private void SaveHandData(PXCMHandData handAnalysis)
{
int numOfHands = handAnalysis.QueryNumberOfHands();
for (int j = 0; j < numOfHands; j++)
{
int id;
PXCMImage.ImageData data;
handAnalysis.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out id);
//Get hand by time of appearance
PXCMHandData.IHand handData;
handAnalysis.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out handData);
if (handData != null)
{
HandData hd = new HandData();
hd.updateData(handData);
dbhelper.saveEntity(hd);
}
}
}
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();
}
}
public void ProcessingThread()
{
// 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);
PXCMHandData.BodySideType bodySideType = ihand.QueryBodySide();
if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
leftHand = true;
}
else if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
leftHand = false;
}
// 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;
swipehandTipX = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.x;
swipehandTipY = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.y;
swipehandTipZ = nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].positionImage.z;
//Console.Out.WriteLine("Before x={0}", swipehandTipX);
//Console.Out.WriteLine("Before speed={0}", nodes[0][Convert.ToInt32(PXCMHandData.JointType.JOINT_MIDDLE_TIP)].speed.x);
// 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 if (handData.IsGestureFired("swipe_left", out gestureData))
{
gesture = Gesture.SwipeLeft;
}
else if (handData.IsGestureFired("swipe_right", out gestureData))
{
gesture = Gesture.SwipeRight;
}
else if (handData.IsGestureFired("fist", out gestureData))
{
gesture = Gesture.Fist;
}
else if (handData.IsGestureFired("thumb_up", out gestureData))
{
gesture = Gesture.Thumb;
}
}
else
{
gesture = Gesture.Undefined;
}
UpdateUI();
if (handData != null)
{
handData.Dispose();
}
}
senseManager.ReleaseFrame();
}
}
/* Displaying Depth/Mask Images - for depth image only we use a delay of NumberOfFramesToDelay to sync image with tracking */
private unsafe void DisplayPicture(PXCMImage depth, PXCMHandData handAnalysis)
{
if (depth == null)
{
return;
}
PXCMImage image = depth;
//Mask Image
if (form.GetLabelmapState())
{
Bitmap labeledBitmap = null;
try
{
labeledBitmap = new Bitmap(image.info.width, image.info.height, PixelFormat.Format32bppRgb);
}
catch (Exception)
{
image.Dispose();
return;
}
for (int j = 0; j < handAnalysis.QueryNumberOfHands(); j++)
{
int id;
PXCMImage.ImageData data;
handAnalysis.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out id);
//Get hand by time of appearance
PXCMHandData.IHand handData;
handAnalysis.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out handData);
if (handData != null &&
(handData.QuerySegmentationImage(out image) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_Y8,
out data) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Rectangle rect = new Rectangle(0, 0, image.info.width, image.info.height);
BitmapData bitmapdata = labeledBitmap.LockBits(rect, ImageLockMode.ReadWrite, labeledBitmap.PixelFormat);
byte * numPtr = (byte *)bitmapdata.Scan0; //dst
byte * numPtr2 = (byte *)data.planes[0]; //row
int imagesize = image.info.width * image.info.height;
byte num2 = (byte)handData.QueryBodySide();
byte tmp = 0;
for (int i = 0; i < imagesize; i++, numPtr += 4, numPtr2++)
{
tmp = (byte)(LUT[numPtr2[0]] * num2 * 100);
numPtr[0] = (Byte)(tmp | numPtr[0]);
numPtr[1] = (Byte)(tmp | numPtr[1]);
numPtr[2] = (Byte)(tmp | numPtr[2]);
numPtr[3] = 0xff;
}
bool isError = false;
try
{
labeledBitmap.UnlockBits(bitmapdata);
}
catch (Exception)
{
isError = true;
}
try
{
image.ReleaseAccess(data);
}
catch (Exception)
{
isError = true;
}
if (isError)
{
labeledBitmap.Dispose();
image.Dispose();
return;
}
}
}
}
if (labeledBitmap != null)
{
form.DisplayBitmap(labeledBitmap);
labeledBitmap.Dispose();
}
image.Dispose();
}//end label image
//Depth Image
else
{
//collecting 3 images inside a queue and displaying the oldest image
PXCMImage.ImageInfo info;
PXCMImage image2;
info = image.QueryInfo();
image2 = form.g_session.CreateImage(info);
image2.CopyImage(image);
m_images.Enqueue(image2);
if (m_images.Count == NumberOfFramesToDelay)
{
Bitmap depthBitmap;
try
{
depthBitmap = new Bitmap(image.info.width, image.info.height, PixelFormat.Format32bppRgb);
}
catch (Exception)
{
image.Dispose();
PXCMImage queImage = m_images.Dequeue();
queImage.Dispose();
return;
}
PXCMImage.ImageData data3;
PXCMImage image3 = m_images.Dequeue();
if (image3.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH, out data3) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
float fMaxValue = _maxRange;
byte cVal;
Rectangle rect = new Rectangle(0, 0, image.info.width, image.info.height);
BitmapData bitmapdata = depthBitmap.LockBits(rect, ImageLockMode.ReadWrite, depthBitmap.PixelFormat);
byte * pDst = (byte *)bitmapdata.Scan0;
short *pSrc = (short *)data3.planes[0];
int size = image.info.width * image.info.height;
for (int i = 0; i < size; i++, pSrc++, pDst += 4)
{
cVal = (byte)((*pSrc) / fMaxValue * 255);
if (cVal != 0)
{
cVal = (byte)(255 - cVal);
}
pDst[0] = cVal;
pDst[1] = cVal;
pDst[2] = cVal;
pDst[3] = 255;
}
try
{
depthBitmap.UnlockBits(bitmapdata);
}
catch (Exception)
{
image3.ReleaseAccess(data3);
depthBitmap.Dispose();
image3.Dispose();
return;
}
form.DisplayBitmap(depthBitmap);
image3.ReleaseAccess(data3);
}
depthBitmap.Dispose();
image3.Dispose();
}
}
}
private void getCursorPositions()
{
var numHands = mHand.QueryNumberOfHands();
int handId = -1;
if (numHands < 1)
{
mCursor0.transform.localPosition = Vector3.zero;
mCursor1.transform.localPosition = Vector3.zero;
}
if (!UseTwoHands)
{
mCursor1.transform.localPosition = Vector3.zero;
}
for (var i = 0; i < numHands; ++i)
{
mHand.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_ID, i, out handId);
PXCMHandData.IHand handData;
if (mHand.QueryHandDataById(handId, out handData) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (handData.HasCursor())
{
PXCMHandData.ICursor cursor;
if (handData.QueryCursor(out cursor) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
var pos = cursor.QueryPointWorld();
if (MapZ)
{
var newZ = lmap(pos.z, ZRange.x, ZRange.y, ZRange.z, ZRange.w);
pos.z = newZ;
}
Vector3 newPos = new Vector3(pos.x, pos.y, pos.z) * CursorScale;
if (handData.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
mCursor0.transform.localPosition = newPos;
if (getGestureState(PXCMHandData.BodySideType.BODY_SIDE_RIGHT))
{
mCursor0Active = !mCursor0Active;
if (mCursor0Active)
{
mCursor0.transform.localScale = new Vector3(CursorSize * 3, CursorSize * 3, CursorSize * 3);
}
else
{
mCursor0.transform.localScale = new Vector3(CursorSize, CursorSize, CursorSize);
}
}
}
else if (handData.QueryBodySide() == PXCMHandData.BodySideType.BODY_SIDE_LEFT && UseTwoHands)
{
mCursor1.transform.localPosition = newPos;
if (getGestureState(PXCMHandData.BodySideType.BODY_SIDE_LEFT))
{
mCursor1Active = !mCursor1Active;
if (mCursor1Active)
{
mCursor1.transform.localScale = new Vector3(CursorSize * 3, CursorSize * 3, CursorSize * 3);
}
else
{
mCursor1.transform.localScale = new Vector3(CursorSize, CursorSize, CursorSize);
}
}
}
}
}
else
{
if (i == 0)
{
mCursor0.transform.localPosition = Vector3.zero;
}
else if (i == 1)
{
mCursor1.transform.localPosition = Vector3.zero;
}
}
}
}
}
/* Displaying Depth/Mask Images - for depth image only we use a delay of NumberOfFramesToDelay to sync image with tracking */
private unsafe void DisplayPicture(PXCMImage depth, PXCMHandData handAnalysis)
{
if (depth == null)
return;
PXCMImage image = depth;
//Mask Image
if (form.GetLabelmapState())
{
Bitmap labeledBitmap = null;
try
{
labeledBitmap = new Bitmap(image.info.width, image.info.height, PixelFormat.Format32bppRgb);
for (int j = 0; j < handAnalysis.QueryNumberOfHands(); j++)
{
int id;
PXCMImage.ImageData data;
handAnalysis.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out id);
//Get hand by time of appearance
PXCMHandData.IHand handData;
handAnalysis.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_TIME, j, out handData);
if (handData != null &&
(handData.QuerySegmentationImage(out image) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_Y8,
out data) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Rectangle rect = new Rectangle(0, 0, image.info.width, image.info.height);
BitmapData bitmapdata = labeledBitmap.LockBits(rect, ImageLockMode.ReadWrite,
labeledBitmap.PixelFormat);
byte* numPtr = (byte*) bitmapdata.Scan0; //dst
byte* numPtr2 = (byte*) data.planes[0]; //row
int imagesize = image.info.width*image.info.height;
byte num2 = (byte) handData.QueryBodySide();
byte tmp = 0;
for (int i = 0; i < imagesize; i++, numPtr += 4, numPtr2++)
{
tmp = (byte) (LUT[numPtr2[0]]*num2*100);
numPtr[0] = (Byte) (tmp | numPtr[0]);
numPtr[1] = (Byte) (tmp | numPtr[1]);
numPtr[2] = (Byte) (tmp | numPtr[2]);
numPtr[3] = 0xff;
}
labeledBitmap.UnlockBits(bitmapdata);
image.ReleaseAccess(data);
}
}
}
if (labeledBitmap != null)
{
form.DisplayBitmap(labeledBitmap);
labeledBitmap.Dispose();
}
image.Dispose();
}
catch (Exception)
{
if (labeledBitmap != null)
{
labeledBitmap.Dispose();
}
if (image != null)
{
image.Dispose();
}
}
}//end label image
//Depth Image
else
{
//collecting 3 images inside a queue and displaying the oldest image
PXCMImage.ImageInfo info;
PXCMImage image2;
info = image.QueryInfo();
image2 = form.g_session.CreateImage(info);
if (image2 == null) { return; }
image2.CopyImage(image);
m_images.Enqueue(image2);
if (m_images.Count == NumberOfFramesToDelay)
{
Bitmap depthBitmap;
try
{
depthBitmap = new Bitmap(image.info.width, image.info.height, PixelFormat.Format32bppRgb);
}
catch (Exception)
{
image.Dispose();
PXCMImage queImage = m_images.Dequeue();
queImage.Dispose();
return;
}
PXCMImage.ImageData data3;
PXCMImage image3 = m_images.Dequeue();
if (image3.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH, out data3) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
float fMaxValue = _maxRange;
byte cVal;
Rectangle rect = new Rectangle(0, 0, image.info.width, image.info.height);
BitmapData bitmapdata = depthBitmap.LockBits(rect, ImageLockMode.ReadWrite, depthBitmap.PixelFormat);
byte* pDst = (byte*)bitmapdata.Scan0;
short* pSrc = (short*)data3.planes[0];
int size = image.info.width * image.info.height;
for (int i = 0; i < size; i++, pSrc++, pDst += 4)
{
cVal = (byte)((*pSrc) / fMaxValue * 255);
if (cVal != 0)
cVal = (byte)(255 - cVal);
pDst[0] = cVal;
pDst[1] = cVal;
pDst[2] = cVal;
pDst[3] = 255;
}
try
{
depthBitmap.UnlockBits(bitmapdata);
}
catch (Exception)
{
image3.ReleaseAccess(data3);
depthBitmap.Dispose();
image3.Dispose();
return;
}
form.DisplayBitmap(depthBitmap);
image3.ReleaseAccess(data3);
}
depthBitmap.Dispose();
image3.Dispose();
}
}
}
private static void ProcessHands(PXCMHandData handData)
{
// Querying how many hands were detected
int numberOfHands = handData.QueryNumberOfHands();
//Console.WriteLine("{0} hand(s) were detected.", numberOfHands);
// Querying the information about detected hands
for (int i = 0; i < numberOfHands; i++)
{
// Querying hand id
int handId;
pxcmStatus queryHandIdStatus = handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, i, out handId);
if (queryHandIdStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to query the hand Id.");
continue;
}
//Console.WriteLine("Hand id: {0}", handId);
// Querying the hand data
PXCMHandData.IHand hand;
pxcmStatus queryHandStatus = handData.QueryHandDataById(handId, out hand);
if (queryHandStatus == pxcmStatus.PXCM_STATUS_NO_ERROR && hand != null)
{
// Querying the body side (Left/Right)
PXCMHandData.BodySideType bodySide = hand.QueryBodySide();
//Console.WriteLine("Body Side: {0}", bodySide);
// Querying the hand openness
int handOpenness = hand.QueryOpenness();
//Console.WriteLine("Hand openness: {0}", handOpenness);
//SendMqttMessage(String.Format("surfboard2/red?{0}", (255 *handOpenness)/100));
// Querying Hand 2D Position
PXCMPointF32 massCenterImage = hand.QueryMassCenterImage();
//Console.WriteLine("Hand position on image: {0} | {1}", massCenterImage.x, massCenterImage.y);
PXCMPoint4DF32 palmOrientation = hand.QueryPalmOrientation();
rotationHelper.SetFromQuaternion(palmOrientation);
PXCMPoint3DF32 rotationEuler = rotationHelper.QueryEulerAngles();
double angleInDegrees = (180 * rotationEuler.y / Math.PI) + 180;
Console.WriteLine("Angle in degrees: {0}", angleInDegrees);
SendMqttMessage(String.Format("servo?{0}", (int)angleInDegrees));
// Console.WriteLine("Rotation x:{0},y:{1},z:{2}", rotationEuler.x, rotationEuler.y, rotationEuler.z);
// Querying Hand 3D Position
PXCMPoint3DF32 massCenterWorld = hand.QueryMassCenterWorld();
//Console.WriteLine("Hand position on world: {0} | {1} | {2}", massCenterWorld.x, massCenterWorld.y, massCenterWorld.z);
/*
// Querying Hand Joints
if (hand.HasTrackedJoints())
{
foreach (PXCMHandData.JointType jointType in Enum.GetValues(typeof(PXCMHandData.JointType)))
{
PXCMHandData.JointData jointData;
pxcmStatus queryStatus = hand.QueryTrackedJoint(jointType, out jointData);
if (queryStatus == pxcmStatus.PXCM_STATUS_NO_ERROR && jointData != null)
{
// Printing joint label and tracking confidence
Console.WriteLine("Joint {0} with confidence {1}", jointType, jointData.confidence);
// Printing the 2D position (image)
Console.WriteLine("\t2D Position: {0} | {1}", jointData.positionImage.x, jointData.positionImage.y);
// Printing the 3D position (depth)
Console.WriteLine("\t3D Position: {0} | {1} | {2}", jointData.positionWorld.x, jointData.positionWorld.y, jointData.positionWorld.z);
}
}
}*/
}
//Console.WriteLine("----------");
//Console.Clear();
}
}
private static void ProcessHands(PXCMHandData handData)
{
// Querying how many hands were detected
int numberOfHands = handData.QueryNumberOfHands();
//Console.WriteLine("{0} hand(s) were detected.", numberOfHands);
// Querying the information about detected hands
for (int i = 0; i < numberOfHands; i++)
{
// Querying hand id
int handId;
pxcmStatus queryHandIdStatus = handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, i, out handId);
if (queryHandIdStatus != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
Console.WriteLine("Failed to query the hand Id.");
continue;
}
//Console.WriteLine("Hand id: {0}", handId);
// Querying the hand data
PXCMHandData.IHand hand;
pxcmStatus queryHandStatus = handData.QueryHandDataById(handId, out hand);
if (queryHandStatus == pxcmStatus.PXCM_STATUS_NO_ERROR && hand != null)
{
// Querying the body side (Left/Right)
PXCMHandData.BodySideType bodySide = hand.QueryBodySide();
//Console.WriteLine("Body Side: {0}", bodySide);
// Querying the hand openness
int handOpenness = hand.QueryOpenness();
//Console.WriteLine("Hand openness: {0}", handOpenness);
SendMqttMessage(String.Format("red?{0}", (255 * handOpenness) / 100));
// Querying Hand 2D Position
PXCMPointF32 massCenterImage = hand.QueryMassCenterImage();
//Console.WriteLine("Hand position on image: {0} | {1}", massCenterImage.x, massCenterImage.y);
PXCMPoint4DF32 palmOrientation = hand.QueryPalmOrientation();
rotationHelper.SetFromQuaternion(palmOrientation);
PXCMPoint3DF32 rotationEuler = rotationHelper.QueryEulerAngles();
double angleInDegrees = (180 * rotationEuler.y / Math.PI) + 180;
Console.WriteLine("Angle in degrees: {0}", angleInDegrees);
SendMqttMessage(String.Format("red?{0}", (int)angleInDegrees));
// Console.WriteLine("Rotation x:{0},y:{1},z:{2}", rotationEuler.x, rotationEuler.y, rotationEuler.z);
// Querying Hand 3D Position
PXCMPoint3DF32 massCenterWorld = hand.QueryMassCenterWorld();
//Console.WriteLine("Hand position on world: {0} | {1} | {2}", massCenterWorld.x, massCenterWorld.y, massCenterWorld.z);
/*
* // Querying Hand Joints
* if (hand.HasTrackedJoints())
* {
* foreach (PXCMHandData.JointType jointType in Enum.GetValues(typeof(PXCMHandData.JointType)))
* {
* PXCMHandData.JointData jointData;
* pxcmStatus queryStatus = hand.QueryTrackedJoint(jointType, out jointData);
*
* if (queryStatus == pxcmStatus.PXCM_STATUS_NO_ERROR && jointData != null)
* {
* // Printing joint label and tracking confidence
* Console.WriteLine("Joint {0} with confidence {1}", jointType, jointData.confidence);
*
* // Printing the 2D position (image)
* Console.WriteLine("\t2D Position: {0} | {1}", jointData.positionImage.x, jointData.positionImage.y);
*
* // Printing the 3D position (depth)
* Console.WriteLine("\t3D Position: {0} | {1} | {2}", jointData.positionWorld.x, jointData.positionWorld.y, jointData.positionWorld.z);
* }
* }
* }*/
}
//Console.WriteLine("----------");
//Console.Clear();
}
}
