void initializeHandTracking() { // 手の検出器を作成する handAnalyzer = senseManager->QueryHand(); if ( handAnalyzer == 0 ) { throw std::runtime_error( "手の検出器の取得に失敗しました" ); } // 手のデータを取得する handData = handAnalyzer->CreateOutput(); if ( handData == 0 ) { throw std::runtime_error( "手の検出器の作成に失敗しました" ); } // RealSense カメラであれば、プロパティを設定する PXCCapture::DeviceInfo dinfo; senseManager->QueryCaptureManager()->QueryDevice()->QueryDeviceInfo( &dinfo ); if ( dinfo.model == PXCCapture::DEVICE_MODEL_IVCAM ) { PXCCapture::Device *device = senseManager->QueryCaptureManager()->QueryDevice(); device->SetDepthConfidenceThreshold( 1 ); //device->SetMirrorMode( PXCCapture::Device::MIRROR_MODE_DISABLED ); device->SetIVCAMFilterOption( 6 ); } // Hand Module Configuration PXCHandConfiguration* config = handAnalyzer->CreateActiveConfiguration(); //config->EnableNormalizedJoints( showNormalizedSkeleton ); //config->SetTrackingMode( PXCHandData::TRACKING_MODE_EXTREMITIES ); //config->EnableAllAlerts(); config->EnableSegmentationImage( true ); config->ApplyChanges(); config->Update(); }
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 URealSenseTask::EnableGestureDetection(bool enableAll, bool enable, FString singleGesture) { if (!collector->IsValid()){ UE_LOG(RealSensePluginLog, Warning, TEXT("RealSense unavailable.")); return; } PXCHandConfiguration* config = collector->handConfig; //Null check, hand has to be enabled before we can enable gestures if (config == NULL) return; //enable gestures config->LoadGesturePack(L"navigation"); //single gesture enabling example if (!singleGesture.IsEmpty()){ if (enable) { config->EnableGesture(*singleGesture); GesturesEnabled = true; } else { config->DisableGesture(*singleGesture); } } else{ //enable all gestures if (enableAll) { config->EnableAllGestures(); UE_LOG(RealSensePluginLog, Log, TEXT("Gestures enabled")); } else { config->DisableAllGestures(); UE_LOG(RealSensePluginLog, Log, TEXT("Gestures disabled")); } GesturesEnabled = enableAll; } config->ApplyChanges(); config->Update(); }
bool GesturePipeline::init() { _pxcSenseManager = PXCSenseManager::CreateInstance(); /* Set Mode & Source */ pxcCHAR * deviceName = retrieveDeviceName(); _pxcSenseManager->QueryCaptureManager()->FilterByDeviceInfo(deviceName, 0, 0); pxcStatus status = _pxcSenseManager->EnableHand(); _pxcHandModule = _pxcSenseManager->QueryHand(); if (_pxcHandModule == NULL || status != pxcStatus::PXC_STATUS_NO_ERROR) { cocos2d::log("Failed to pair the gesture module with I/O"); return 0; } /* Init */ if (_pxcSenseManager->Init() >= PXC_STATUS_NO_ERROR) { _pxcHandData = _pxcHandModule->CreateOutput(); initRules(_pxcHandData); // IF IVCAM Set the following properties PXCCapture::Device *device = _pxcSenseManager->QueryCaptureManager()->QueryDevice(); PXCCapture::DeviceInfo dinfo; device->QueryDeviceInfo(&dinfo); if (dinfo.model == PXCCapture::DEVICE_MODEL_IVCAM) { device->SetDepthConfidenceThreshold(1); device->SetMirrorMode(PXCCapture::Device::MIRROR_MODE_DISABLED); device->SetIVCAMFilterOption(6); } // Hand Module Configuration PXCHandConfiguration* config = _pxcHandModule->CreateActiveConfiguration(); config->SetTrackingMode(PXCHandData::TrackingModeType::TRACKING_MODE_FULL_HAND); config->EnableSegmentationImage(true); config->ApplyChanges(); config->Update(); config->Release(); return 1; } else { cocos2d::log("Init Failed"); return 0; } }
void GesturePipeline::enableGestureDetectedRule(bool enabled, bool continuousTracking) { // Hand Module Configuration PXCHandConfiguration* config = _pxcHandModule->CreateActiveConfiguration(); if (enabled) config->EnableAllGestures(true); else config->DisableAllGestures(); config->ApplyChanges(); config->Update(); config->Release(); _gestureDetectedRule->enabled = enabled; _gestureDetectedRule->_continuousTracking = continuousTracking; }
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; }