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hands_viewer.html
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<!DOCTYPE html>
<html>
<head>
<title>Intel(R) RealSense(TM) SDK Web Sample</title>
<script type="text/javascript" src="\asl\libs\jquery-1.11.0.min.js"></script>
<script type="text/javascript" src="\asl\libs\promise-1.0.0.min.js"></script>
<script type="text/javascript" src="\asl\libs\realsense-3.0.js"></script>
<script type="text/javascript" src="\asl\libs\realsenseinfo-3.0.js"></script>
<script type="text/javascript">
$(document).ready(function () {
var sense;
var imageSize;
var handModule;
var handConfiguration;
// check platform compatibility
RealSenseInfo(['hand'], function (info) {
if (info.IsReady == true) {
$('#info').append('<b>Platform supports Intel(R) RealSense(TM) SDK feature</b>');
status('OK');
document.getElementById("Start").disabled = false;
} else {
status('Platform not supported: ' + info.responseText);
if (info.IsPlatformSupported != true) {
$('#info').append('<b>Intel® RealSense™ 3D camera not found</b>');
} else if (info.IsBrowserSupported != true) {
$('#info').append('<b>Please update your browser to latest version</b>');
} else {
$('#info').append('<b>Please download and install the following update(s) before running sample: </b>');
for (i = 0; i < info.Updates.length; i++) {
$('#info').append('<a href="' + info.Updates[i].url + '">' + info.Updates[i].href + '</a><br>');
}
}
}
})
$('#Start').click(function () {
document.getElementById("Start").disabled = true;
PXCMSenseManager_CreateInstance().then(function (result) {
sense = result;
return sense.EnableHand(onHandData);
}).then(function (result) {
handModule = result;
status('Init started');
return sense.Init(onConnect, onStatus);
}).then(function (result) {
return handModule.CreateActiveConfiguration();
}).then(function (result) {
handConfiguration = result;
if (document.getElementById("alerts").checked)
return handConfiguration.EnableAllAlerts();
else
return handConfiguration.DisableAllAlerts();
}).then(function (result) {
if (document.getElementById("gestures").checked)
return handConfiguration.EnableAllGestures(false);
else
return handConfiguration.DisableAllGestures();
}).then(function (result) {
return handConfiguration.ApplyChanges();
}).then(function (result) {
return sense.QueryCaptureManager();
}).then(function (capture) {
return capture.QueryImageSize(pxcmConst.PXCMCapture.STREAM_TYPE_DEPTH);
}).then(function (result) {
imageSize = result.size;
return sense.StreamFrames();
}).then(function (result) {
status('Streaming ' + imageSize.width + 'x' + imageSize.height);
document.getElementById("Stop").disabled = false;
}).catch(function (error) {
status('Init failed: ' + JSON.stringify(error));
document.getElementById("Start").disabled = false;
});
});
function clear() {
$('#alerts_status').text('');
$('#gestures_status').text('');
document.getElementById("Start").disabled = false;
var canvas = document.getElementById('myCanvas');
var context = canvas.getContext('2d');
context.clearRect(0, 0, canvas.width, canvas.height);
}
$('#Stop').click(function () {
document.getElementById("Stop").disabled = true;
sense.Close().then(function (result) {
status('Stopped');
clear();
});
});
function onHandData(mid, module, data) {
var canvas = document.getElementById('myCanvas');
var context = canvas.getContext('2d');
var radius = 5;
var scale = 1;
canvas.width = imageSize.width;
canvas.height = imageSize.height;
if (data.hands == undefined) return;
for (h = 0; h < data.hands.length; h++) {
var hand = new Hand(data.hands[h]);
//console.log(data.hands[h]);
//console.log("isA: " + hand.isA());
//console.log("isB: " + hand.isB());
//console.log("isC: " + hand.isC());
//console.log("isD: " + hand.isD());
//console.log("isE: " + hand.isE());
//console.log("isF: " + hand.isF());
//console.log("isG: " + hand.isG());
//console.log("isH: " + hand.isH());
//console.log("isI: " + hand.isI());
//console.log("isJ: " + hand.isJ());
//console.log("isK: " + hand.isK());
//console.log("isL: " + hand.isL());
//console.log("isM: " + hand.isM());
//console.log("isN: " + hand.isN());
//console.log("isO: " + hand.isO());
//console.log("isP: " + hand.isP());
//console.log("isQ: " + hand.isQ());
//console.log("isS: " + hand.isS());
//console.log("isT: " + hand.isT());
//console.log("isU: " + hand.isU());
//console.log("isV: " + hand.isV());
//console.log("isW: " + hand.isW());
//console.log("isX: " + hand.isX());
//console.log("isY: " + hand.isY());
//console.log(data.hands[h]);
var joints = data.hands[h].trackedJoint;
var baseX = joints[0].positionImage.x;
var baseY = joints[0].positionImage.y;
var wristX = joints[0].positionImage.x;
var wristY = joints[0].positionImage.y;
context.font="60px Georgia";
var fns = ["A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K", "L", "M", "N", "O", "P", "Q",
"R", "S", "T", "U", "V", "W", "X", "Y", "Z"];
for(f = 0; f < fns.length; f++){
fn = "is"+ fns[f];
console.log("**************** " + fn + " ****************");
if(hand[fn]()){
context.fillText(fns[f], 400, 400);
}
}
for (j = 0; j < joints.length; j++) {
if (joints[j] == null || joints[j].confidence <= 0) continue;
var x = joints[j].positionImage.x;
var y = joints[j].positionImage.y;
var z = joints[j].positionWorld.z;
context.font="20px Georgia";
context.fillText(j, x + 5, y + 5 );
context.beginPath();
context.arc(x * scale, y * scale, radius, 0, 2 * Math.PI);
context.lineWidth = 2;
context.strokeStyle = 'green';
context.stroke();
if (j == 2 || j == 6 || j == 10 || j == 14 || j == 18) {
baseX = wristX;
baseY = wristY;
}
context.beginPath();
context.moveTo(baseX * scale, baseY * scale);
context.lineTo(x * scale, y * scale);
context.stroke();
baseX = x;
baseY = y;
}
}
for (a = 0; a < data.alerts.length; a++) {
$('#alerts_status').text('Alert: ' + JSON.stringify(data.alerts[a]));
}
for (g = 0; g < data.gestures.length; g++) {
$('#gestures_status').text('Gesture: ' + JSON.stringify(data.gestures[g]));
}
}
function onConnect(data) {
if (data.connected == false) {
$('#alerts_status').append('Alert: ' + JSON.stringify(data) + '<br>');
}
}
function onStatus(data) {
if (data.sts < 0) {
status('Error ' + data.sts);
clear();
}
}
function status(msg) {
$('#status').text(msg);
}
Array.prototype.clone = function() {
var arr = [];
for(i = 0; i < this.length; i++){
arr.push(this[i]);
}
return arr;
};
function Joint(joint){
this.x = joint.positionImage.x;
this.y = joint.positionImage.y;
this.z = joint.positionWorld.z;
}
function Finger(name, joints, foldedness){
this.name = name;
this.a = new Joint(joints[0]);
this.b = new Joint(joints[1]);
this.c = new Joint(joints[2]);
this.tip = new Joint(joints[3]);
this.foldedness = foldedness;
}
function Hand (hand){
var copyOfJoints = hand.trackedJoint.clone();
this.thumb = new Finger("thumb", copyOfJoints.splice(2, 4), hand.fingerData[0].foldedness);
this.index = new Finger("index", copyOfJoints.splice(2, 4), hand.fingerData[1].foldedness);
this.middle = new Finger("middle", copyOfJoints.splice(2, 4), hand.fingerData[2].foldedness);
this.ring = new Finger("ring", copyOfJoints.splice(2, 4), hand.fingerData[3].foldedness);
this.pinky = new Finger("pinky", copyOfJoints.splice(2, 4), hand.fingerData[4].foldedness);
this.openness = hand.openness;
}
Finger.prototype.isPointedUp = function() {
return this.tip.y < this.c.y && this.c.y < this.b.y && this.b.y < this.a.y;
};
Finger.prototype.isPointedDown = function() {
return this.tip.y > this.c.y && this.c.y > this.b.y && this.b.y > this.a.y;
};
Finger.prototype.isPointedRight = function() {
return this.tip.x < this.c.x && this.c.x < this.b.x && this.b.x < this.a.x;
};
Finger.prototype.isPointedLeft = function() {
return this.tip.x > this.c.x && this.c.x > this.b.x && this.b.x > this.a.x;
};
Finger.prototype.isFolded = function() {
return this.foldedness < 30;
};
Finger.prototype.isVertical = function() {
var min = Math.min(Math.min(Math.min(this.tip.x, this.c.x), this.b.x), this.a.x);
var avgDiff = ((this.tip.x - min) + (this.c.x - min) + (this.b.x - min) + (this.a.x - min))/4;
return avgDiff < 20;
};
Finger.prototype.isHorizontal = function() {
var min = Math.min(Math.min(Math.min(this.tip.y, this.c.y), this.b.y), this.a.y);
var avgDiff = ((this.tip.y - min) + (this.c.y - min) + (this.b.y - min) + (this.a.y - min))/4;
return avgDiff < 20;
};
Hand.prototype.isA = function() {
if (this.thumb.isPointedUp() && this.thumb.isVertical()){
console.log("isA: thumb is pointed straight upward");
if (this.index.isFolded()) {
console.log("isA: index is folded");
if (this.middle.isFolded()) {
console.log("isA: middle is folded");
if (this.ring.isFolded()) {
console.log("isA: ring is folded");
if (this.pinky.isFolded()) {
console.log("isA: pinky is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isB = function() {
if (this.index.isPointedUp() && this.index.isVertical()){
console.log("isB: index is pointed straight upward");
if (this.middle.isPointedUp() && this.middle.isVertical()){
console.log("isB: middle is pointed straight upward");
if (this.ring.isPointedUp() && this.ring.isVertical()){
console.log("isB: ring is pointed straight upward");
if (this.pinky.isPointedUp() && this.pinky.isVertical()){
console.log("isB: pinky is pointed straight upward");
if (this.thumb.isFolded()) {
console.log("isB: thumb is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isC = function() {
if (this.openness > 50 && this.openness < 80) {
console.log("isC: fingers are partially closed");
if (this.index.isPointedLeft()) {
console.log("isC: fingers are pointed to the left.");
return true;
}
}
return false;
};
Hand.prototype.isD = function() {
if (this.index.isPointedUp() && this.index.isVertical()){
console.log("isD: index is pointed straight upward");
if (this.thumb.isFolded()) {
console.log("isD: thumb is folded");
if (this.middle.isFolded()) {
console.log("isD: middle is folded");
if (this.ring.isFolded()) {
console.log("isD: ring is folded");
if (this.pinky.isFolded()) {
console.log("isD: pinky is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isE = function() {
if (this.openness < 20) {
console.log("isE: fingers are closed");
if (this.thumb.isFolded() && this.thumb.isPointedRight()) {
console.log("isE: thumb is bent");
if (this.thumb.a.y < this.index.tip.y) {
console.log("isE: thumb is lower than tip of index finger");
return true;
}
}
}
return false;
};
Hand.prototype.isF = function() {
if (this.pinky.isPointedUp()) {
console.log("isF: pinky is pointed upward");
if (this.ring.isPointedUp()) {
console.log("isF: ring is pointed upward");
if (this.middle.isPointedUp()) {
console.log("isF: middle is pointed upward");
if (this.thumb.isFolded()) {
console.log("isF: thumb is folded");
if (this.index.isFolded()) {
console.log("isF: index is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isG = function() {
if (this.index.isPointedRight() && this.index.isHorizontal()) {
console.log("isG: index finger is horizontal and pointed to the right");
var min = Math.min(Math.min(this.thumb.tip.y, this.thumb.c.y), this.thumb.b.y);
var avgDiff = ((this.thumb.tip.y - min) + (this.thumb.c.y - min) + (this.thumb.b.y - min))/3;
if (this.thumb.isPointedRight() && avgDiff < 20) {
console.log("isG: thumb is horizontal and pointed to the right");
if (this.middle.isFolded()) {
console.log("isG: middle is folded");
if (this.ring.isFolded()) {
console.log("isG: ring is folded");
if (this.pinky.isFolded()) {
console.log("isG: pinky is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isH = function() {
if (this.index.isPointedRight() && this.index.isHorizontal()) {
console.log("isH: index finger is horizontal and pointed to the right");
if (this.middle.isPointedRight() && this.middle.isHorizontal()) {
console.log("isH: middle finger is horizontal and pointed to the right");
if (this.thumb.isFolded()) {
console.log("isH: thumb is folded");
if (this.ring.isFolded()) {
console.log("isH: ring is folded");
if (this.pinky.isFolded()) {
console.log("isH: pinky is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isI = function() {
if (this.pinky.isPointedUp() && this.index.isVertical()) {
console.log("isI: pinky is pointed straight up");
if (this.middle.isFolded()) {
console.log("isI: middle finger is folded");
if (this.thumb.isFolded()) {
console.log("isI: thumb is folded");
if (this.ring.isFolded()) {
console.log("isI: ring is folded");
return true;
}
}
}
}
return false;
};
Hand.prototype.isJ = function() {};
Hand.prototype.isK = function() {
if(this.middle.isPointedUp()){
console.log("isK: middle finger is pointed upward");
if(this.index.isPointedUp()) {
console.log("isK: index finger is pointed upward");
if (this.index.tip.x - this.middle.tip.x > 90) {
console.log("isK: index and middle finger form a V shape");
if (this.thumb.isPointedUp() && this.thumb.isVertical()) {
console.log("isK: thumb is pointed straight up");
if (this.ring.isFolded()) {
console.log("isK: ring is folded");
if (this.pinky.isFolded()) {
console.log("isK: pinky is folded");
return true;
}
}
}
}
}
}
return false;
};
Hand.prototype.isL = function() {
if(this.index.isPointedUp() && this.index.isVertical()){
console.log("isL: index finger is pointed straight upward");
if(this.thumb.isPointedLeft() && this.thumb.isHorizontal()) {
console.log("isK: thumb is horizontal and pointed to the left");
if (this.middle.isFolded()) {
console.log("isK: middle is folded");
if (this.ring.isFolded()) {
console.log("isK: ring is folded");
if (this.pinky.isFolded()) {
console.log("isK: pinky is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isM = function() {
if (this.pinky.isFolded()) {
console.log("isM: pinky is folded");
if (this.ring.isFolded()) {
console.log("isM: ring is folded");
if (this.middle.isFolded()) {
console.log("isM: middle is folded");
if (this.index.isFolded()) {
console.log("isM: index is folded");
//thumb is lower than ring, middle and index's b joint.
if(this.thumb.tip.y > this.ring.b.y
&& this.thumb.tip.y > this.middle.b.y
&& this.thumb.tip.y > this.index.b.y
&& this.thumb.tip.y < this.pinky.b.y) {
console.log("isM: thumb is tucked");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isN = function() {
if (this.pinky.isFolded()) {
console.log("isN: pinky is folded");
if (this.ring.isFolded()) {
console.log("isN: ring is folded");
if (this.middle.isFolded()) {
console.log("isN: middle is folded");
if (this.index.isFolded()) {
console.log("isN: index is folded");
//thumb is lower than middle and index's b joint.
if(this.thumb.tip.y > this.middle.b.y
&& this.thumb.tip.y > this.index.b.y
&& this.thumb.tip.y < this.ring.b.y
&& this.thumb.tip.y < this.pinky.b.y) {
console.log("isN: thumb is tucked");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isO = function() {
if (this.pinky.isFolded()
&& this.ring.isFolded()
&& this.middle.isFolded()
&& this.index.isFolded()
&& this.thumb.isFolded()) {
console.log("isO: all fingers are folded");
if (this.thumb.tip.y - this.middle.tip.y < 40) {
console.log("isO: middle finger and thumb are close");
return true;
}
}
return false;
};
Hand.prototype.isP = function() {
if (this.index.isPointedRight() && this.index.isHorizontal()) {
console.log("isP: index finger is horizontal and pointed to the right");
if (this.middle.isVertical() && this.middle.isPointedDown()) {
console.log("isP: middle finger is pointed down");
if (this.thumb.isPointedRight()) {
console.log("isP: thumb is diagonal");
return true;
}
}
}
return false;
};
Hand.prototype.isQ = function() {
if (this.index.isPointedDown() && this.index.isVertical()) {
console.log("isQ: index finger is pointed straight down");
if (this.thumb.isVertical() && this.thumb.isPointedDown()) {
console.log("isQ: thumb is pointed straight down");
if (this.middle.isFolded()) {
console.log("isQ: middle finger is folded");
if (this.ring.isFolded()) {
console.log("isQ: ring finger is folded");
if (this.pinky.isFolded()) {
console.log("isQ: pinky finger is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isR = function() {};
Hand.prototype.isS = function() {
if (this.openness < 20) {
console.log("isS: fingers are closed");
if (this.thumb.isFolded()) {
console.log("isS: thumb is bent");
if (this.thumb.a.y > this.index.tip.y) {
console.log("isS: thumb is higher than tip of index finger");
return true;
}
}
}
return false;
};
Hand.prototype.isT = function() {
if (this.pinky.isFolded()) {
console.log("isT: pinky is folded");
if (this.ring.isFolded()) {
console.log("isT: ring is folded");
if (this.middle.isFolded()) {
console.log("isT: middle is folded");
if (this.index.isFolded()) {
console.log("isT: index is folded");
//thumb is lower than middle and index's b joint.
if(this.thumb.tip.y > this.index.b.y
&& this.thumb.tip.y < this.middle.b.y
&& this.thumb.tip.y < this.ring.b.y
&& this.thumb.tip.y < this.pinky.b.y) {
console.log("isT: thumb is tucked between index and middle finger");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isU = function() {
if (this.index.isPointedUp() && this.index.isVertical()){
console.log("isU: index is pointed straight upward");
if (this.middle.isPointedUp() && this.middle.isVertical()){
console.log("isU: middle is pointed straight upward");
if (this.pinky.isFolded()) {
console.log("isV: pinky is folded");
if (this.ring.isFolded()) {
console.log("isV: ring is folded");
if (this.thumb.isFolded()) {
console.log("isV: thumb is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isV = function() {
if(this.middle.isPointedUp()){
console.log("isV: middle finger is pointed upward");
if(this.index.isPointedUp()) {
console.log("isV: index finger is pointed upward");
if (this.index.tip.x - this.middle.tip.x > 90) {
console.log("isV: index and middle finger form a V shape");
if (this.thumb.isFolded() && !this.thumb.isVertical()) {
console.log("isV: thumb is folded");
if (this.ring.isFolded()) {
console.log("isV: ring is folded");
if (this.pinky.isFolded()) {
console.log("isV: pinky is folded");
return true;
}
}
}
}
}
}
return false;
};
Hand.prototype.isW = function() {
if(this.middle.isPointedUp()){
console.log("isW: middle finger is pointed upward");
if(this.index.isPointedUp()) {
console.log("isW: index finger is pointed upward");
if(this.ring.isPointedUp()) {
console.log("isW: ring finger is pointed upward");
if (Math.abs(this.index.tip.x - this.middle.tip.x) > 65
&& Math.abs(this.middle.tip.x - this.ring.tip.x) > 65) {
console.log("isW: index, middle and ring finger form a W shape");
if (this.thumb.isFolded() && !this.thumb.isVertical()) {
console.log("isW: thumb is folded");
if (this.pinky.isFolded()) {
console.log("isW: pinky is folded");
return true;
}
}
}
}
}
}
return false;
};
Hand.prototype.isX = function() {
var min = Math.min(Math.min(this.index.tip.y, this.index.c.y), this.index.b.y);
var avgDiff = ((this.index.tip.y - min) + (this.index.c.y - min) + (this.index.b.y - min))/3;
if (avgDiff < 20){
console.log("isX: index is slightly folded");
if (this.thumb.isFolded()) {
console.log("isX: thumb is folded");
if (this.middle.isFolded()) {
console.log("isX: middle is folded");
if (this.ring.isFolded()) {
console.log("isX: ring is folded");
if (this.pinky.isFolded()) {
console.log("isX: pinky is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isY = function() {
if(this.pinky.isPointedRight()){
console.log("isY: pinky finger is pointed to the right");
if(this.thumb.isPointedLeft()) {
console.log("isY: thumb is pointed to the left");
if (this.ring.isFolded()) {
console.log("isY: ring finger is folded");
if (this.middle.isFolded()) {
console.log("isY: middle is folded");
if (this.index.isFolded()) {
console.log("isY: index is folded");
return true;
}
}
}
}
}
return false;
};
Hand.prototype.isZ = function() {};
});
</script>
</head>
<body>
<div id="wrapper">
<div id="container">
<h1>Intel(R) RealSense(TM) SDK Hands Viewer Web Sample</h1>
<div id="info"></div>
<br>
<input id="gestures" type="checkbox"/>Gestures
<input id="alerts" type="checkbox"/>Alerts
<br>
<br>
<button id="Start">Start</button>
<button id="Stop" disabled="disabled">Stop</button>
<br>
<br>
<canvas id="myCanvas" style="border:1px solid #000000;"></canvas>
<div id="gestures_status"></div>
<div id="alerts_status"></div>
<br>
Status:<div id="status"></div>
</div>
</div>
</body>
</html>