/** exit and close manager */
public void exit() {
CAPTURE_MANAGER.CloseStreams();
SENSE_MANAGER.Close();
SENSE_MANAGER = null;
SESSION.close();
SESSION = null;
}
/**
* Create a "Socket" for realsense camera
*
* @throws Exception when fails
*/
public Socket() throws Input3DException {
if (SESSION == null) {
createSession();
}
if (SESSION == null) {
throw new Input3DException(Input3DExceptionType.INSTALL, "RealSense: no session created");
}
if (SENSE_MANAGER != null) {
throw new Input3DException(Input3DExceptionType.ALREADY_USED, "RealSense: already in use");
}
SENSE_MANAGER = SESSION.CreateSenseManager();
if (SENSE_MANAGER == null) {
throw new Input3DException(
Input3DExceptionType.RUN, "RealSense: Failed to create a SenseManager instance");
}
CAPTURE_MANAGER = SENSE_MANAGER.QueryCaptureManager();
CAPTURE_MANAGER.FilterByDeviceInfo("RealSense", null, 0);
sts = SENSE_MANAGER.EnableHand(null);
if (sts.compareTo(pxcmStatus.PXCM_STATUS_NO_ERROR) < 0) {
throw new Input3DException(
Input3DExceptionType.RUN, "RealSense: Failed to enable HandAnalysis");
}
dataSampler = new DataAverage(SAMPLES);
sts = SENSE_MANAGER.Init();
if (sts.compareTo(pxcmStatus.PXCM_STATUS_NO_ERROR) >= 0) {
PXCMHandModule handModule = SENSE_MANAGER.QueryHand();
PXCMHandConfiguration handConfig = handModule.CreateActiveConfiguration();
handConfig.EnableAllAlerts();
AlertHandler alertHandler =
new AlertHandler() {
@Override
public void OnFiredAlert(intel.rssdk.PXCMHandData.AlertData data) {
setAlert(data.handId, data.label);
}
};
handConfig.SubscribeAlert(alertHandler);
handConfig.ApplyChanges();
handConfig.Update();
handData = handModule.CreateOutput();
hand = new PXCMHandData.IHand();
handOut = OutOfField.YES;
connected = true;
}
if (!connected) {
throw new Input3DException(Input3DExceptionType.RUN, "RealSense: not connected");
}
Log.debug("RealSense: connected");
}