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;
}
