public RealsenseManager(bool isDataOnly)
{
sm = RS.SenseManager.CreateInstance();
if (!isDataOnly)
{
rgbReader = RS.SampleReader.Activate(sm);
depthReader = RS.SampleReader.Activate(sm);
rgbReader.EnableStream(RS.StreamType.STREAM_TYPE_COLOR);
depthReader.EnableStream(RS.StreamType.STREAM_TYPE_DEPTH);
rgbReader.SampleArrived += RgbReader_SampleArrived;
depthReader.SampleArrived += DepthReader_SampleArrived;
}
// config hand
handModule = HandModule.Activate(sm);
handConfig = handModule.CreateActiveConfiguration();
handConfig.TrackedJointsEnabled = true;
handConfig.StabilizerEnabled = true;
handConfig.TrackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
handConfig.ApplyChanges();
handData = handModule.CreateOutput();
handModule.FrameProcessed += HandModule_FrameProcessed;
}
// Setup Output variable
void CreateHandData()
{
handData = handModule.CreateOutput();
if (handData == null)
{
throw new System.Exception("Failed to create hand output");
}
else
{
Debug.Log(TAG + "Successful to create output");
SetupTrackingMode();
}
}
// Setup Output variable
void CreateHandData()
{
handData = handModule.CreateOutput();
if (handData == null)
{
Debug.Log(TAG + "Failed to create output");
}
else
{
Debug.Log(TAG + "Successful to create output");
SetupTrackingMode();
}
}
public void SetUpHandModule()
{
/* Set Module */
handModule = HandModule.Activate(manager.SenseManager);
if (handModule == null)
{
manager.SetStatus("Failed Loading Module");
manager.Stop = true;
return;
}
HandConfiguration = handModule.CreateActiveConfiguration();
if (HandConfiguration == null)
{
manager.SetStatus("Failed Create Configuration");
manager.Stop = true;
return;
}
handData = handModule.CreateOutput();
if (handData == null)
{
manager.SetStatus("Failed Create Output");
HandConfiguration.Dispose();
manager.Stop = true;
return;
}
HandConfiguration.TrackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
HandConfiguration.TrackedJointsEnabled = true;
HandConfiguration.EnableJointSpeed(JointType.JOINT_INDEX_TIP, JointSpeedType.JOINT_SPEED_ABSOLUTE, 20);
HandConfiguration.StabilizerEnabled = true;
HandConfiguration.EnableAllAlerts();
HandConfiguration.SegmentationImageEnabled = false;
HandConfiguration.SmoothingValue = 1; // The value is from 0(not smoothed) to 1(smoothed motion).
HandConfiguration.ApplyChanges();
}