = depthData.ToShortArray(0, 3 * depthWidth * depthHeight);
var uv = depthData.ToFloatArray(2, 2 * depthWidth * depthHeight);
int blobWidth = (int)blob.info.width;
int blobHeight = (int)blob.info.height;
var blobImage = blobData.ToByteArray(0, blobWidth * blobHeight);
var data = new GestureCameraData(depthWidth, depthHeight, colorWidth, colorHeight, colorImage, blobImage, blobInfo.labelBackground, gestureDataList);
for (int j = 0; j < depthHeight; ++j)
{
for (int i = 0; i < depthWidth; ++i)
{
float u = uv[2 * (j * depthWidth + i) + 0];
float v = uv[2 * (j * depthWidth + i) + 1];
int colorX = (int)(u * (colorWidth - 1));
int colorY = (int)(v * (colorHeight - 1));
if (0 > colorX || colorX > colorWidth || 0 > colorY || colorY > colorHeight)
{
continue;
}
float x = verticies[3 * (j * depthWidth + i) + 0];
float y = verticies[3 * (j * depthWidth + i) + 1];
float z = verticies[3 * (j * depthWidth + i) + 2];
if (z == _depthLowConf || z == _depthSaturation)
{
continue;
}
x *= _unit_m;
y *= _unit_m;
z *= _unit_m;
data.Set(i, j, new Point(u, v, x, y, z));
}
}
GestureCameraUtil.Assert(
color.ReleaseAccess(ref colorData),
"Failed to release access on color image.");
GestureCameraUtil.Assert(
depth.ReleaseAccess(ref depthData),
"Failed to release access on depth image.");
GestureCameraUtil.Assert(
blob.ReleaseAccess(ref blobData),
"Failed to release access to blob data)");
_pipeline.ReleaseFrame();
RaiseOnUpdated(data);
}
