Example #1
0
bool Detect::getGesture(std::string& ret)
{
	if(false == LeapController->isConnected())
	{
		return false;
	}
	HandList HL = LeapController->frame().hands();
	Hand     hand = HL[0];
	FingerList fingers = hand.fingers();
	GestureModel * gm = new GestureModel;
	Leap::Matrix handTransform = hand.basis();
	handTransform.origin = hand.palmPosition();
	handTransform = handTransform.rigidInverse();
	//get gesture data
	int i = 0;
	for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
		const Finger finger = *fl;
		// Get finger bones
		for (int b = 0; b < 4; ++b) {
			Bone::Type boneType = static_cast<Bone::Type>(b);
			Bone bone = finger.bone(boneType);
			Leap::Vector ori = bone.prevJoint();
			Leap::Vector tP = handTransform.transformPoint(ori);
			gm->GestureData[i][b][0][0] = tP[0];
			gm->GestureData[i][b][0][1] = tP[1];
			gm->GestureData[i][b][0][2] = tP[2];
			tP = handTransform.transformPoint(bone.nextJoint());
			gm->GestureData[i][b][1][0] = tP[0];
			gm->GestureData[i][b][1][1] = tP[1];
			gm->GestureData[i][b][1][2] = tP[2];
			tP = handTransform.transformPoint(bone.direction());
			gm->GestureData[i][b][2][0] = gm->GestureData[i][b][1][0] - gm->GestureData[i][b][0][0];
			gm->GestureData[i][b][2][1] = gm->GestureData[i][b][1][1] - gm->GestureData[i][b][0][1];
			gm->GestureData[i][b][2][2] = gm->GestureData[i][b][1][2] - gm->GestureData[i][b][0][2];
		}
		i++;
	}

	//compare
	for (int index = 0; index < GestureList.size(); index++)
	{
		if (true == compareGesture(GestureList[index], gm))
		{
			ret = GestureList[index]->GestureName;
			return true;
		}
	}
	ret = " ";
	return false;
}
mat4 toMat4( const Leap::Matrix& m )
{
	mat4 mat;
	Leap::FloatArray a = m.toArray4x4();
	for ( size_t x = 0; x < 4; ++x ) {
		for ( size_t y = 0; y < 4; ++y ) {
			mat[ x ][ y ] = a[ y * 4 + x ];
		}
	}
	return mat;
}
mat3 toMat3( const Leap::Matrix& m )
{
	mat3 mat;
	Leap::FloatArray a = m.toArray3x3();
	for ( size_t x = 0; x < 3; ++x ) {
		for ( size_t y = 0; y < 3; ++y ) {
			mat[ x ][ y ] = a[ y * 3 + x ];
		}
	}
	return mat;
}
Matrix44f toMatrix44f( const Leap::Matrix& m )
{
	Matrix44f mtx;
	Leap::FloatArray a = m.toArray4x4();
	for ( size_t i = 0; i < 4; ++i ) {
		size_t j = i * 4;
		Vec4f row( a[ j + 0 ], a[ j + 1 ], a[ j + 2 ], a[ j + 3 ] );
		mtx.setRow( i, row );
	}
	return mtx;
}
Matrix33f toMatrix33f( const Leap::Matrix& m )
{
	Matrix33f mtx;
	Leap::FloatArray a = m.toArray3x3();
	for ( size_t i = 0; i < 3; ++i ) {
		size_t j = i * 3;
		Vec3f row( a[ j + 0 ], a[ j + 1 ], a[ j + 2 ] );
		mtx.setRow( i, row );
	}
	return mtx;
}