void HandsModel::updateskeletonTree()
{
m_rightHandExist = false;
m_leftHandExist = false;
// Iterate over hands
int numOfHands = m_handData->QueryNumberOfHands();
for (int index = 0; index < numOfHands; ++index)
{
// Get hand by access order of entering time
PXCHandData::IHand* handOutput = NULL;
if (m_handData->QueryHandData(PXCHandData::ACCESS_ORDER_BY_TIME, index, handOutput) == PXC_STATUS_NO_ERROR)
{
// Get hand body side (left, right, unknown)
int side = 0;
if (handOutput->QueryBodySide() == PXCHandData::BodySideType::BODY_SIDE_RIGHT)
{
m_rightHandExist = true;
side = 0;
}
else if (handOutput->QueryBodySide() == PXCHandData::BodySideType::BODY_SIDE_LEFT)
{
m_leftHandExist = true;
side = 1;
}
PXCHandData::JointData jointData;
handOutput->QueryTrackedJoint(PXCHandData::JointType::JOINT_WRIST, jointData);
Node<PXCHandData::JointData> rootDataNode(jointData);
// Iterate over hand joints
for (int i = 2; i < MAX_NUMBER_OF_JOINTS - 3; i += 4)
{
handOutput->QueryTrackedJoint((PXCHandData::JointType)(i + 3), jointData);
Node<PXCHandData::JointData> dataNode(jointData);
handOutput->QueryTrackedJoint((PXCHandData::JointType)(i + 2), jointData);
Node<PXCHandData::JointData> dataNode1(jointData);
handOutput->QueryTrackedJoint((PXCHandData::JointType)(i + 1), jointData);
Node<PXCHandData::JointData> dataNode2(jointData);
handOutput->QueryTrackedJoint((PXCHandData::JointType)(i), jointData);
Node<PXCHandData::JointData> dataNode3(jointData);
dataNode1.add(dataNode);
dataNode2.add(dataNode1);
dataNode3.add(dataNode2);
rootDataNode.add(dataNode3);
}
m_skeletonTree[side].setRoot(rootDataNode);
}
}
}
void updateHandFrame()
{
// 手のデータを更新する
handData->Update();
// 認識した手の数を取得する
auto numOfHands = handData->QueryNumberOfHands();
for ( int i = 0; i < numOfHands; i++ ) {
// 手を取得する
PXCHandData::IHand* hand;
auto sts = handData->QueryHandData(
PXCHandData::AccessOrderType::ACCESS_ORDER_BY_ID, i, hand );
if ( sts < PXC_STATUS_NO_ERROR ) {
continue;
}
// 指の関節を列挙する
for ( int j = 0; j < PXCHandData::NUMBER_OF_JOINTS; j++ ) {
PXCHandData::JointData jointData;
sts = hand->QueryTrackedJoint( (PXCHandData::JointType)j, jointData );
if ( sts != PXC_STATUS_NO_ERROR ) {
continue;
}
cv::circle( handImage,
cv::Point( jointData.positionImage.x, jointData.positionImage.y ),
5, cv::Scalar( 128, 128, 0 ) );
}
}
// 認識したジェスチャーの数を取得する
auto numOfGestures = handData->QueryFiredGesturesNumber();
for ( int i = 0; i < numOfGestures; i++ ) {
// 認識したジェスチャーを取得する
PXCHandData::GestureData gesture;
auto sts = handData->QueryFiredGestureData( i, gesture );
if ( sts < PXC_STATUS_NO_ERROR ) {
continue;
}
// ジェスチャーをした手を取得する
PXCHandData::IHand* hand;
sts = handData->QueryHandDataById( gesture.handId, hand );
if ( sts < PXC_STATUS_NO_ERROR ) {
continue;
}
// どちらの手でジェスチャーしたのか
auto side = hand->QueryBodySide();
if ( side == PXCHandData::BodySideType::BODY_SIDE_LEFT ){
++leftGestureCount;
}
else {
++rightGestureCount;
}
}
// ジェスチャーの検出数を表示する
{
std::stringstream ss;
ss << "Left gesture : " << leftGestureCount;
cv::putText( handImage, ss.str(), cv::Point( 10, 40 ),
cv::FONT_HERSHEY_SIMPLEX, 1.2, cv::Scalar( 0, 0, 255 ), 2, CV_AA );
}
{
std::stringstream ss;
ss << "Right gesture : " << rightGestureCount;
cv::putText( handImage, ss.str(), cv::Point( 10, 80 ),
cv::FONT_HERSHEY_SIMPLEX, 1.2, cv::Scalar( 0, 0, 255 ), 2, CV_AA );
}
}