Realsense SR300实现检测人手的个数

1.检测视频流中已存在的手的个数

/*
Created by Jinhua Zhao,2017.09.24.
Contact:3210513029@qq.com
vs2017+Opencv3.30+realsense SR300
*/

#include <pxcsensemanager.h>
#include <pxcsession.h>
#include <pxchandconfiguration.h>
#include <pxccursordata.h>
#include <pxchandmodule.h>
#include <pxchanddata.h>
#include <pxcprojection.h>
#include <pxcpowerstate.h>
#include <pxchandcursormodule.h>
#include <pxccursorconfiguration.h>
#include <utilities\pxcsmoother.h>
#include <opencv2\opencv.hpp>
#include <Windows.h>

using namespace std;
using namespace cv;

int main() {
    PXCSenseManager* sm = PXCSenseManager::CreateInstance();
    sm->EnableHand();

    PXCHandModule* handMoudle = sm->QueryHand();
    PXCHandConfiguration* handConfig = handMoudle->CreateActiveConfiguration();

    handConfig->SetTrackingMode(PXCHandData::TrackingModeType::TRACKING_MODE_FULL_HAND);
    handConfig->EnableStabilizer(true);
    handConfig->EnableTrackedJoints(true);
    handConfig->EnableNormalizedJoints(true);
    handConfig->EnableSegmentationImage(true);
    handConfig->ApplyChanges();

    sm->Init();

    PXCHandData* handData = handMoudle->CreateOutput();
    PXCHandData::IHand* ihand[3];
    pxcUID handId[3];
    while (sm->AcquireFrame(true) >= PXC_STATUS_NO_ERROR)
    {
        handData->Update();
        int nHands = handData->QueryNumberOfHands();
        cout << nHands << endl;
        sm->ReleaseFrame();
    }
    
    handData->Release();
    handConfig->Release();
    sm->Close();
    sm->Release();
    return 0;
}

2.用食指控制鼠标运动，其中需要根据要求的手指以及具体应用场景进行更改！

/*
Created by Jinhua Zhao,2017.09.24.
Contact:3210513029@qq.com
vs2017+Opencv3.30+realsense SR300
*/

#include <pxcsensemanager.h>
#include <pxcsession.h>
#include <pxchandconfiguration.h>
#include <pxccursordata.h>
#include <pxchandmodule.h>
#include <pxchanddata.h>
#include <pxcprojection.h>
#include <pxcpowerstate.h>
#include <pxchandcursormodule.h>
#include <pxccursorconfiguration.h>
#include <utilities\pxcsmoother.h>
#include <opencv2\opencv.hpp>
#include <Windows.h>

using namespace std;
using namespace cv;

int main() {
    PXCSenseManager* sm = PXCSenseManager::CreateInstance();
    sm->EnableHand();

    PXCHandModule* handMoudle = sm->QueryHand();
    PXCHandConfiguration* handConfig = handMoudle->CreateActiveConfiguration();

    handConfig->SetTrackingMode(PXCHandData::TrackingModeType::TRACKING_MODE_FULL_HAND);
    handConfig->EnableStabilizer(true);
    handConfig->EnableTrackedJoints(true);
    handConfig->EnableNormalizedJoints(true);
    handConfig->EnableSegmentationImage(true);
    handConfig->ApplyChanges();

    sm->Init();

    PXCHandData* handData = handMoudle->CreateOutput();
    PXCHandData::IHand* ihand[3];
    PXCHandData::JointData jointdata;
    PXCHandData::FingerData fingerdata;
    PXCHandData::JointType jointtype=PXCHandData::JointType::JOINT_CENTER;
    PXCHandData::FingerType fingertye = PXCHandData::FingerType::FINGER_INDEX;

    pxcUID handId[3];
    int nHands;
    time_t time1, time2;
    for (size_t i = 0; i < 3; i++) {
        ihand[i] = nullptr;
        handId[i] = 0;
    }

    float before_x, before_y, before_z;
    float now_x, now_y, now_z;
    float delta_x, delta_y, delta_z;
    float tip;

    while (sm->AcquireFrame(true) >= PXC_STATUS_NO_ERROR)
    {
        handData->Update();
        nHands = handData->QueryNumberOfHands();//Query the numbers of the hands.
        if (nHands == 0){ sm->ReleaseFrame(); continue;}
        for (size_t i = 0; i < nHands; i++) //Dealing with the every piece of data of the hand.
        {
            handData->QueryHandId(PXCHandData::ACCESS_ORDER_NEAR_TO_FAR, i, handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]);
            handData->QueryHandDataById(handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN], ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]);

            auto side = ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]->QueryBodySide();

            ihand[side] = ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN];
            handId[side] = handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN];

            ihand[i]->QueryTrackedJoint(jointtype, jointdata);
            ihand[i]->QueryFingerData(fingertye, fingerdata);//The tip of index finger.
            
            before_x = 1000 * jointdata.positionWorld.x;
            before_y = 1000 * jointdata.positionWorld.y;
            before_z = 1000 * jointdata.positionWorld.z;
            delta_x = now_x - before_x;
            delta_y = now_y - before_y;
            delta_z = now_z - before_z;
            now_x = before_x;
            now_y = before_y;
            now_z = before_z;

            tip = fingerdata.foldedness;
            cout << tip << endl;
            if (tip<10)
            {
                mouse_event(MOUSEEVENTF_LEFTDOWN, delta_x, delta_y, 0, 0);
                Sleep(500);
            }
            else
            mouse_event(MOUSEEVENTF_MOVE|MOUSEEVENTF_LEFTUP|MOUSEEVENTF_RIGHTUP, delta_x, delta_y, 0, 0);
            cout << "x=" << delta_x << endl;
            cout << "y=" << delta_y << endl;
            cout << "z=" << delta_z << endl;

        }
        sm->ReleaseFrame();
    }
    handData->Release();
    handConfig->Release();
    sm->Close();
    sm->Release();
    return 0;
}

3.中指控制左鼠标，食指控制右鼠标（测试用的左手，实际左右手都行）

/*
Created by Jinhua Zhao,2017.09.24.
Contact:3210513029@qq.com
vs2017+Opencv3.30+realsense SR300
*/

#include <pxcsensemanager.h>
#include <pxcsession.h>
#include <pxchandconfiguration.h>
#include <pxccursordata.h>
#include <pxchandmodule.h>
#include <pxchanddata.h>
#include <pxcprojection.h>
#include <pxcpowerstate.h>
#include <pxchandcursormodule.h>
#include <pxccursorconfiguration.h>
#include <utilities\pxcsmoother.h>
#include <opencv2\opencv.hpp>
#include <Windows.h>

using namespace std;
using namespace cv;

int main() {
    PXCSenseManager* sm = PXCSenseManager::CreateInstance();
    sm->EnableHand();

    PXCHandModule* handMoudle = sm->QueryHand();
    PXCHandConfiguration* handConfig = handMoudle->CreateActiveConfiguration();

    handConfig->SetTrackingMode(PXCHandData::TrackingModeType::TRACKING_MODE_FULL_HAND);
    handConfig->EnableStabilizer(true);
    handConfig->EnableTrackedJoints(true);
    handConfig->EnableNormalizedJoints(true);
    handConfig->EnableSegmentationImage(true);
    handConfig->ApplyChanges();

    sm->Init();

    PXCHandData* handData = handMoudle->CreateOutput();
    PXCHandData::IHand* ihand[3];
    PXCHandData::JointData jointdata;
    PXCHandData::FingerData fingerdata;
    PXCHandData::FingerData fingerdata1;
    PXCHandData::JointType jointtype=PXCHandData::JointType::JOINT_CENTER;
    PXCHandData::FingerType fingertye = PXCHandData::FingerType::FINGER_INDEX;
    PXCHandData::FingerType fingertye1 = PXCHandData::FingerType::FINGER_MIDDLE;

    pxcUID handId[3];
    int nHands;
    time_t time1, time2;
    for (size_t i = 0; i < 3; i++) {
        ihand[i] = nullptr;
        handId[i] = 0;
    }

    float before_x, before_y, before_z;
    float now_x, now_y, now_z;
    float delta_x, delta_y, delta_z;
    float tip, tip1;

    while (sm->AcquireFrame(true) >= PXC_STATUS_NO_ERROR)
    {
        handData->Update();
        nHands = handData->QueryNumberOfHands();//Query the numbers of the hands.
        if (nHands == 0){ 
            sm->ReleaseFrame();
            SetCursorPos(960,540); 
            continue;
        }
        for (size_t i = 0; i < nHands; i++) //Dealing with the every piece of data of the hand.
        {
            handData->QueryHandId(PXCHandData::ACCESS_ORDER_NEAR_TO_FAR, i, handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]);
            handData->QueryHandDataById(handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN], ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]);

            auto side = ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]->QueryBodySide();

            ihand[side] = ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN];
            handId[side] = handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN];

            ihand[i]->QueryTrackedJoint(jointtype, jointdata);
            ihand[i]->QueryFingerData(fingertye, fingerdata);//The tip of index finger.
            ihand[i]->QueryFingerData(fingertye1, fingerdata1);//The tip of index finger.
            
            before_x = 3000 * jointdata.positionWorld.x;
            before_y = 3000 * jointdata.positionWorld.y;
            //before_z = 1000 * jointdata.positionWorld.z;
            delta_x = now_x - before_x;
            delta_y = now_y - before_y;
            //delta_z = now_z - before_z;
            now_x = before_x;
            now_y = before_y;
            //now_z = before_z;

            tip = fingerdata.foldedness;
            tip1 = fingerdata1.foldedness;
            cout << tip << endl;
            cout << tip1 << endl;
            if (tip1<5)
            {
                if (tip>90)
                {
                    mouse_event(MOUSEEVENTF_LEFTDOWN, delta_x, delta_y, 0, 0);
                    mouse_event(MOUSEEVENTF_LEFTUP, delta_x, delta_y, 0, 0);
                    Sleep(100);
                }
                mouse_event(MOUSEEVENTF_RIGHTDOWN, delta_x, delta_y, 0, 0);
                mouse_event(MOUSEEVENTF_RIGHTUP, delta_x, delta_y, 0, 0);
                Sleep(100);
            }
            mouse_event(MOUSEEVENTF_MOVE, delta_x, delta_y, 0, 0);
            cout << "x=" << delta_x << endl;
            cout << "y=" << delta_y << endl;
            //cout << "z=" << delta_z << endl;
        }
        sm->ReleaseFrame();
    }
    handData->Release();
    handConfig->Release();
    sm->Close();
    sm->Release();
    return 0;
}