// Update is called once per frame
void Update()
{
handData = SenseToolkitManager.Instance.HandDataOutput;
if (handData != null)
{
handData.Update();
for (int i = 0; i < handData.QueryFiredGesturesNumber(); i++)
{
if (handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
DisplayGestures(gestureData);
}
}
PXCMHandData.AlertData alertData;
for (int i = 0; i < handData.QueryFiredAlertsNumber(); i++)
{
if (handData.QueryFiredAlertData(i, out alertData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
ProcessAlerts(alertData);
}
}
}
}
// Update is called once per frame
void Update()
{
/* Make sure SenseManager Instance is valid */
if (sm == null)
{
return;
}
/* Wait until any frame data is available */
if (sm.AcquireFrame(false) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
/* Retrieve hand tracking Module Instance */
handAnalyzer = sm.QueryHand();
if (handAnalyzer != null)
{
/* Retrieve hand tracking Data */
PXCMHandData _handData = handAnalyzer.CreateOutput();
if (_handData != null)
{
_handData.Update();
/* Retrieve Gesture Data to manipulate GUIText */
PXCMHandData.GestureData gestureData;
for (int i = 0; i < _handData.QueryFiredGesturesNumber(); i++)
{
if (_handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
DisplayGestures(gestureData);
}
}
/* Retrieve Alert Data to manipulate GUIText */
PXCMHandData.AlertData alertData;
for (int i = 0; i < _handData.QueryFiredAlertsNumber(); i++)
{
if (_handData.QueryFiredAlertData(i, out alertData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
ProcessAlerts(alertData);
}
}
/* Retrieve all joint Data */
for (int i = 0; i < _handData.QueryNumberOfHands(); i++)
{
PXCMHandData.IHand _iHand;
if (_handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_FIXED, i, out _iHand) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
for (int j = 0; j < MaxJoints; j++)
{
if (_iHand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData[i][j]) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
jointData[i][j] = null;
}
}
if (!handList.ContainsKey(_iHand.QueryUniqueId()))
{
handList.Add(_iHand.QueryUniqueId(), _iHand.QueryBodySide());
}
}
}
/* Smoothen and Display the Data - Joints and Bones*/
DisplayJoints();
}
handAnalyzer.Dispose();
}
sm.ReleaseFrame();
RotateCam();
}
private void ProcessingHandThread()
{
// Start AcquireFrame/ReleaseFrame loop
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
hand = senseManager.QueryHand();
if (hand != null)
{
// Retrieve the most recent processed data
handData = hand.CreateOutput();
handData.Update();
// Get number of tracked hands
nhands = handData.QueryNumberOfHands();
if (nhands > 0)
{
// Retrieve hand identifier
handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, 0, out handId);
// Retrieve hand data
handData.QueryHandDataById(handId, out ihand);
// Retrieve all hand joint data
for (int i = 0; i < nhands; i++)
{
for (int j = 0; j < 0x20; j++)
{
PXCMHandData.JointData jointData;
ihand.QueryTrackedJoint((PXCMHandData.JointType)j, out jointData);
nodes[i][j] = jointData;
}
}
// Get world coordinates for tip of middle finger on the first hand in camera range
handTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.x;
handTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.y;
handTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionWorld.z;
// Retrieve gesture data
if (handData.IsGestureFired("spreadfingers", out gestureData))
{
gesture = Gesture.FingerSpread;
}
else if (handData.IsGestureFired("two_fingers_pinch_open", out gestureData))
{
gesture = Gesture.Pinch;
}
else if (handData.IsGestureFired("wave", out gestureData))
{
gesture = Gesture.Wave;
}
}
else
{
gesture = Gesture.Undefined;
}
// Get alert status
for (int i = 0; i < handData.QueryFiredAlertsNumber(); i++)
{
PXCMHandData.AlertData alertData;
if (handData.QueryFiredAlertData(i, out alertData) != pxcmStatus.PXCM_STATUS_NO_ERROR) { continue; }
//Displaying last alert
switch (alertData.label)
{
case PXCMHandData.AlertType.ALERT_HAND_DETECTED:
detectionAlert = "Hand Detected";
detectionStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED:
detectionAlert = "Hand Not Detected";
detectionStatusOk = false;
break;
case PXCMHandData.AlertType.ALERT_HAND_CALIBRATED:
calibrationAlert = "Hand Calibrated";
calibrationStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_NOT_CALIBRATED:
calibrationAlert = "Hand Not Calibrated";
calibrationStatusOk = false;
break;
case PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS:
bordersAlert = "Hand Inside Borders";
borderStatusOk = true;
break;
case PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS:
bordersAlert = "Hand Out Of Borders";
borderStatusOk = false;
break;
}
}
UpdateUI();
if (handData != null) handData.Dispose();
}
senseManager.ReleaseFrame();
}
}
/* Displaying current frame alerts */
private void DisplayAlerts(PXCMHandData handAnalysis, int frameNumber)
{
bool isChanged = false;
string sAlert = "Alert: ";
for (int i = 0; i < handAnalysis.QueryFiredAlertsNumber(); i++)
{
PXCMHandData.AlertData alertData;
if (handAnalysis.QueryFiredAlertData(i, out alertData) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
continue;
}
//See PXCMHandAnalysis.AlertData.AlertType for all available alerts
switch (alertData.label)
{
case PXCMHandData.AlertType.ALERT_HAND_DETECTED:
{
sAlert += "Hand Detected, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED:
{
sAlert += "Hand Not Detected, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_CALIBRATED:
{
sAlert += "Hand Calibrated, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_NOT_CALIBRATED:
{
sAlert += "Hand Not Calibrated, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS:
{
sAlert += "Hand Inside Border, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS:
{
sAlert += "Hand Out Of Borders, ";
isChanged = true;
break;
}
}
}
if (isChanged)
{
form.UpdateInfo("Frame " + frameNumber + ") " + sAlert + "\n", Color.RoyalBlue);
}
}
/* Displaying current frame alerts */
private void DisplayAlerts(PXCMHandData handAnalysis, int frameNumber)
{
bool isChanged = false;
string sAlert = "Alert: ";
for (int i = 0; i < handAnalysis.QueryFiredAlertsNumber(); i++)
{
PXCMHandData.AlertData alertData;
if (handAnalysis.QueryFiredAlertData(i, out alertData) != pxcmStatus.PXCM_STATUS_NO_ERROR)
continue;
//See PXCMHandAnalysis.AlertData.AlertType for all available alerts
switch (alertData.label)
{
case PXCMHandData.AlertType.ALERT_HAND_DETECTED:
{
sAlert += "Hand Detected, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_NOT_DETECTED:
{
sAlert += "Hand Not Detected, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_CALIBRATED:
{
sAlert += "Hand Calibrated, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_NOT_CALIBRATED:
{
sAlert += "Hand Not Calibrated, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_INSIDE_BORDERS:
{
sAlert += "Hand Inside Border, ";
isChanged = true;
break;
}
case PXCMHandData.AlertType.ALERT_HAND_OUT_OF_BORDERS:
{
sAlert += "Hand Out Of Borders, ";
isChanged = true;
break;
}
}
}
if (isChanged)
{
form.UpdateInfo("Frame " + frameNumber + ") " + sAlert + "\n", Color.RoyalBlue);
}
}
