/**
* get data from camera
*
* @return true if data have been produced
*/
public boolean getData() {
if (!connected) return false;
sts = SENSE_MANAGER.AcquireFrame(true);
if (sts.compareTo(pxcmStatus.PXCM_STATUS_NO_ERROR) < 0) {
gotMessage = false;
SENSE_MANAGER.ReleaseFrame();
return false;
}
// Query and Display Joint of Hand or Palm
handData.Update();
sts = handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, 0, hand);
if (sts.compareTo(pxcmStatus.PXCM_STATUS_NO_ERROR) >= 0) {
PXCMPoint3DF32 world = hand.QueryMassCenterWorld();
PXCMPoint4DF32 palmOrientation = hand.QueryPalmOrientation();
BodySideType handSide = hand.QueryBodySide();
dataSampler.addData(
handSide,
world.x,
world.y,
world.z,
palmOrientation.x,
palmOrientation.y,
palmOrientation.z,
palmOrientation.w);
handX = dataSampler.getWorldX();
handY = dataSampler.getWorldY();
handZ = dataSampler.getWorldZ();
switch (dataSampler.getSide()) {
case BODY_SIDE_RIGHT:
handX -= SIDE_OFFSET;
break;
case BODY_SIDE_LEFT:
handX += SIDE_OFFSET;
break;
case BODY_SIDE_UNKNOWN:
default:
handX -= SIDE_OFFSET;
break;
}
handOrientationX = dataSampler.getHandOrientationX();
handOrientationY = dataSampler.getHandOrientationY();
handOrientationZ = dataSampler.getHandOrientationZ();
handOrientationW = dataSampler.getHandOrientationW();
gotMessage = true;
} else {
gotMessage = false;
}
SENSE_MANAGER.ReleaseFrame();
return true;
}
/**
* 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");
}
