void URealSenseTask::EnableHandDetection(bool enable)
{
if (!collector->IsValid()){
UE_LOG(RealSensePluginLog, Warning, TEXT("RealSense unavailable."));
return;
}
//local pointer
PXCSenseManager* pp = collector->psm;
pxcStatus status = pxcStatus::PXC_STATUS_NO_ERROR;
/* Set Module */
if (!enable){
collector->handModule->Release();
// Hand Module Configuration
PXCHandConfiguration* config = collector->handModule->CreateActiveConfiguration();
config->DisableAllAlerts();
config->ApplyChanges();
config->Update();
collector->handConfig = config;
HandsEnabled = false;
return;
}
if (enable)
{
status = pp->EnableHand();
collector->handModule = pp->QueryHand();
}
PXCHandModule* handModule = collector->handModule;
if (handModule == NULL || status != pxcStatus::PXC_STATUS_NO_ERROR)
{
UE_LOG(RealSensePluginLog, Log, TEXT("Failed to pair the hand module with I/O"));
return;
}
if (pp->Init(collector) >= PXC_STATUS_NO_ERROR)
{
collector->handData = collector->handModule->CreateOutput();
}
// Hand Module Configuration
PXCHandConfiguration* config = handModule->CreateActiveConfiguration();
config->EnableNormalizedJoints(true);
if (true) config->SetTrackingMode(PXCHandData::TRACKING_MODE_FULL_HAND);
config->EnableAllAlerts();
//config->EnableSegmentationImage(true);
config->ApplyChanges();
config->Update();
collector->handConfig = config;
HandsEnabled = true;
}
void ITA_ForcesApp::setupRS()
{
mHasHand = false;
mIsRunning = false;
mRS = PXCSenseManager::CreateInstance();
if (mRS == nullptr)
{
console() << "Unable to Create SenseManager" << endl;
return;
}
else
{
console() << "Created SenseManager" << endl;
auto stat = mRS->EnableStream(PXCCapture::STREAM_TYPE_COLOR, RGB_SIZE.x, RGB_SIZE.y, 60);
if (stat >= PXC_STATUS_NO_ERROR) {
console() << "Color Stream Enabled" << endl;
}
stat = mRS->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, Z_SIZE.x, Z_SIZE.y, 60);
if (stat >= PXC_STATUS_NO_ERROR) {
console() << "Depth Stream Enabled" << endl;
}
stat = mRS->EnableHand();
if ((stat >= PXC_STATUS_NO_ERROR))//&& (handModule != nullptr))
{
stat = mRS->Init();
auto handModule = mRS->QueryHand();
if (stat >= PXC_STATUS_NO_ERROR)
{
auto depthSize = mRS->QueryCaptureManager()->QueryImageSize(PXCCapture::STREAM_TYPE_DEPTH);
console() << "DepthSize: " << to_string(depthSize.width) << " " << to_string(depthSize.height) << endl;
auto colorSize = mRS->QueryCaptureManager()->QueryImageSize(PXCCapture::STREAM_TYPE_COLOR);
console() << "ColorSize: " << to_string(colorSize.width) << " " << to_string(colorSize.height) << endl;
mHandData = handModule->CreateOutput();
auto cfg = handModule->CreateActiveConfiguration();
if (cfg != nullptr)
{
stat = cfg->SetTrackingMode(PXCHandData::TRACKING_MODE_CURSOR);
if (stat >= PXC_STATUS_NO_ERROR)
stat = cfg->EnableAllAlerts();
if (stat >= PXC_STATUS_NO_ERROR)
stat = cfg->EnableAllGestures(false);
if (stat >= PXC_STATUS_NO_ERROR)
stat = cfg->ApplyChanges();
if (stat >= PXC_STATUS_NO_ERROR)
cfg->Update();
if (stat >= PXC_STATUS_NO_ERROR)
{
console() << "Hand Tracking Enabled" << endl;
cfg->Release();
mRS->QueryCaptureManager()->QueryDevice()->SetMirrorMode(PXCCapture::Device::MIRROR_MODE_HORIZONTAL);
mIsRunning = true;
}
}
else {
console() << "Unable to Configure Hand Tracking" << endl;
}
mMapper = mRS->QueryCaptureManager()->QueryDevice()->CreateProjection();
if (mMapper==nullptr) {
CI_LOG_W("Unable to get coordinate mapper");
}
}
else
console() << "Unable to Start SenseManager" << endl;
}
}
}
int main(char* args,char* argsc) {
pxcStatus status = PXC_STATUS_ALLOC_FAILED;
PXCSenseManager *session = PXCSenseManager::CreateInstance();
if(!session) {
printf("Instance create failed\n");
return 10;
}
status = session->EnableHand(nullptr);
if(status = PXC_STATUS_NO_ERROR) {
printf("Hand data unavailable\n");
return 20;
}
session->Init();
if(status = PXC_STATUS_NO_ERROR) {
printf("init failed\n");
return 30;
}
PXCHandModule* handTracker = session->QueryHand();
if(status = PXC_STATUS_NO_ERROR) {
printf("no hand tracking support\n");
return 40;
}
PXCHandConfiguration* handConfig = handTracker->CreateActiveConfiguration();
handConfig->EnableAllGestures();
handConfig->ApplyChanges();
PXCHandData* handData = handTracker->CreateOutput();
bool running = true;
status = session->EnableStream(PXCCapture::StreamType::STREAM_TYPE_DEPTH,1920,1080,30.0);
if (status = PXC_STATUS_NO_ERROR) {
printf("Unknown error when enabling stream.");
return 50;
}
while(running) {
//printf("Acquire frame. ");
status = session->AcquireFrame(true);
//printf("Got frame.\n");
if(status >= PXC_STATUS_NO_ERROR) {
printf("He's dead Jim.\n");
return 50;
}
handData->Update();
//printf("Got %i gestures for %i hands.\n", handData->QueryFiredGesturesNumber(),handData->QueryNumberOfHands());
for(int i=0; i<handData->QueryFiredGesturesNumber(); i++) {
PXCHandData::GestureData gestureData;
handData->QueryFiredGestureData(i,gestureData);
wchar_t* name = (wchar_t*)gestureData.name;
std::wstring nameStr(name);
std::wcout << nameStr << std::endl;
//printf("%s - len %d\n",nameStr.c_str(), nameStr.size());
if(nameStr == L"v_sign") {
running = false;
}
}
PXCCapture::Sample* capture = session->QuerySample();
PXCImage* depthImage = capture->depth;
//std::this_thread::sleep_for(std::chrono::milliseconds(10));
session->ReleaseFrame();
}
session->Release();
return 0;
}
