PXCCapture::Device* real_sense_info(PXCCaptureManager *pCaptureManager){
//Info
PXCCapture::Device *device = pCaptureManager->QueryDevice();
PXCCapture::DeviceInfo device_info = {};
device->QueryDeviceInfo(&device_info);
wprintf(device_info.name);
cout << endl;
cout << "Firmware: " << device_info.firmware[0] << "." << device_info.firmware[1] << "." << device_info.firmware[2] << "." << device_info.firmware[3] << endl;
PXCPointF32 fov = device->QueryDepthFieldOfView();
cout << "Depth Horizontal Field Of View: " << fov.x << endl;
cout << "Depth Vertical Field Of View: " << fov.y << endl;
PXCSizeI32 csize = pCaptureManager->QueryImageSize(PXCCapture::STREAM_TYPE_COLOR);
cout << "Color Resolution: " << csize.width << " * " << csize.height << endl;
PXCSizeI32 dsize = pCaptureManager->QueryImageSize(PXCCapture::STREAM_TYPE_DEPTH);
cout << "Depth Resolution: " << dsize.width << " * " << dsize.height << endl;
//Camera calibration
cout << "Calibrating" << endl;
device->SetDepthConfidenceThreshold(6);
device->SetIVCAMFilterOption(5);
device->SetIVCAMLaserPower(16);
device->SetIVCAMMotionRangeTradeOff(16);
device->SetIVCAMAccuracy(device->IVCAM_ACCURACY_MEDIAN);
cout << "Depth Setting - OK - Calibrated" << endl;
return device;
}
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();
}
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 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 );
}
// 手の設定
handConfig = handAnalyzer->CreateActiveConfiguration();
// 登録されているジェスチャーを列挙する
auto num = handConfig->QueryGesturesTotalNumber();
for ( int i = 0; i < num; i++ ){
pxcCHAR gestureName[PXCHandData::MAX_NAME_SIZE];
auto sts = handConfig->QueryGestureNameByIndex( i,
PXCHandData::MAX_NAME_SIZE, gestureName );
if ( sts == PXC_STATUS_NO_ERROR ){
std::wcout << std::hex << i << " " << gestureName << std::endl;
}
}
handConfig->ApplyChanges();
handConfig->Update();
}