Realsense 显示手的关节信息并控制

vtk.cpp

#include"Hand3D.hpp"
#include"vtk.hpp"
VTK_MODULE_INIT(vtkRenderingOpenGL2)
int main()
{
    Hand3D hand;
    HandView vtk;
    //hand.KillDCM();
    hand.Init();

    //PXCHandData::JointData joints[22][3];

    vtkSmartPointer<vtkRenderer> renderer =
        vtkSmartPointer<vtkRenderer>::New();
    vtkSmartPointer<vtkRenderWindow> renderWindow =
        vtkSmartPointer<vtkRenderWindow>::New();
    renderWindow->AddRenderer(renderer);

    // An interactor
    vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
        vtkSmartPointer<vtkRenderWindowInteractor>::New();
    renderWindowInteractor->SetRenderWindow(renderWindow);
    renderWindowInteractor->UpdateSize(880,640 );


    while (1) {
        hand.Update();
        auto hl = hand.QueryHandLeft(), hr = hand.QueryHandRight();
        auto data = hand.QuerySkeletonPositon(hl);
        if (data) {
            vtkSmartPointer<vtkActor> actors[22];
            for (size_t i = 0; i < 22; i++)
            {
                actors[i] = vtk.createball(data[i].x * 100, data[i].y * 100, data[i].z * 100, 1);
                renderer->AddActor(actors[i]);
                if (i < 10) {
                    //cout << "手指关节的信息____________第" << i << "  个关节的位置信息___________" << data->x * 1000 << endl;
                }
                else
                {
                    //cout << "手指关节的信息____________第" << i << " 个关节的位置信息___________" << data->x * 1000 << endl;
                }
            }
            renderer->SetBackground(0, 0, 0); // Background color white
    
            // Render an image (lights and cameras are created automatically)
            renderWindow->Render();

            vtkSmartPointer<vtkInteractorStyleTrackballCamera> style =
                vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();

            renderWindowInteractor->SetInteractorStyle(style);

            // Begin mouse interaction
            //renderWindowInteractor->Start();
            //renderWindowInteractor->();
            renderWindowInteractor->Disable();
            for (size_t i = 0; i < 22; i++){
                renderer->RemoveActor(actors[i]);
            }
        }
    }



    //  //设置圆
    //  auto actor11 = createball(-12.0, -10.0, 0.0, 2.0);
    //  auto actor12 = createball(-15.0, -4.0, 0.0, 2.0);
    //  auto actor13 = createball(-18.0, 3.0, 0.0, 2.0);

    //  auto actor21 = createball(-6.0, -2.0, 0.0, 2.0);
    //  auto actor22 = createball(-8.0, 10.0, 0.0, 2.0);
    //  auto actor23 = createball(-10.0, 25.0, 0.0, 2.0);

    //  auto actor31 = createball(0.0, 0.0, 0.0, 2.0);
    //  auto actor32 = createball(0.0, 12.0, 0.0, 2.0);
    //  auto actor33 = createball(0.0, 27.0, 0.0, 2.0);

    //  auto actor41 = createball(5.0, -2.0, 0.0, 2.0);
    //  auto actor42 = createball(7.0, 10.0, 0.0, 2.0);
    //  auto actor43 = createball(9.0, 23.0, 0.0, 2.0);

    //  auto actor51 = createball(10.0, -6.0, 0.0, 2.0);
    //  auto actor52 = createball(12.0, 0.0, 0.0, 2.0);
    //  auto actor53 = createball(14.0, 10.0, 0.0, 2.0);


    //  auto actor_ori = createball(0.0, -18.0, 0.0, 2.0);


    //  //设置线
    //  auto line_actor10 = createline(-12.0, -10.0, 0.0, 0.0, -18.0, 0.0);
    //  auto line_actor11 = createline(-12.0, -10.0, 0.0, -15.0, -4.0, 0.0);
    //  auto line_actor12 = createline(-15.0, -4.0, 0.0, -18.0, 3.0, 0.0);


    //  auto line_actor20 = createline(-6.0, -2.0, 0.0, 0.0, -18.0, 0.0);
    //  auto line_actor21 = createline(-6.0, -2.0, 0.0, -8.0, 10.0, 0.0);
    //  auto line_actor22 = createline(-8.0, 10.0, 0.0, -10.0, 25.0, 0.0);

    //  auto line_actor30 = createline(0.0, 0.0, 0.0, 0.0, -18.0, 0.0);
    //  auto line_actor31 = createline(0.0, 0.0, 0.0, 0.0, 12.0, 0.0);
    //  auto line_actor32 = createline(0.0, 12.0, 0.0, 0.0, 27.0, 0.0);

    //  auto line_actor40 = createline(5.0, -2.0, 0.0, 0.0, -18.0, 0.0);
    //  auto line_actor41 = createline(5.0, -2.0, 0.0, 7.0, 10.0, 0.0);
    //  auto line_actor42 = createline(7.0, 10.0, 0.0, 9.0, 23.0, 0.0);

    //  auto line_actor50 = createline(10.0, -6.0, 0.0, 0.0, -18.0, 0.0);
    //  auto line_actor51 = createline(10.0, -6.0, 0.0, 12.0, 0.0, 0.0);
    //  auto line_actor52 = createline(12.0, 0.0, 0.0, 14.0, 10.0, 0.0);

    //  /*auto line_actor = createline();
    //  auto line_actor = createline();
    //  auto line_actor = createline();
    //  auto line_actor = createline();
    //  auto line_actor = createline();*/


     //A renderer and render window

    //  // Add the actors to the scene

    //  renderer->AddActor(actor11);
    //  renderer->AddActor(actor12);
    //  renderer->AddActor(actor13);
    //  renderer->AddActor(actor21);
    //  renderer->AddActor(actor22);
    //  renderer->AddActor(actor23);
    //  renderer->AddActor(actor31);
    //  renderer->AddActor(actor32);
    //  renderer->AddActor(actor33);
    //  renderer->AddActor(actor41);
    //  renderer->AddActor(actor42);
    //  renderer->AddActor(actor43);
    //  renderer->AddActor(actor51);
    //  renderer->AddActor(actor52);
    //  renderer->AddActor(actor53);
    //  renderer->AddActor(actor_ori);

    //  renderer->AddActor(line_actor10);
    //  renderer->AddActor(line_actor11);
    //  renderer->AddActor(line_actor12);

    //  renderer->AddActor(line_actor20);
    //  renderer->AddActor(line_actor21);
    //  renderer->AddActor(line_actor22);

    //  renderer->AddActor(line_actor30);
    //  renderer->AddActor(line_actor31);
    //  renderer->AddActor(line_actor32);

    //  renderer->AddActor(line_actor40);
    //  renderer->AddActor(line_actor41);
    //  renderer->AddActor(line_actor42);

    //  renderer->AddActor(line_actor50);
    //  renderer->AddActor(line_actor51);
    //  renderer->AddActor(line_actor52);





    return EXIT_SUCCESS;
}

vtk.hpp

#pragma once
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkPolyData.h>
#include <vtkProperty.h>
#include <vtkSmartPointer.h>
#include <vtkSphereSource.h>
#include<vtkInteractorStyleTrackballCamera.h>
#include <vtkInteractorStyleTrackballActor.h>
#include <vtkAutoInit.h>
#include <vtkLineSource.h>
#include <opencv2\opencv.hpp>



using namespace cv;
using namespace std;
class HandView
{
public:
    HandView() {

    }
    vtkSmartPointer<vtkActor> createball(float x, float y, float z, int r)
    {
        vtkSmartPointer<vtkSphereSource> sphereSource =
            vtkSmartPointer<vtkSphereSource>::New();
        sphereSource->SetCenter(x, y, z);
        sphereSource->SetRadius(r);
        sphereSource->Update();

        vtkSmartPointer<vtkPolyDataMapper> mapper =
            vtkSmartPointer<vtkPolyDataMapper>::New();
        mapper->SetInputConnection(sphereSource->GetOutputPort());

        vtkSmartPointer<vtkActor> actor =
            vtkSmartPointer<vtkActor>::New();
        actor->SetMapper(mapper);

        return actor;
    }

    vtkSmartPointer<vtkActor> createline(double x1, double y1, double z1, double x2, double y2, double z2)
    {
        vtkSmartPointer<vtkLineSource> lineSource =
            vtkSmartPointer<vtkLineSource>::New();
        lineSource->SetPoint1(x1, y1, z1);
        lineSource->SetPoint2(x2, y2, z2);
        lineSource->Update();

        // Visualize
        vtkSmartPointer<vtkPolyDataMapper> mapper =
            vtkSmartPointer<vtkPolyDataMapper>::New();
        mapper->SetInputConnection(lineSource->GetOutputPort());
        vtkSmartPointer<vtkActor> actor =
            vtkSmartPointer<vtkActor>::New();
        actor->SetMapper(mapper);
        actor->GetProperty()->SetLineWidth(4);

        return actor;
    }

private:

};

hand3d.hpp

#pragma once
#include<pxchandconfiguration.h>
#include<pxchandmodule.h>
#include<pxchanddata.h>
#include<pxcprojection.h>
#include<pxcpowerstate.h>
#include<utilities\pxcsmoother.h>
#include<opencv2/opencv.hpp>
#include<Windows.h>

using namespace std;

class Hand3D
{
public:
    bool Init() {


        sr300_manager = PXCSenseManager::CreateInstance();
        sr300_manager->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 960, 540, 60);
        sr300_manager->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 640, 480, 60);
        sr300_manager->EnableStream(PXCCapture::STREAM_TYPE_IR, 640, 480, 60);
        sr300_manager->EnableHand();

        handModule = sr300_manager->QueryHand();

        PXCHandConfiguration* handConfig = handModule->CreateActiveConfiguration();
        handConfig->SetTrackingMode(PXCHandData::TrackingModeType::TRACKING_MODE_FULL_HAND);
        handConfig->EnableStabilizer(true);
        handConfig->EnableTrackedJoints(true);
        handConfig->EnableNormalizedJoints(true);
        handConfig->EnableSegmentationImage(true);
        handConfig->ApplyChanges();

        handData = handModule->CreateOutput();

        sr300_manager->QuerySession()->CreateImpl<PXCSmoother>(&smooth);
        for (size_t i = 0; i < 10; i++) {
            smoother[i] = smooth->Create1DSpring();
            smoother[i]->SmoothValue(0.1);
        }
        for (size_t i = 0; i < 8; i++) {
            smoother_rect[i] = smooth->Create1DSpring(0.3);
            smoother[i]->SmoothValue(0.1);
        }
        auto device = Seek();


        projection = device->CreateProjection();
        sr300_manager->Init();

        //auto device = sr300_manager->QuerySession()->CreateCaptureManager()->QueryDevice();
        //auto device = sr300_manager->QueryCaptureManager()->QueryDevice();

        yy = 480 - 5 * hist_w;
        xx = 640 - 5 * hist_w;
        indicator = cv::Mat::zeros(cv::Size(5 * hist_w, 5 * hist_w), CV_8UC3);
        canvas = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);

        Update();
        //device->SetDeviceAllowProfileChange(true);
        device->SetIVCAMLaserPower(16);
        cout << device->SetDepthConfidenceThreshold(5);

        cout << device->SetIVCAMMotionRangeTradeOff(5);

        cout << device->SetIVCAMFilterOption(0);
        cout << device->SetIVCAMAccuracy(PXCCapture::Device::IVCAM_ACCURACY_FINEST);
        sr300_manager->QuerySession()->CreatePowerManager()->SetState(PXCPowerState::STATE_PERFORMANCE);
        return true;
    }
    int Update() {
        // 清零
        for (size_t i = 0; i < 3; i++) {
            ihand[i] = NULL;
            handId[i] = 0;
        }
        sr300_manager->ReleaseFrame();
        // 更新
        if (sr300_manager->AcquireFrame(true) < PXC_STATUS_NO_ERROR) return -1;
        sample = sr300_manager->QuerySample();
        depth = sample->depth;
        color = sample->color;
        handData->Update();
        nHands = handData->QueryNumberOfHands();


        for (size_t i = 0; i < nHands; i++) {
            auto ret = handData->QueryHandId(PXCHandData::ACCESS_ORDER_NEAR_TO_FAR, i, handId[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]);//查询所有的手
            ret = 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];

            for (size_t i = 0; i < 22; i++) {
                // 一根手指
                // 归一化关节
                ihand[side]->QueryNormalizedJoint((PXCHandData::JointType)i, joints[side][i]);
            }
        }
        colorSight = QueryColorImage();
        return nHands;
    }

    cv::Mat QueryColorImage() {
        auto pxcimg = projection->CreateColorImageMappedToDepth(depth, color);
        auto info = pxcimg->QueryInfo();
        PXCImage::ImageData img_dat;
        pxcimg->AcquireAccess(PXCImage::Access::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB24, &img_dat);
        cv::Mat img = cv::Mat(info.height, info.width, CV_8UC3, (void*)img_dat.planes[0], img_dat.pitches[0] / sizeof(uchar)).clone();
        pxcimg->ReleaseAccess(&img_dat);
        pxcimg->Release();
        flip(img, img, 1);
        return img + QueryIrImage();
    }
    cv::Mat QueryIrImage() {
        auto pxcimg = sample->ir;
        auto info = pxcimg->QueryInfo();
        PXCImage::ImageData img_dat;
        pxcimg->AcquireAccess(PXCImage::Access::ACCESS_READ, PXCImage::PIXEL_FORMAT_Y8_IR_RELATIVE, &img_dat);
        cv::Mat img = cv::Mat(info.height, info.width, CV_8UC1, (void*)img_dat.planes[0], img_dat.pitches[0] / sizeof(uchar));
        //  cv::normalize(img,img,0,255)
        cv::cvtColor(img, img, cv::COLOR_GRAY2BGR);
        pxcimg->ReleaseAccess(&img_dat);
        flip(img*1.5, img, 1);
        return img;
    }
    cv::Mat QuerySegmentedMask() {///xxx
        PXCImage::ImageData img_dat;
        color->AcquireAccess(PXCImage::Access::ACCESS_READ, PXCImage::PIXEL_FORMAT_Y8, &img_dat);
        cv::Mat img = cv::Mat(360, 640, CV_8UC1, (void*)img_dat.planes[0], img_dat.pitches[0] / sizeof(uchar)).clone();
        color->ReleaseAccess(&img_dat);
    }

    cv::Mat drawIndicator() {
        canvas.setTo(0);
        draw(ihand[PXCHandData::BodySideType::BODY_SIDE_LEFT]);
        draw(ihand[PXCHandData::BodySideType::BODY_SIDE_RIGHT]);

        //for (size_t i = 0; i < nHands; i++)
        //{
        //  pxcUID handId;
        //  auto ret = handData->QueryHandId(PXCHandData::ACCESS_ORDER_NEAR_TO_FAR, i, handId);
        //  //cout << handId << endl;
        //  handData->QueryHandDataById(handId, ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]);
        //  // 画框
        //  auto rect = ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]->QueryBoundingBoxImage();
        //  rect.x = 640 - rect.x - rect.w; 
        //  auto yy = 480 - 5 * hist_w;
        //  cout << rect.y << endl;
        //  if (rect.y > yy) rect.y = yy;
        //  // 指示器
        //  cv::Mat ind = canvas(cv::Rect(rect.x, rect.y, 5 * hist_w, 5 * hist_w));
        //  double *foldedness = QueryFingerFoldedness(handId);
        //  for (size_t i = 0; i < 5; i++) {
        //      auto h = (int)(foldedness[i] * indicator.rows);
        //      rectangle(ind, cv::Rect(i*hist_w, indicator.rows - h, hist_w, h), cv::Scalar(255, 255, 255), -1);
        //  }
        //  if (ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]->QueryBodySide() == PXCHandData::BodySideType::BODY_SIDE_LEFT)flip(ind, ind, 1);
        //  rectangle(canvas, cv::Rect(rect.x, rect.y, rect.w, rect.h), cv::Scalar(0, 255, ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN]->IsCalibrated() ? 0 : 255), 2);
        //  // string显示框
        //}
        return canvas + colorSight;
    }

    ////////////////////////////////////////////////////////////////////////////////////////
    PXCHandData::IHand *QueryHandRight() {
        return ihand[PXCHandData::BodySideType::BODY_SIDE_RIGHT];
    }
    PXCHandData::IHand *QueryHandLeft() {
        return ihand[PXCHandData::BodySideType::BODY_SIDE_LEFT];
    }
    PXCHandData::IHand *QueryHandUnknown() {
        return ihand[PXCHandData::BodySideType::BODY_SIDE_UNKNOWN];
    }
    //////////////////////////////////////////////////////////////////////////////////////
    //cv::Rect projectRect(PXCRectI32 rect,float z)
    //{
    //  PXCPointF32 p2[2];
    //  PXCPoint3DF32 p3[2];
    //  p3[0].x = rect.x;
    //  p3[0].y = rect.y;
    //  p3[1].x = p3[0].x+rect.w;
    //  p3[1].y = p3[0].y + rect.h;
    //  p3[0].z = p3[1].z = z;
    //  auto  cal = projection->MapDepthToColor(2,p3,p2);
    //  return cv::Rect(cv::Point(p2[0].x, p2[0].y), cv::Point(p2[1].x, p2[1].y));
    //}
    // 边界框
    cv::Rect QueryHandBoundingBox(PXCHandData::IHand *ihand) {
        if (ihand == NULL) return cv::Rect(0, 0, 0, 0);
        auto rect = ihand->QueryBoundingBoxImage();
        rect.x = 640 - rect.x - rect.w;

        return cv::Rect(rect.x, rect.y, rect.w, rect.h);
    }
    void draw(PXCHandData::IHand *ihand) {

        if (ihand == NULL) return;
        // 框

        auto offset = (ihand->QueryBodySide() == PXCHandData::BodySideType::BODY_SIDE_LEFT) ? 4 : 0;;
        auto rect = ihand->QueryBoundingBoxImage();
        rect.x = 640 - rect.x - rect.w;
        if (rect.y > yy) rect.y = yy;
        if (rect.x > xx) rect.x = xx;
        //if (rect.x > xx) rect.x = xx;
        auto x = smoother_rect[offset + 0]->SmoothValue(rect.x);
        auto y = smoother_rect[offset + 1]->SmoothValue(rect.y);
        auto w = smoother_rect[offset + 2]->SmoothValue(rect.w);
        auto h = smoother_rect[offset + 3]->SmoothValue(rect.h);

        auto box = cv::Rect(x, y, w, h);

        auto iscalib = ihand->IsCalibrated();
        if (iscalib) {
            // 指示器
            cv::Rect indBox = cv::Rect(x, y + h - 5 * hist_w, 5 * hist_w, 5 * hist_w);
            cv::Mat ind;
            colorSight(indBox) /= 2;
            ind = canvas(indBox);

            double *foldedness = QueryFingerFoldedness(ihand);
            for (size_t i = 0; i < 5; i++) {
                auto h = (int)(foldedness[i] * indicator.rows);
                rectangle(ind, cv::Rect(i*hist_w, indicator.rows - h, hist_w, h), cv::Scalar(255 * foldedness[i], 255, 255 - 200 * foldedness[i]), -1);
            }
            if (ihand->QueryBodySide() == PXCHandData::BodySideType::BODY_SIDE_LEFT)flip(ind, ind, 1);
        }
        rectangle(canvas, box, cv::Scalar(iscalib ? 255 : 0, 127, iscalib ? 0 : 255), iscalib ? 2 : 15);
        //cout << box << endl;
        cout << box << endl;
    }
    // 弯曲度指示器
    cv::Mat QueryIndicator(PXCHandData::IHand *ihand) {
        indicator.setTo(0);
        if (ihand == NULL) return indicator;
        double *foldedness = QueryFingerFoldedness(ihand);
        for (size_t i = 0; i < 5; i++) {
            auto h = (int)(foldedness[i] * indicator.rows);
            rectangle(indicator, cv::Rect(i*hist_w, indicator.rows - h, hist_w, h), cv::Scalar(255, 255, 255), -1);
        }
        if (ihand == NULL) return indicator;
    }




    PXCPoint3DF32 *QuerySkeletonPositon(PXCHandData::IHand *ihand) {
        if (ihand == NULL)  return NULL;
        auto side = (int)ihand->QueryBodySide();
        if (side == PXCHandData::BodySideType::BODY_SIDE_UNKNOWN) return NULL;
        for (size_t i = 0; i < 22; i++) {
            jointsPosXYZ[i] = joints[side][i].positionWorld;
        }
        return jointsPosXYZ;
    }




    double* QueryFingerFoldedness(PXCHandData::IHand *ihand) {
        if (ihand == NULL) {
            for (size_t i = 0; i < 5; i++)
                finger_foldedness[i] = -1;
            return finger_foldedness;
        }
        int offset = ihand->QueryBodySide() == PXCHandData::BodySideType::BODY_SIDE_RIGHT ? 5 : 0;
        for (size_t i = 0; i < 5; i++) {
            ihand->QueryFingerData((PXCHandData::FingerType)i, finger[i]);
            finger_foldedness[i] = smoother[i + offset]->SmoothValue(finger[i].foldedness) / 100.0f;
            //cout << finger_foldedness[i] << endl;
        }
        return finger_foldedness;
    }
    cv::Point3f QueryMassCenterWorld(PXCHandData::IHand *ihand) {
        if (ihand == NULL)return cv::Point3f();
        auto worldPos = ihand->QueryMassCenterWorld();
        return cv::Point3f(worldPos.x, worldPos.y, worldPos.z);
    }

    DWORD KillDCM()
    {
        cout << "正在重启DCM[";
        SHELLEXECUTEINFO sei = { sizeof(SHELLEXECUTEINFO) };
        sei.fMask = SEE_MASK_NOCLOSEPROCESS;
        sei.lpVerb = TEXT("runas");
        sei.lpFile = TEXT("cmd.exe");
        sei.nShow = SW_HIDE;
        // 停止
        sei.lpParameters = TEXT("cmd /c NET STOP RealSenseDCMSR300 & NET START RealSenseDCMSR300");

        if (!ShellExecuteEx(&sei)) {
            if (GetLastError() == ERROR_CANCELLED)
                cout << "访问权限被用户拒绝";
        }
        DWORD dwExitCode;
        GetExitCodeProcess(sei.hProcess, &dwExitCode);
        while (dwExitCode == STILL_ACTIVE) {
            Sleep(800);
            GetExitCodeProcess(sei.hProcess, &dwExitCode);
            cout << "=";
        }
        cout << "]";
        CloseHandle(sei.hProcess);
        dwExitCode ? cout << "访问错误(" << dwExitCode << ")" << endl : cout << "完成" << endl;
        return dwExitCode;
    }
    PXCCapture::Device* Seek()
    {
        PXCCapture *Capture;
        uint_fast8_t idx = 0, i;
        for (;; idx += 1)
        {
            PXCSession::ImplDesc Impl = {};
            Impl.group = PXCSession::IMPL_GROUP_SENSOR;
            Impl.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
            auto Session = PXCSession::CreateInstance();
            auto retStatus = Session->QueryImpl(&Impl, idx, &Impl);
            if (retStatus < PXC_STATUS_NO_ERROR)    continue;
            cout << "--------------------------------------------------------------------------------------" << endl;
            wcout << "DCM服务:" << Impl.friendlyName;
            cout << " *** IUID是:" << Impl.iuid << endl;
            retStatus = Session->CreateImpl(&Impl, &Capture);
            if (retStatus < PXC_STATUS_NO_ERROR)    continue;
            PXCCapture::DeviceInfo dinfo = { 0 };
            retStatus = Capture->QueryDeviceInfo(idx, &dinfo);
            if (retStatus < PXC_STATUS_NO_ERROR) { cout << "详细信息:获取失败" << endl; break; }
            wcout << "详细信息:" << endl;
            wcout << "  名称:" << dinfo.name << " 位于DCM设备索引 " << dinfo.didx << endl;
            wcout << "  可使用视频流:";
            if (dinfo.streams&PXCCapture::STREAM_TYPE_COLOR) cout << "COLOR ";
            if (dinfo.streams&PXCCapture::STREAM_TYPE_DEPTH) cout << "DEPTH ";
            if (dinfo.streams&PXCCapture::STREAM_TYPE_IR) cout << "IR ";
            if (dinfo.streams&PXCCapture::STREAM_TYPE_LEFT) cout << "LEFT";
            if (dinfo.streams&PXCCapture::STREAM_TYPE_RIGHT) cout << "RIGHT "; wcout << endl;
            wcout << "  固件版本:V" << dinfo.firmware[0] << "." << dinfo.firmware[1] << "." << dinfo.firmware[2] << "." << dinfo.firmware[3] << endl; 
            wcout << "  序列号:" << dinfo.serial << endl;
            wcout << "  设备标识符:" << dinfo.did << endl;
            cout << "======================================================================================" << endl;
            i = idx;
            break;
            //wcout << "√!找到了匹配的" << Capture->DeviceModelToString(dinfo.model) << " ";
        }
        auto device = Capture->CreateDevice(i);
        if (device == NULL) { cout << "\n没有匹配设备," << (int)i; }
        return device;
    }
private:

    PXCSenseManager* sr300_manager = NULL;
    PXCImage *color, *depth, *segmask = NULL;
    PXCCapture::Sample *sample;

    PXCHandModule *handModule = NULL;
    PXCHandData* handData = NULL;

    PXCSmoother *smooth = NULL;
    PXCSmoother::Smoother1D* smoother[10];
    PXCSmoother::Smoother1D* smoother_rect[8];

    PXCHandData::IHand *ihand[3];
    pxcUID handId[3];
    float handz[3];
    pxcUID current_handId = 0;
    pxcStatus ihand_update_ret = PXC_STATUS_DATA_UNAVAILABLE;
    pxcStatus ihand_update(pxcUID handId) {
        return ihand_update_ret = handData->QueryHandDataById(handId, ihand[0]);
    }

    int hist_w = 20;
    int yy = 480 - 5 * hist_w;
    int xx = 640 - 5 * hist_w;
    cv::Mat indicator;
    PXCHandData::FingerData finger[5];
    double finger_foldedness[5];
    PXCHandData::JointData joints[3][22];
    PXCPoint3DF32 jointsPosXYZ[22];
    int nHands = 0;
    cv::Mat canvas, colorSight;

    PXCProjection *projection = NULL;
};
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