/// <summary> 手の検出の初期化 </summary>
private void InitializeHandTracking()
{
// 手の検出器を取得する
handAnalyzer = senseManager.QueryHand();
if (handAnalyzer == null)
{
throw new Exception("手の検出器の取得に失敗しました");
}
// 手のデータを作成する
handData = handAnalyzer.CreateOutput();
if (handData == null)
{
throw new Exception("手の検出器の作成に失敗しました");
}
// RealSense カメラであれば、プロパティを設定する
var device = senseManager.QueryCaptureManager().QueryDevice();
PXCMCapture.DeviceInfo dinfo;
device.QueryDeviceInfo(out dinfo);
if (dinfo.model == PXCMCapture.DeviceModel.DEVICE_MODEL_IVCAM)
{
device.SetDepthConfidenceThreshold(1);
//device.SetMirrorMode( PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED );
device.SetIVCAMFilterOption(6);
}
// 手の検出の設定
config = handAnalyzer.CreateActiveConfiguration();
//config.EnableSegmentationImage(true);
config.EnableJointSpeed(PXCMHandData.JointType.JOINT_MIDDLE_TIP, PXCMHandData.JointSpeedType.JOINT_SPEED_AVERAGE, 100);
//config.EnableGesture("v_sign");
config.EnableGesture("thumb_up");
config.EnableGesture("thumb_down");
//config.EnableGesture("tap");
//config.EnableGesture("fist");
config.SubscribeGesture(OnFiredGesture);
config.ApplyChanges();
config.Update();
gestureTimer.Start();
}
/* 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();
}
}
