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leonid_b_1
Beginner
65 Views

Hand Gesture not recognized...

Hello,

As my post title implement , I could not be able to set to work properly the hand gesture.I am writing in C#.I have F200 camera.

This is my code:

           // Create a PXCMSenseManager instance
            PXCMSenseManager sm = PXCMSenseManager.CreateInstance();

            // Select the depth stream
            sm.EnableHand();

            // Get an instance of PXCMHandModule 
            PXCMHandModule handModule = sm.QueryHand();

            sm.Init();

            // Create the hand data instance
            PXCMHandData handData = handModule.CreateOutput();

            // Get an instance of PXCMHandConfiguration
            PXCMHandConfiguration handConfig = handModule.CreateActiveConfiguration();

            // Make configuration changes and apply them
            handConfig.EnableJointSpeed(PXCMHandData.JointType.JOINT_INDEX_BASE, PXCMHandData.JointSpeedType.JOINT_SPEED_ABSOLUTE, 3);
            handConfig.EnableAllGestures();
            handConfig.EnableAllAlerts();

            // set other configuration options
            handConfig.ApplyChanges(); // Changes only take effect when you call ApplyChanges

            PXCMHandData.IHand ihand;
            PXCMHandData.FingerData fingerData;
            PXCMHandData.ExtremityData extremitydata;

            int i = 0;
            int currentAstricX = 0;
            int currentAstricY = 0;
            Console.SetCursorPosition(currentAstricX, currentAstricY);
            Console.WriteLine("#");

            // Main processing loop
            while (sm.AcquireFrame(true).IsSuccessful())
            {
                // handData is a PXCMHandData instance
                // Update hand data
                handData.Update();

                Int32 handId;
                handData.QueryHandData(PXCMHandData.AccessOrderType.ACCESS_ORDER_BY_ID, 0, out ihand);
                handData.QueryHandId(PXCMHandData.AccessOrderType.ACCESS_ORDER_NEAR_TO_FAR, 0, out handId);
                
                PXCMHandData.GestureData gestureData;
                if (handData.QueryFiredGestureData(i, out gestureData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
                {
                    Console.WriteLine("beseder");
                }

                PXCMHandData.GestureData data;
                if(handData.IsGestureFired("swipe_down", out data))
                {
                    Console.SetCursorPosition(currentAstricX, currentAstricY + 1);
                    Console.Clear();
                    Console.WriteLine("#");
                }

                if (handData.IsGestureFired("fist", out data))
                {
                    Console.SetCursorPosition(currentAstricX, currentAstricY + 1);
                    Console.Clear();
                    Console.WriteLine("#");
                }

                if (handData.IsGestureFired("v_sign", out data))
                {
                    Console.SetCursorPosition(currentAstricX, currentAstricY + 1);
                    Console.Clear();
                    Console.WriteLine("#");
                }

            }
        }

 

0 Kudos
4 Replies
Xusheng_L_Intel
Employee
65 Views

Please look at our RealSense SDK sample code @C:\Program Files (x86)\Intel\RSSDK\framework\CSharp\FF_HandsViewer.cs. Thanks!

leonid_b_1
Beginner
65 Views

I look at the sample code and it does not help me.

I  try to move a character (#) on console screen on gesture fire event.

Bryan_B_Intel1
Employee
65 Views

Hi Leonid,

I think the main problem is that you're not releasing the frame after an acquire (i.e., sm.ReleaseFrame();). The code below doesn't do exactly what you want, but it comes pretty close and should help you with your project.

Hope this helps, Bryan

 

namespace ConsoleApplication1

{
    class Program
    {
        static void Main(string[] args)
        {
            // Instantiate and initialize the SenseManager
            string gesture = "";
            PXCMSenseManager sm = PXCMSenseManager.CreateInstance();
            PXCMHandData handData;
            PXCMHandData.GestureData data;
            sm.EnableHand();
            sm.Init();

            // Configure the Hand Module
            PXCMHandModule hand = sm.QueryHand();
            PXCMHandConfiguration handConfig = hand.CreateActiveConfiguration();
            handConfig.EnableAllGestures();
            handConfig.EnableAllAlerts();
            handConfig.ApplyChanges();

            int currentAstricX = 0;
            int currentAstricY = 0;
            Console.SetCursorPosition(currentAstricX, currentAstricY);
            Console.WriteLine("#");

            // Main processing loop
            while (sm.AcquireFrame(true).IsSuccessful())
            {
                // Retrieve gesture data
                hand = sm.QueryHand();

                if (hand != null)
                {
                    // Retrieve the most recent processed data
                    handData = hand.CreateOutput();
                    handData.Update();

                    if (handData.IsGestureFired("spreadfingers", out data))
                    {
                        gesture = "Spread Fingers"; 
                    }

                    else if (handData.IsGestureFired("fist", out data))
                    {
                        gesture = "Fist";
                    }
                    
                    else if (handData.IsGestureFired("tap", out data))
                    {
                        gesture = "Tap";
                    }
                    
                    else if (handData.IsGestureFired("thumb_down", out data))
                    { 
                        gesture = "Thumb Down"; 
                    }

                    else if (handData.IsGestureFired("thumb_up", out data))
                    { 
                        gesture = "Thumb Up";
                    }
                    
                    else if (handData.IsGestureFired("two_fingers_pinch_open", out data))
                    {
                        gesture = "Two Fingers Pinch Open"; 
                    }

                    else if (handData.IsGestureFired("v_sign", out data))
                    {
                        gesture = "V-Sign";
                    }
                    
                    else if (handData.IsGestureFired("wave", out data))
                    { 
                        gesture = "Wave"; 
                    }

                    else if (handData.IsGestureFired("swipe_down", out data))
                    {
                        gesture = "Swipe Down";
                    }

                    Console.WriteLine(gesture);

                    sm.ReleaseFrame();
                }
            }
        }
    }
}

Peter_O_Hanlon
Innovator
65 Views

As Bryan said, the biggest issue you face there is that you don't release your frame when you're finished with it. This leads to memory ramping up very quickly as you're finding. Something to remember, as well, is that you could well be coping with an exception inside your processing so you need to make sure that you always release the frame if possible. To do that, I would tend to write my loop a bit more like this:

while (true)
{
  if (!sm.AcquireFrame(true).IsSuccessful()) return;
  try
  {
  }
  finally
  {
    sm.ReleaseFrame();
  }
}

I hope that helps.

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