/// <summary>
/// Get the farthest hand along the camera up axis from a list of valids hands
/// </summary>
/// <param name="validHDs">The valid hands</param>
/// <returns>The farthest hands or null if the list is empty</returns>
public HandDetected GetFarthestHand(List <HandDetected> validHDs)
{
if (validHDs.Count == 0)
{
return(null);
}
Vector3 forward = Camera.main.transform.forward;
forward = (new Vector3(forward.x, 0.0f, forward.z)).normalized;
HandDetected hd = validHDs[0];
float posZ = Vector3.Dot(forward, validHDs[0].Position - Camera.main.transform.position);
for (int i = 1; i < validHDs.Count; i++)
{
float tempPosZ = Vector3.Dot(forward, validHDs[i].Position - Camera.main.transform.position);
if (posZ < tempPosZ)
{
posZ = tempPosZ;
hd = validHDs[i];
}
}
return(hd);
}
/// <summary>
/// Get the optimal hand given a list of valid hands
/// </summary>
/// <param name="validHDs">The list of valid Hands</param>
/// <returns></returns>
public HandDetected GetOptimalHand(List <HandDetected> validHDs)
{
if (validHDs.Count == 0)
{
return(null);
}
float optimalLimit = 0.25f;
Vector3 forward = Camera.main.transform.forward;
forward = (new Vector3(forward.x, 0.0f, forward.z)).normalized;
HandDetected hd = validHDs[0];
float maxPosZ = Vector3.Dot(forward, validHDs[0].Position - Camera.main.transform.position);
float minPosZ = float.MaxValue;
for (int i = 1; i < validHDs.Count; i++)
{
bool computeMin = false;
float tempPosZ = Vector3.Dot(forward, validHDs[i].Position - Camera.main.transform.position);
if (maxPosZ < tempPosZ)
{
maxPosZ = tempPosZ;
if (tempPosZ < optimalLimit) //Take the farthest between a range of 0 and the optimal limit
{
hd = validHDs[i];
}
else
{
computeMin = true;
}
}
else
{
computeMin = true;
}
if (computeMin)
{
if (tempPosZ < minPosZ && tempPosZ >= optimalLimit)
{
minPosZ = tempPosZ;
hd = validHDs[i];
}
}
}
return(hd);
}
public void OnHandUpdate(CameraParameter cameraParam, SpatialCoordinateSystem CoordinateSystem, IList <Hand> hands)
{
lock (this)
{
if (m_spatialCoordinateSystem != null)
{
//Start a new frame
foreach (HandDetected hand in m_handsDetected)
{
hand.NewDetection = true;
}
//For each detected hand
foreach (Hand hand in hands)
{
//Get the needed transformation matrices to convert hand in image space to camera and world space
System.Numerics.Matrix4x4?cameraToWorld = CoordinateSystem.TryGetTransformTo(m_spatialCoordinateSystem).Value;
System.Numerics.Matrix4x4 viewToCamera;
System.Numerics.Matrix4x4.Invert(cameraParam.CameraViewTransform, out viewToCamera);
if (cameraToWorld == null)
{
cameraToWorld = System.Numerics.Matrix4x4.Identity;
}
//Hand in camera space
System.Numerics.Vector4 handVecCamera = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(hand.PalmX, hand.PalmY, hand.PalmZ, 1.0f), viewToCamera);
Vector3 unityHandCamera = new Vector3(handVecCamera.X, handVecCamera.Y, handVecCamera.Z) / handVecCamera.W;
//Wrist in camera space
System.Numerics.Vector4 wristVecCamera = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(hand.WristX, hand.WristY, hand.WristZ, 1.0f), viewToCamera);
Vector3 unityWristCamera = new Vector3(wristVecCamera.X, wristVecCamera.Y, wristVecCamera.Z) / wristVecCamera.W;
//Add offsets in the ROI
float[] roi = new float[4];
roi[0] = hand.WristROIMinX - 10;
roi[1] = hand.WristROIMinY - 10;
roi[2] = hand.WristROIMaxX + 10;
roi[3] = hand.WristROIMaxY + 10;
//check if we already know it
bool created = false;
HandDetected handDetected = null;
foreach (HandDetected hd in m_handsDetected)
{
if (!hd.IsDetected && hd.HandCollision(roi) && (hd.CameraSpacePosition - unityHandCamera).magnitude <= 0.10) //Test the ROI and the magnitude in the position (no more than 5 cm)
{
handDetected = hd;
break;
}
}
//If not, this is a new hand!
if (handDetected == null)
{
handDetected = new HandDetected();
handDetected.NewDetection = true;
m_handsDetected.Add(handDetected);
created = true;
}
float smoothness = m_smoothness;
if (created == true)
{
smoothness = 0.0f;
}
//Smooth the hand
Vector3 smoothPosCamera = unityHandCamera * (1.0f - smoothness) + handDetected.CameraSpacePosition * smoothness; //Smooth the position
System.Numerics.Vector4 handVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(smoothPosCamera.x, smoothPosCamera.y, smoothPosCamera.z, 1.0f), cameraToWorld.Value);
Vector3 unityHandVec = new Vector3(handVec.X, handVec.Y, -handVec.Z) / handVec.W;
//Smooth the wrist
Vector3 smoothWristCamera = unityWristCamera * (1.0f - smoothness) + handDetected.CameraSpaceWristPosition * smoothness; //Smooth the position
System.Numerics.Vector4 wristVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(smoothWristCamera.x, smoothWristCamera.y, smoothWristCamera.z, 1.0f), cameraToWorld.Value);
Vector3 unityWristVec = new Vector3(wristVec.X, wristVec.Y, -wristVec.Z) / wristVec.W;
handDetected.PushPosition(unityHandVec, unityWristVec, smoothPosCamera, smoothWristCamera, roi);
//Clear fingers information
handDetected.Fingers.Clear();
handDetected.UppestFinger = null;
FingerDetected formerFinger = handDetected.UppestFinger;
if (hand.Fingers.Count > 0)
{
//Conver each fingers detected
foreach (Finger f in hand.Fingers)
{
//Register the finger position
System.Numerics.Vector4 fingerVec = System.Numerics.Vector4.Transform(new System.Numerics.Vector4(f.TipX, f.TipY, f.TipZ, 1.0f), viewToCamera);
fingerVec = System.Numerics.Vector4.Transform(fingerVec, cameraToWorld.Value);
Vector3 unityFingerVec = new Vector3(fingerVec.X, fingerVec.Y, -fingerVec.Z) / fingerVec.W;
handDetected.Fingers.Add(new FingerDetected(unityFingerVec));
}
//Detect the uppest finger
float minFY = hand.Fingers[0].TipY;
handDetected.UppestFinger = handDetected.Fingers[0];
for (int j = 1; j < handDetected.Fingers.Count; j++)
{
if (minFY > hand.Fingers[0].TipY)
{
minFY = hand.Fingers[0].TipY;
handDetected.UppestFinger = handDetected.Fingers[j];
}
}
}
}
}
int i = 0;
while (i < m_handsDetected.Count)
{
HandDetected hd = m_handsDetected[i];
//Handle non detected hands
if (!hd.IsDetected)
{
hd.PushUndetection();
//Delete the non valid hands
if (!hd.IsValid)
{
m_handsDetected.RemoveAt(i);
continue;
}
}
i++;
}
}
}
