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Hello. This is a korean student who is trying to develope some programs using SENZ 3D.
When I was running some sample programms that intell provided, I found an error come up that I can't deal with.
I modified nothing.
I attached the error which keeps saying that
NAME : instance.Init(handler)
VALUE : PXCM_STATUS_ITEM_UNAVILABLE
I've sent some e-mails to intell for several times, but I couldn't get any answers for that error.
So please help me out. If it's out of yout service scope, let me know someone who can handle this.
Thank you so much.
I'll be waiting for your answer.
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Is this part of the Intel® RealSense™ SDK? I'm going to move this to that forum.
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JongSoo,
Your code is not clear from the attached screenshot, and I couldn't find the error attached either.
Are you trying to run a sample coded provided with Intel RealSense SDK? If so could you please let me know what is that sample code?
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James Tullos : I couldn't find the SENZ 3D's forum. If it's the problem, could you let me know where the forum is?
PUBUDU S. : I attached the whole code and I wrote the code that has the error I guess.
If you can't see the any problem, please download that file which is right below.
I modified nothing.
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Drawing.Imaging;
using System.Linq;
namespace hands_viewer.cs
{
class HandsRecognition
{
byte[] LUT;
private MainForm form;
private bool _disconnected = false;
//Queue containing depth image - for synchronization purposes
private Queue<PXCMImage> m_images;
private const int NumberOfFramesToDelay = 3;
private int _framesCounter = 0;
private float _maxRange;
public HandsRecognition(MainForm form)
{
m_images = new Queue<PXCMImage>();
this.form = form;
LUT = Enumerable.Repeat((byte)0, 256).ToArray();
LUT[255] = 1;
}
/* Checking if sensor device connect or not */
private bool DisplayDeviceConnection(bool state)
{
if (state)
{
if (!_disconnected) form.UpdateStatus("Device Disconnected");
_disconnected = true;
}
else
{
if (_disconnected) form.UpdateStatus("Device Reconnected");
_disconnected = false;
}
return _disconnected;
}
/* Displaying current frame gestures */
private void DisplayGesture(PXCMHandData handAnalysis)
{
PXCMHandData.GestureData gestureData;
if (handAnalysis.QueryFiredGestureData(0, out gestureData) != pxcmStatus.PXCM_STATUS_NO_ERROR)
return;
PXCMHandData.IHand handData;
if (handAnalysis.QueryHandDataById(gestureData.handId, out handData) != pxcmStatus.PXCM_STATUS_NO_ERROR)
return;
form.DisplayGestures(gestureData, (uint)handData.QueryBodySide());
}
/* Displaying Depth/Mask Images - for depth image only we use a delay of NumberOfFramesToDelay to sync image with tracking */
private unsafe void DisplayPicture(PXCMImage depth, PXCMHandData handAnalysis)
{
if (depth == null)
return;
PXCMImage image = depth;
//Mask Image
if (form.GetLabelmapState())
{
Bitmap picture = new Bitmap(image.info.width, image.info.height, PixelFormat.Format32bppRgb);
for (int j = 0; j < handAnalysis.QueryNumberOfHands(); j++)
{
int id;
PXCMImage.ImageData data;
handAnalysis.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out id);
//Get hand by time of appearance
PXCMHandData.IHand handData;
handAnalysis.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out handData);
if (handData != null &&
(handData.QuerySegmentationImage(out image) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_Y8,
out data) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Rectangle rect = new Rectangle(0, 0, image.info.width, image.info.height);
BitmapData bitmapdata = picture.LockBits(rect, ImageLockMode.ReadWrite, picture.PixelFormat);
byte* numPtr = (byte*) bitmapdata.Scan0; //dst
byte* numPtr2 = (byte*) data.planes[0]; //row
int imagesize = image.info.width*image.info.height;
byte num2 = (byte) handData.QueryBodySide();
byte tmp = 0;
for (int i = 0; i < imagesize; i++, numPtr += 4, numPtr2++)
{
tmp = (byte) (LUT[numPtr2[0]]*num2*100);
numPtr[0] = (Byte) (tmp | numPtr[0]);
numPtr[1] = (Byte) (tmp | numPtr[1]);
numPtr[2] = (Byte) (tmp | numPtr[2]);
numPtr[3] = 0xff;
}
picture.UnlockBits(bitmapdata);
image.ReleaseAccess(data);
}
}
}
form.DisplayBitmap(picture);
picture.Dispose();
}
//Depth Image
else
{
//collecting 3 images inside a queue and displaying the oldest image
PXCMImage.ImageInfo info;
PXCMImage image2;
info = image.QueryInfo();
image2 = form.g_session.CreateImage(info);
image2.CopyImage(image);
m_images.Enqueue(image2);
if (m_images.Count == NumberOfFramesToDelay)
{
Bitmap picture = new Bitmap(image.info.width, image.info.height, PixelFormat.Format32bppRgb);
PXCMImage.ImageData data3;
PXCMImage image3 = m_images.Dequeue();
if (image3.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH, out data3) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
float fMaxValue = _maxRange;
byte cVal;
Rectangle rect = new Rectangle(0, 0, image.info.width, image.info.height);
BitmapData bitmapdata = picture.LockBits(rect, ImageLockMode.ReadWrite, picture.PixelFormat);
byte* pDst = (byte*)bitmapdata.Scan0;
short* pSrc = (short*)data3.planes[0];
int size = image.info.width * image.info.height;
for (int i = 0; i < size; i++, pSrc++, pDst += 4)
{
cVal = (byte)((*pSrc) / fMaxValue * 255);
if (cVal != 0)
cVal = (byte)(255 - cVal);
pDst[0] = cVal;
pDst[1] = cVal;
pDst[2] = cVal;
pDst[3] = 255;
}
picture.UnlockBits(bitmapdata);
form.DisplayBitmap(picture);
image3.ReleaseAccess(data3);
}
image3.Dispose();
picture.Dispose();
}
}
}
/* Displaying current frames hand joints */
private void DisplayJoints(PXCMHandData handOutput)
{
if (form.GetJointsState() || form.GetSkeletonState())
{
//Iterate hands
PXCMHandData.JointData[][] nodes = new PXCMHandData.JointData[][] { new PXCMHandData.JointData[0x20], new PXCMHandData.JointData[0x20] };
int numOfHands = handOutput.QueryNumberOfHands();
for (int i = 0; i < numOfHands; i++)
{
//Get hand by time of appearence
//PXCMHandAnalysis.HandData handData = new PXCMHandAnalysis.HandData();
PXCMHandData.IHand handData;
if (handOutput.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData != null)
{
//Iterate Joints
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
handData.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes
}
}
}
}
form.DisplayJoints(nodes, numOfHands);
}
else
{
form.DisplayJoints(null, 0);
}
}
/* Displaying current frame alerts */
private void DisplayAlerts(PXCMHandData handAnalysis)
{
bool isChanged = false;
string sAlert = "Last Alert: ";
for (int i = 0; i < handAnalysis.QueryFiredAlertsNumber(); i++)
{
PXCMHandData.AlertData alertData;
if (handAnalysis.QueryFiredAlertData(i, out alertData) != pxcmStatus.PXCM_STATUS_NO_ERROR)
continue;
//Displaying last alert - see PXCMHandAnalysis.AlertData.AlertType for all available alerts
switch (alertData.label)
{
case PXCMHandData.AlertType.ALERT_HAND_DETECTED:
{
sAlert += "Hand Detected, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED:
{
sAlert += "Hand Not Detected, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_CALIBRATED:
{
sAlert += "Hand Calibrated, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_NOT_CALIBRATED:
{
sAlert += "Hand Not Calibrated, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS:
{
sAlert += "Hand Inside Border, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS:
{
sAlert += "Hand Out Of Borders, ";
isChanged = true;
break;
}
}
}
if (isChanged == true)
{
form.UpdateStatus(sAlert);
}
}
public static pxcmStatus OnNewFrame(Int32 mid, PXCMBase module, PXCMCapture.Sample sample)
{
return pxcmStatus.PXCM_STATUS_NO_ERROR;
}
/* Using PXCMSenseManager to handle data */
public void SimplePipeline()
{
int framesToRecord = -1;
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);
}
framesToRecord = form.GetNumberOfFramesToRecord();
}
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);
}
}
/* 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");
}
PXCMSenseManager.Handler handler = new PXCMSenseManager.Handler();
handler.onModuleProcessedFrame = new PXCMSenseManager.Handler.OnModuleProcessedFrameDelegate(OnNewFrame);
FPSTimer timer = new FPSTimer(form);
form.UpdateStatus("Init Started");
if (handAnalysis != null && instance.Init(handler) == pxcmStatus.PXCM_STATUS_NO_ERROR) // here's the problem I think.
{
PXCMHandConfiguration handConfiguration = handAnalysis.CreateActiveConfiguration();
PXCMHandData handData = handAnalysis.CreateOutput();
PXCMCapture.DeviceInfo dinfo;
instance.QueryCaptureManager().QueryDevice().QueryDeviceInfo(out dinfo);
if (dinfo != null && dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
instance.captureManager.device.SetDepthConfidenceThreshold(1);
instance.captureManager.device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
instance.captureManager.device.SetIVCAMFilterOption(6);
}
_maxRange = instance.captureManager.device.QueryDepthSensorRange().max;
if (handConfiguration != null)
{
handConfiguration.EnableAllGestures();
handConfiguration.EnableAllAlerts();
handConfiguration.EnableSegmentationImage(true);
handConfiguration.ApplyChanges();
handConfiguration.Update();
}
form.UpdateStatus("Streaming");
while (!form.stop && _framesCounter != framesToRecord)
{
if (instance.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
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)
{
DisplayJoints(handData);
DisplayGesture(handData);
DisplayAlerts(handData);
}
form.UpdatePanel();
}
timer.Tick();
if (form.GetRecordState())
form.setNumberOfFrames(++_framesCounter);
}
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");
}
}
}
}
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The Creative* Senz3D* camera was used with the Perceptual Computing 2013 SDK and the forum is https://software.intel.com/en-us/forums/intel-perceptual-computing-sdk. It looks like you are using the Real Sense 2014 SDK code, which is meant for a different camera. Some features will work but many won't with the Creative Senz3D camera.
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Colleen Culberston : Thank you so much. And do you mena that I need to download Real Sense 2013 SDK ? or onther codes for the camera?
Thank you so much for your help.
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Colleen Culberston : As you guided me with the link to the 2013 SDK forum, I entered the link to find 2013 SDK to install instead of 2013 SDK that I'm using now, but I can't find the version you were talking about.
Do you have a link for it? or do you have that? if you do, could you give the address or upload it for me?
I'm on a huge project about Image processing. But we barely started it due to that issue. :(
Anyway I'll be wating for your answer, Thank you again.
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Intel is no longer distributing the 2013 Perceptual Computing SDK. However you might want to take a look in the other (PerC) forum as to how others have resolved needing the 2013 SDK.
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I am guessing that you are getting this error beacause the SDK fails to detect your camera. Are you using RealSense SDK with PerC SDK camera? As Colleen mentioned RealSense doesn't support the old cam and it has its own, which you can pre-order.
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