public override void Listen()
{
// attach the controller to the PXCM sensor
_senseManager = Session.CreateSenseManager();
_senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
_senseManager.EnableHand();
_handModule = _senseManager.QueryHand();
_handData = _handModule.CreateOutput();
_handConfiguration = _handModule.CreateActiveConfiguration();
_handConfiguration.SubscribeGesture(_handGestureHandler);
_handConfiguration.SubscribeAlert(_handAlertHandler);
_handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_TRACKED);
_handConfiguration.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_CALIBRATED);
_handConfiguration.EnableGesture("full_pinch");
_handConfiguration.EnableGesture("thumb_up");
_handConfiguration.ApplyChanges();
_senseManager.Init(_handler);
sensorActive = true;
_senseManager.StreamFrames(true);
_senseManager.Close();
}
private Hashtable handList; //keep track of bodyside and hands for GUItext
// Use this for initialization
void Start()
{
handList = new Hashtable();
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm == null)
{
Debug.LogError("SenseManager Initialization Failed");
}
/* Enable hand tracking and retrieve an hand module instance to configure */
sts = sm.EnableHand();
handAnalyzer = sm.QueryHand();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableHand: " + sts);
}
/* Initialize the execution pipeline */
sts = sm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.Init: " + sts);
}
/* Retrieve the the DataSmoothing instance */
sm.QuerySession().CreateImpl <PXCMSmoother>(out smoother);
/* Create a 3D Weighted algorithm */
smoother3D = new PXCMSmoother.Smoother3D[MaxHands][];
/* Configure a hand - Enable Gestures and Alerts */
PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration();
if (hcfg != null)
{
hcfg.EnableAllGestures();
hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
hcfg.ApplyChanges();
hcfg.Dispose();
}
InitializeGameobjects();
}
/* Constructor */
public HandsData(int MaxHands, int MaxJoints)
{
NumOfHands = MaxHands;
NumOfJoints = MaxJoints;
JointData = new PXCMHandData.JointData[NumOfHands][]; // Joint coordinates
Coordinates = new Main.HandCoord[NumOfHands];
/* Declaration of the array for the hand data*/
for (int i = 0; i < NumOfHands; i++)
{
JointData[i] = new PXCMHandData.JointData[NumOfJoints];
Coordinates[i] = new Main.HandCoord(6, NumOfJoints);
for (int j = 0; j < NumOfJoints; j++)
{
JointData[i][j] = new PXCMHandData.JointData();
}
}
/* Initialization of SenseManager */
SenseManager = PXCMSenseManager.CreateInstance();
if (SenseManager == null)
{
Debug.LogError("Initialization of the SenseManager has failed");
}
/* Enable hand tracking and get an instance of an hand module */
Status = SenseManager.EnableHand();
HandModule = SenseManager.QueryHand();
if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("SenseManager --> EnableHand " + Status);
}
/* Create the connection to the Intel RealSense camera */
Status = SenseManager.Init();
if (Status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("Initialization of SenseManager: " + Status);
}
/* Settings for the hand module */
PXCMHandConfiguration HandConfig = HandModule.CreateActiveConfiguration();
if (HandConfig != null)
{
HandConfig.EnableAllGestures();
HandConfig.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
PXCMHandData.JointType st = PXCMHandData.JointType.JOINT_WRIST;
for (int i = 0; i < NumOfJoints; i++)
{
HandConfig.EnableJointSpeed(st, PXCMHandData.JointSpeedType.JOINT_SPEED_AVERAGE, 1000 / 10);
st++;
}
//HandConfig.EnableJointSpeed(PXCMHandData.JointType.JOINT_WRIST, PXCMHandData.JointSpeedType.JOINT_SPEED_ABSOLUTE,1000/20);
HandConfig.ApplyChanges();
HandConfig.Dispose();
}
}
private Hashtable handList; //keep track of bodyside and hands for GUItext
// Use this for initialization
void Start()
{
handList = new Hashtable();
/* Initialize a PXCMSenseManager instance */
sm = PXCMSenseManager.CreateInstance();
if (sm == null)
{
Debug.LogError("SenseManager Initialization Failed");
}
/* Enable hand tracking and retrieve an hand module instance to configure */
sts = sm.EnableHand();
handAnalyzer = sm.QueryHand();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.EnableHand: " + sts);
}
/* Initialize the execution pipeline */
sts = sm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Debug.LogError("PXCSenseManager.Init: " + sts);
}
/* Retrieve the the DataSmoothing instance */
sm.QuerySession().CreateImpl <PXCMSmoother>(out smoother);
/* Create a 3D Weighted algorithm */
smoother3D = new PXCMSmoother.Smoother3D[MaxHands, MaxJoints];
/* Configure a hand - Enable Gestures and Alerts */
PXCMHandConfiguration hcfg = handAnalyzer.CreateActiveConfiguration();
if (hcfg != null)
{
hcfg.EnableAllGestures();
hcfg.EnableAlert(PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED);
hcfg.ApplyChanges();
hcfg.Dispose();
}
myJoints = new Joint[MaxHands, MaxJoints];
Joint[] joints;
if (RightHand != null)
{
HandMapping RightMapping = RightHand.GetComponent <HandMapping>();
joints = RightMapping.GetJoints();
for (int j = 0; j < MaxJoints; j++)
{
myJoints[0, j] = joints[j];
}
}
if (LeftHand != null)
{
HandMapping LeftMapping = LeftHand.GetComponent <HandMapping>();
joints = LeftMapping.GetJoints();
for (int j = 0; j < MaxJoints; j++)
{
myJoints[1, j] = joints[j];
}
}
jointData = new PXCMHandData.JointData[MaxHands, MaxJoints];
for (int i = 0; i < MaxHands; i++)
{
for (int j = 0; j < MaxJoints; j++)
{
Joint joint = myJoints[i, j];
if (joint != null)
{
joint.originalPosition = joint.transform.position;
joint.originalRotation = joint.transform.rotation;
//Calculate orientation
Vector3 v = Vector3.zero;
Vector3 parent = joint.transform.position;
int childcount = 0;
foreach (Joint.Neighbour n in joint.neighbours)
{
if (n.index < j)
{
parent = n.joint.transform.position;
}
else
{
v += n.joint.transform.position;
childcount++;
}
}
Vector3 direction = v - parent * childcount;
joint.originalOrientation = direction + parent - joint.transform.position;
//Joint extensions
foreach (Joint e in joint.extensions)
{
e.originalPosition = e.transform.position;
e.originalRotation = e.transform.rotation;
e.originalOrientation = joint.transform.position - e.transform.position;
}
}
smoother3D[i, j] = smoother.Create3DWeighted(smoothing);
jointData[i, j] = new PXCMHandData.JointData();
//Test output to check Hand Mapping
if (myJoints[i, j] == null)
{
Debug.Log("null");
}
else
{
Debug.Log(myJoints[i, j].transform.name);
}
}
}
}