private bool getGestureState(PXCMHandData.BodySideType pSide)
{
var numGestures = mHand.QueryFiredGesturesNumber();
for (int j = 0; j < numGestures; ++j)
{
PXCMHandData.GestureData gestData;
if (mHand.QueryFiredGestureData(j, out gestData) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMHandData.IHand hand;
if (mHand.QueryHandDataById(gestData.handId, out hand) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
var gestName = gestData.name;
if (gestName.Contains("cursor_click"))
{
if (hand.QueryBodySide() == pSide)
{
return(true);
}
}
}
}
}
return(false);
}
/* Displaying current frame gestures */
private void DisplayGesture(PXCMHandData handAnalysis, int frameNumber)
{
int firedGesturesNumber = handAnalysis.QueryFiredGesturesNumber();
string gestureStatusLeft = string.Empty;
string gestureStatusRight = string.Empty;
if (firedGesturesNumber == 0)
{
return;
}
for (int i = 0; i < firedGesturesNumber; i++)
{
PXCMHandData.GestureData gestureData;
if (handAnalysis.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMHandData.IHand handData;
if (handAnalysis.QueryHandDataById(gestureData.handId, out handData) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
PXCMHandData.BodySideType bodySideType = handData.QueryBodySide();
if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_LEFT)
{
gestureStatusLeft += "Left Hand Gesture: " + gestureData.name;
NextPageGesture.Check(gestureData.name, Hand.LeftHand, form.GetInterval());
PreviousPageGesture.Check(gestureData.name, Hand.LeftHand, form.GetInterval());
FirstPageGesture.Check(gestureData.name, Hand.LeftHand, form.GetInterval());
EndPageGesture.Check(gestureData.name, Hand.LeftHand, form.GetInterval());
}
else if (bodySideType == PXCMHandData.BodySideType.BODY_SIDE_RIGHT)
{
gestureStatusRight += "Right Hand Gesture: " + gestureData.name;
NextPageGesture.Check(gestureData.name, Hand.RightHand, form.GetInterval());
PreviousPageGesture.Check(gestureData.name, Hand.RightHand, form.GetInterval());
FirstPageGesture.Check(gestureData.name, Hand.RightHand, form.GetInterval());
EndPageGesture.Check(gestureData.name, Hand.RightHand, form.GetInterval());
}
}
}
if (gestureStatusLeft == String.Empty)
{
form.UpdateInfo("Frame " + frameNumber + ") " + gestureStatusRight + "\n", Color.SeaGreen);
}
else
{
form.UpdateInfo("Frame " + frameNumber + ") " + gestureStatusLeft + ", " + gestureStatusRight + "\n", Color.SeaGreen);
}
}
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();
}
}
public RealSenseGestureEventArgs(PXCMHandData.GestureData gestureData, PXCMHandData.BodySideType bodySide)
: this()
{
this.gestureData = gestureData;
this.bodySide = bodySide;
}
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();
}
}
private static void ProcessGestures(PXCMHandData handData)
{
// Processing gestures
// Querying how many gestures were detected
int firedGesturesNumber = handData.QueryFiredGesturesNumber();
// Querying which gestures were detected
for (int i = 0; i < firedGesturesNumber; i++)
{
PXCMHandData.GestureData gestureData;
if (handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
{
// Getting the gesture name
String gestureName = gestureData.name;
// Getting the gesture state
PXCMHandData.GestureStateType gestureState = gestureData.state;
// Getting the gesture timestamp
long timestamp = gestureData.timeStamp;
// Getting the hand information about which hand fired the gesture
PXCMHandData.IHand handInfo;
if (handData.QueryHandDataById(gestureData.handId, out handInfo) != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
continue;
}
// Getting which hand fired the gesture
PXCMHandData.BodySideType bodySideHand = handInfo.QueryBodySide();
if (gestureState == PXCMHandData.GestureStateType.GESTURE_STATE_START)
{
Console.WriteLine("Gesture \"{0}\" was detected. State:{1}, Timestamp:{2}, BodySide:{3}", gestureName, gestureState, timestamp, bodySideHand);
Console.WriteLine("--------------------");
if (gestureName.CompareTo(GESTURE_FIST) == 0)
{
if (currentGesture.CompareTo(GESTURE_FIST) != 0)
{
//SendMqttMessage("surfboard2/relay?0");
String target = (String)iot_form.comboTarget.SelectedItem;
String hclosed = (String)iot_form.comboHandsClosed.SelectedItem;
//if (target.Equals("")) target = "*";
//SendMqttMessage(target + "/" + hclosed);
SendMqttMessage(hclosed);
currentGesture = GESTURE_FIST;
}
}
else if (gestureName.CompareTo(GESTURE_SPREADFINGERS) == 0)
{
if (currentGesture.CompareTo(GESTURE_SPREADFINGERS) != 0)
{
String target = (String)iot_form.comboTarget.SelectedItem;
String hopen = (String)iot_form.comboGive5Action.SelectedItem;
//if (target.Equals("")) target = "*";
SendMqttMessage(hopen);
//SendMqttMessage(target + "/" + hopen);
//System.Diagnostics.Process.Start("http://www.globalcode.com.br");
//SendMqttMessage("surfboard2/relay?1");
currentGesture = GESTURE_SPREADFINGERS;
}
}
else if (gestureName.CompareTo(GESTURE_CLICK) == 0)
{
if (currentGesture.CompareTo(GESTURE_CLICK) != 0)
{
SendMqttMessage("green?255");
currentGesture = GESTURE_CLICK;
}
}
else if (gestureName.CompareTo(GESTURE_VSIGN) == 0)
{
if (currentGesture.CompareTo(GESTURE_VSIGN) != 0)
{
//System.Diagnostics.Process.Start("https://www.youtube.com/watch?v=MVm5hcQYJ-U");
SendMqttMessage("green?0");
keepLooping = false;
currentGesture = GESTURE_VSIGN;
}
}
}
}
}
}
