//Newer version, without the failing
void URealSenseTask::HandProducerTick()
{
if (!HandsEnabled)
return;
//Data is up to date from earlier
if (collector->handData == nullptr)
return;
if (!collector->handTickDataRead)
return;
collector->handTickDataRead = false;
PXCHandData* handData = collector->handData;
collector->numberOfDetectedHands = handData->QueryNumberOfHands();
for (pxcI32 i = 0; i < collector->numberOfDetectedHands; i++)
{
//get hand information
PXCHandData::IHand* hand;
if (handData->QueryHandData(PXCHandData::AccessOrderType::ACCESS_ORDER_BY_TIME, i, hand) == PXC_STATUS_NO_ERROR)
{
//Store hand data
collector->tempHandData[i] = hand;
//Iterate Joints - lambda capture works...
PXCHandData::JointData jointData;
for (int j = 0; j < PXCHandData::NUMBER_OF_JOINTS; j++)
{
hand->QueryTrackedJoint((PXCHandData::JointType)j, jointData);
collector->tempJointData[i][j] = jointData;
collector->jointDataReady[i][j] = true;
//This event should also emit if a frame is missed by caching the latest input
/*RunLambdaOnGameThread([&, jointData]()
{
PXCHandData::JointData tempJointData = jointData;
tempJoint->setFromRealSenseJoint(&tempJointData);
if (collector->interfaceDelegate != nullptr)
IRealSenseInterface::Execute_JointMoved(collector->interfaceDelegate, tempJoint);
//}
});*/
}
}
}
}
void ITA_ForcesApp::getRSCursorPos()
{
mHasHand = false;
mMousePos.clear();
auto numHands = mHandData->QueryNumberOfHands();
pxcUID handId;
mNumInputs = 0.0f;
for (int i = 0; i < numHands; ++i)
{
if (mHandData->QueryHandId(PXCHandData::ACCESS_ORDER_BY_ID, i, handId) >= PXC_STATUS_NO_ERROR)
{
PXCHandData::IHand *hand;
if (mHandData->QueryHandDataById(handId, hand) >= PXC_STATUS_NO_ERROR)
{
if (hand->HasCursor())
{
PXCHandData::ICursor *cursor;
if (hand->QueryCursor(cursor) >= PXC_STATUS_NO_ERROR)
{
auto cursorPos = cursor->QueryPointImage();
// Mapping block
PXCPoint3DF32 uvz[1]{ cursorPos };
uvz[0].z *= 1000.0f;
PXCPointF32 ijj[1];
auto stat = mMapper->MapDepthToColor(1, uvz, ijj);
//
if(!mMouseInput)
mMousePos.push_back( vec3(remapPos(vec2(ijj[0].x, ijj[0].y)), 0.0));
mHasHand = true;
mNumInputs += 1.0f;
}
}
}
}
}
if (numHands < 1)
mIdle = true;
else
mIdle = false;
mForceMode = mRepulsing ? FORCE_R : FORCE_A;
}
void URealSenseTask::HandProducerTickOld()
{
if (!HandsEnabled)
return;
//Data is up to date from earlier
if (collector->handData == nullptr)
return;
PXCHandData* handData = collector->handData;
for (pxcI32 i = 0; i < handData->QueryNumberOfHands(); i++)
{
//get hand information
PXCHandData::IHand* hand;
if (handData->QueryHandData(PXCHandData::AccessOrderType::ACCESS_ORDER_BY_TIME, i, hand) == PXC_STATUS_NO_ERROR)
{
{
FScopeLock lock(&JointCriticalSection);
collector->tempHandData[i] = hand;
}
//Hand data
RunLambdaOnGameThread([&, i]()
{
{
FScopeLock lock(&JointCriticalSection);
if (!collector->handDataRead[i])
{
tempHand->setFromRealSenseHand(hand);//tempHandData[i]);
if (collector->interfaceDelegate != nullptr)
IRealSenseInterface::Execute_HandMoved(collector->interfaceDelegate, tempHand);
//clear it
collector->handDataRead[i] = true;
}
}
});
//Iterate Joints
PXCHandData::JointData jointData;
for (int j = 0; j < PXCHandData::NUMBER_OF_JOINTS; j++)
{
hand->QueryTrackedJoint((PXCHandData::JointType)j, jointData);
//Copy data only if it hasn't been read
{
FScopeLock lock(&JointCriticalSection);
if (collector->jointDataRead[i][j])
{
collector->tempJointData[i][j] = jointData;
FVector vect = FVector(jointData.positionWorld.x, jointData.positionWorld.y, jointData.positionWorld.z);
//UE_LOG(RealSensePluginLog, Log, TEXT("Copied Joint: %s"), *vect.ToString());
collector->jointDataRead[i][j] = false;
}
}
//This event should also emit if a frame is missed by caching the latest input
RunLambdaOnGameThread([&, i, j]()
{
//{
//FScopeLock lock(&JointCriticalSection);
if (!collector->jointDataRead[i][j])
{
//FVector vect = FVector(tempJointData[i][j].positionWorld.x, tempJointData[i][j].positionWorld.y, tempJointData[i][j].positionWorld.z);
//UE_LOG(RealSensePluginLog, Log, TEXT("Reading Joint: %s"), *vect.ToString());
tempJoint->setFromRealSenseJoint(&collector->tempJointData[i][j]);
if (collector->interfaceDelegate != nullptr)
IRealSenseInterface::Execute_JointMoved(collector->interfaceDelegate, tempJoint);
//clear it
collector->jointDataRead[i][j] = true;
}
//}
});
}
}
}
}
void URealSenseTask::GestureProducerTick()
{
PXCHandData* handData = collector->handData;
PXCHandData::GestureData gestureData;
for (pxcI32 i = 0; i < handData->QueryNumberOfHands(); i++)
{
//get hand information
PXCHandData::IHand* hand;
if (handData->QueryHandData(PXCHandData::AccessOrderType::ACCESS_ORDER_BY_TIME, i, hand) == PXC_STATUS_NO_ERROR)
{
//spread fingers
if (!GesturesEnabled)
return;
//FScopeLock lock(&GestureCriticalSection);
//tempHand->setFromRealSenseHand(hand);
//URealSenseHand* copyHand = DuplicateObject(tempHand, nullptr);
if (handData->IsGestureFired(L"spreadfingers", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_SpreadFingersGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//fist
if (handData->IsGestureFired(L"fist", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_FistGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//tap
if (handData->IsGestureFired(L"tap", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_TapGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//thumb_down
if (handData->IsGestureFired(L"thumb_down", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_ThumbDownGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//thumb_up
if (handData->IsGestureFired(L"thumb_up", gestureData))
{
//If the gesture was fired by the same hand
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_ThumbUpGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//two_fingers_pinch_open
if (handData->IsGestureFired(L"two_fingers_pinch_open", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_TwoFingersPinchOpenGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//v_sign
if (handData->IsGestureFired(L"v_sign", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_VSignGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//full_pinch
if (handData->IsGestureFired(L"full_pinch", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_FullPinchGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//swipe
if (handData->IsGestureFired(L"swipe", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_SwipeGestureDetected(collector->interfaceDelegate, tempHand);
});
}
//wave
if (handData->IsGestureFired(L"wave", gestureData))
{
runGestureOnGameThread(gestureData.handId, hand->QueryUniqueId(), [&]()
{
tempHand->setFromRealSenseHand(hand);
IRealSenseInterface::Execute_WaveGestureDetected(collector->interfaceDelegate, tempHand);
});
}
}
}
}