IPCWindow::IPCWindow()
{
setStyleSheet("background-color: black;");
setFixedSize(640, 480);
_label = new QLabel(this);
_label->setGeometry(QRect(0, 0, 640, 480));
QSize img_sz = _gesture_handler.image_size();
if (img_sz.width() && img_sz.height())
{
setFixedSize(img_sz.width(), img_sz.height());
_label->setGeometry(QRect(0, 0, img_sz.width(), img_sz.height()));
}
_status_label = new QLabel(statusBar());
_status_label->setAlignment(Qt::AlignCenter);
_status_label->setStyleSheet("color: orange; background-color: black;");
QFont sb_font("Arial", 11);
sb_font.setBold(true);
_status_label->setFont(sb_font);
_status_label->setText("Running...");
statusBar()->addWidget(_status_label, 1);
QObject::connect(&_gesture_handler, SIGNAL(notify_gesture(PXCGesture::Gesture)),
this, SLOT(_gesture_evt(PXCGesture::Gesture)));
QObject::connect(&_gesture_handler, SIGNAL(notify_image(QPixmap)),
this, SLOT(_image_evt(QPixmap)));
if (!_gesture_handler.start())
{
_status_label->setText("!!! Failed to start gesture handler.");
qApp->quit();
}
}
/*
*_stream() reads a single frame
*/
void GestureHandler::_stream()
{
if (!_pipeline.AcquireFrame(true)) // true - blocking
return;
// Retrieve QueryImage() as PXCSmartPtr<PXCImage> will crash later on
PXCImage* image = _pipeline.QueryImage(PXCImage::IMAGE_TYPE_COLOR);
PXCImage::ImageData image_data;
pxcStatus sts = image->AcquireAccess(PXCImage::ACCESS_READ,
PXCImage::COLOR_FORMAT_RGB24,
&image_data);
if (sts < PXC_STATUS_NO_ERROR)
{
std::cout << "!!! Failed AcquireAccess." << std::endl;
_pipeline.ReleaseFrame();
return;
}
PXCImage::ImageInfo image_info;
image->QueryInfo(&image_info);
if (sts < PXC_STATUS_NO_ERROR)
{
std::cout << "!!! Failed QueryInfo." << std::endl;
_pipeline.ReleaseFrame();
return;
}
if (image_info.format == PXCImage::COLOR_FORMAT_RGB24)
{ // BGR layout on little-endian machine
unsigned char* bgr_img_data = (unsigned char*)image_data.planes[0];
QImage temp(bgr_img_data,
image_info.width,
image_info.height,
QImage::Format_RGB888);
// Convert data from BGR (PXCImage format) to RGB (QPixmap)
QPixmap pixmap = QPixmap::fromImage(temp.rgbSwapped());
emit notify_image(pixmap);
}
else
{
std::cout << "!!! TODO: support other image formats besides RGB24." << std::endl;
_pipeline.ReleaseFrame();
return;
}
image->ReleaseAccess(&image_data);
if (sts < PXC_STATUS_NO_ERROR)
{
std::cout << "!!! Failed ReleaseAccess." << std::endl;
_pipeline.ReleaseFrame();
return;
}
/* Detect gestures */
PXCGesture* gesture = _pipeline.QueryGesture();
if (gesture)
{
// get the node data for the whole primary hand
// (the one that shows up in the view first)
PXCGesture::GeoNode node;
sts = gesture->QueryNodeData(0, PXCGesture::GeoNode::LABEL_BODY_HAND_PRIMARY, &node);
if (sts == PXC_STATUS_ITEM_UNAVAILABLE)
{
//std::cout << "!!! QueryNodeData: PXC_STATUS_ITEM_UNAVAILABLE" << std::endl;
_pipeline.ReleaseFrame();
return;
}
//std::cout << "* Hand at " << node.positionWorld.x << "x" << node.positionWorld.y << " z = " << node.positionWorld.z << std::endl;
PXCGesture::Gesture gest;
sts = gesture->QueryGestureData(0, PXCGesture::GeoNode::LABEL_BODY_HAND_PRIMARY, 0, &gest);
if (sts == PXC_STATUS_ITEM_UNAVAILABLE)
{
//std::cout << "!!! QueryGestureData: PXC_STATUS_ITEM_UNAVAILABLE" << std::endl;
_pipeline.ReleaseFrame();
return;
}
if (gest.active)
{
// how many ms has passed since last gesture detection
qint64 elapsed = _elapsed_timer.elapsed();
switch (gest.label)
{
case PXCGesture::Gesture::LABEL_HAND_WAVE:
case PXCGesture::Gesture::LABEL_NAV_SWIPE_LEFT:
case PXCGesture::Gesture::LABEL_NAV_SWIPE_RIGHT:
case PXCGesture::Gesture::LABEL_NAV_SWIPE_UP:
case PXCGesture::Gesture::LABEL_NAV_SWIPE_DOWN:
case PXCGesture::Gesture::LABEL_HAND_CIRCLE:
default:
emit notify_gesture(gest);
break;
case PXCGesture::Gesture::LABEL_POSE_THUMB_UP:
if ( (_last_gesture == PXCGesture::Gesture::LABEL_POSE_THUMB_UP && elapsed > 1000) ||
(_last_gesture != PXCGesture::Gesture::LABEL_POSE_THUMB_UP) )
emit notify_gesture(gest);
break;
case PXCGesture::Gesture::LABEL_POSE_THUMB_DOWN:
if ( (_last_gesture == PXCGesture::Gesture::LABEL_POSE_THUMB_DOWN && elapsed > 1000) ||
(_last_gesture != PXCGesture::Gesture::LABEL_POSE_THUMB_DOWN) )
emit notify_gesture(gest);
break;
case PXCGesture::Gesture::LABEL_POSE_PEACE:
if ( (_last_gesture == PXCGesture::Gesture::LABEL_POSE_PEACE && elapsed > 1000) ||
(_last_gesture != PXCGesture::Gesture::LABEL_POSE_PEACE) )
emit notify_gesture(gest);
break;
case PXCGesture::Gesture::LABEL_POSE_BIG5:
if ( (_last_gesture == PXCGesture::Gesture::LABEL_POSE_BIG5 && elapsed > 1000) ||
(_last_gesture != PXCGesture::Gesture::LABEL_POSE_BIG5) )
emit notify_gesture(gest);
break;
}
_last_gesture = gest.label;
if (elapsed > 1000)
_elapsed_timer.restart();
}
}
_pipeline.ReleaseFrame();
}