//--------------------------------------------------------------
void testApp::recordHandXML (Hand & hand, int handIndex){
if (bRecordingThisFrame){
if (hand.isValid()){
int handTagNum = XML.addTag("H");
if( XML.pushTag("H", handTagNum) ){
XML.setValue("INDEX", handIndex, handTagNum);
XML.setValue("ID", hand.id(), handTagNum);
XML.setValue("TYPE", (hand.isLeft() ? "LEFT" : "RIGHT"), handTagNum);
XML.setValue("CONF", hand.confidence(), handTagNum);
FingerList fingers = hand.fingers();
for (int f=0; f<fingers.count(); f++){
const Finger & finger = fingers[f];
if (finger.isValid()){
recordFingerXML (finger);
}
}
recordArmXML (hand);
XML.popTag(); // pop H(AND)
}
}
}
}
FREObject LNLeapDevice::getFrame() {
Frame frame = controller->frame();
// TODO: Only continue with valid Frame?
FREObject freCurrentFrame;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Frame", 0, NULL, &freCurrentFrame, NULL);
FREObject freFrameId;
FRENewObjectFromInt32((int32_t) frame.id(), &freFrameId);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "id", freFrameId, NULL);
const Vector frameTranslation = frame.translation(lastFrame);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "translationVector", createVector3(frameTranslation.x, frameTranslation.y, frameTranslation.z), NULL);
const Matrix frameRotation = frame.rotationMatrix(lastFrame);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "rotation", createMatrix(
createVector3(frameRotation.xBasis[0], frameRotation.xBasis[1], frameRotation.xBasis[2]),
createVector3(frameRotation.yBasis[0], frameRotation.yBasis[1], frameRotation.yBasis[2]),
createVector3(frameRotation.zBasis[0], frameRotation.zBasis[1], frameRotation.zBasis[2]),
createVector3(frameRotation.origin[0], frameRotation.origin[1], frameRotation.origin[2])
), NULL);
FREObject freFrameScaleFactor;
FRENewObjectFromDouble(frame.scaleFactor(lastFrame), &freFrameScaleFactor);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "scaleFactorNumber", freFrameScaleFactor, NULL);
FREObject freTimestamp;
FRENewObjectFromInt32((int32_t) frame.timestamp(), &freTimestamp);
FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "timestamp", freTimestamp, NULL);
std::map<int, FREObject> freHandsMap;
if (!frame.hands().empty()) {
FREObject freHands;
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "hands", &freHands, NULL);
for(int i = 0; i < frame.hands().count(); i++) {
const Hand hand = frame.hands()[i];
FREObject freHand;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Hand", 0, NULL, &freHand, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "frame", freCurrentFrame, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "direction", createVector3(hand.direction()[0], hand.direction()[1], hand.direction()[2]), NULL);
FREObject freHandId;
FRENewObjectFromInt32(hand.id(), &freHandId);
FRESetObjectProperty(freHand, (const uint8_t*) "id", freHandId, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "palmNormal", createVector3(hand.palmNormal()[0], hand.palmNormal()[1], hand.palmNormal()[2]), NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "palmPosition", createVector3(hand.palmPosition()[0], hand.palmPosition()[1], hand.palmPosition()[2]), NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "palmVelocity", createVector3(hand.palmVelocity()[0], hand.palmVelocity()[1], hand.palmVelocity()[2]), NULL);
const Matrix rotation = hand.rotationMatrix(lastFrame);
FRESetObjectProperty(freHand, (const uint8_t*) "rotation", createMatrix(
createVector3(rotation.xBasis[0], rotation.xBasis[1], rotation.xBasis[2]),
createVector3(rotation.yBasis[0], rotation.yBasis[1], rotation.yBasis[2]),
createVector3(rotation.zBasis[0], rotation.zBasis[1], rotation.zBasis[2]),
createVector3(rotation.origin[0], rotation.origin[1], rotation.origin[2])
), NULL);
FREObject freScaleFactor;
FRENewObjectFromDouble(hand.scaleFactor(lastFrame), &freScaleFactor);
FRESetObjectProperty(freHand, (const uint8_t*) "scaleFactorNumber", freScaleFactor, NULL);
FRESetObjectProperty(freHand, (const uint8_t*) "sphereCenter", createVector3(hand.sphereCenter()[0], hand.sphereCenter()[1], hand.sphereCenter()[2]), NULL);
FREObject freSphereRadius;
FRENewObjectFromDouble(hand.sphereRadius(), &freSphereRadius);
FRESetObjectProperty(freHand, (const uint8_t*) "sphereRadius", freSphereRadius, NULL);
const Vector translation = hand.translation(lastFrame);
FRESetObjectProperty(freHand, (const uint8_t*) "translationVector", createVector3(translation.x, translation.y, translation.z), NULL);
FRESetArrayElementAt(freHands, i, freHand);
freHandsMap[hand.id()] = freHand;
}
}
std::map<int, FREObject> frePointablesMap;
if(!frame.pointables().empty()) {
FREObject frePointables;
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "pointables", &frePointables, NULL);
for(int i = 0; i < frame.pointables().count(); i++) {
const Pointable pointable = frame.pointables()[i];
FREObject frePointable;
if(pointable.isTool()) {
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Tool", 0, NULL, &frePointable, NULL);
} else {
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Finger", 0, NULL, &frePointable, NULL);
}
FRESetObjectProperty(frePointable, (const uint8_t*) "frame", freCurrentFrame, NULL);
FREObject frePointableId;
FRENewObjectFromInt32(pointable.id(), &frePointableId);
FRESetObjectProperty(frePointable, (const uint8_t*) "id", frePointableId, NULL);
FREObject frePointableLength;
FRENewObjectFromDouble(pointable.length(), &frePointableLength);
FRESetObjectProperty(frePointable, (const uint8_t*) "length", frePointableLength, NULL);
FREObject frePointableWidth;
FRENewObjectFromDouble(pointable.width(), &frePointableWidth);
FRESetObjectProperty(frePointable, (const uint8_t*) "width", frePointableWidth, NULL);
FRESetObjectProperty(frePointable, (const uint8_t*) "direction", createVector3(pointable.direction().x, pointable.direction().y, pointable.direction().z), NULL);
FRESetObjectProperty(frePointable, (const uint8_t*) "tipPosition", createVector3(pointable.tipPosition().x, pointable.tipPosition().y, pointable.tipPosition().z), NULL);
FRESetObjectProperty(frePointable, (const uint8_t*) "tipVelocity", createVector3(pointable.tipVelocity().x, pointable.tipVelocity().y, pointable.tipVelocity().z), NULL);
//map to hand & back
if(pointable.hand().isValid()) {
FREObject freHand = freHandsMap[pointable.hand().id()];
FRESetObjectProperty(frePointable, (const uint8_t*) "hand", freHand, NULL);
FREObject frePointables;
FREGetObjectProperty(freHand, (const uint8_t*) "pointables", &frePointables, NULL);
uint32_t numPointables;
FREGetArrayLength(frePointables, &numPointables);
FRESetArrayElementAt(frePointables, numPointables, frePointable);
FREObject freSpecificHandPointables;
if(pointable.isTool()) {
FREGetObjectProperty(freHand, (const uint8_t*) "tools", &freSpecificHandPointables, NULL);
} else {
FREGetObjectProperty(freHand, (const uint8_t*) "fingers", &freSpecificHandPointables, NULL);
}
uint32_t numSpecificHandTools;
FREGetArrayLength(freSpecificHandPointables, &numSpecificHandTools);
FRESetArrayElementAt(freSpecificHandPointables, numSpecificHandTools, frePointable);
}
//push it in current frame
FRESetArrayElementAt(frePointables, i, frePointable);
//specific
FREObject freSpecificPointables;
if(pointable.isTool()) {
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "tools", &freSpecificPointables, NULL);
} else {
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "fingers", &freSpecificPointables, NULL);
}
uint32_t numSpecificTools;
FREGetArrayLength(freSpecificPointables, &numSpecificTools);
FRESetArrayElementAt(freSpecificPointables, numSpecificTools, frePointable);
frePointablesMap[pointable.id()] = frePointable;
}
}
if(!frame.gestures().empty()) {
FREObject freGestures;
FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "gesturesVector", &freGestures, NULL);
for(int i = 0; i < frame.gestures().count(); i++) {
const Gesture gesture = frame.gestures()[i];
int state;
switch (gesture.state()) {
case Gesture::STATE_INVALID:
state = 0;
break;
case Gesture::STATE_START:
state = 1;
break;
case Gesture::STATE_UPDATE:
state = 2;
break;
case Gesture::STATE_STOP:
state = 3;
break;
default:
break;
}
int type;
FREObject freGesture;
switch (gesture.type()) {
case Gesture::TYPE_SWIPE:
{
type = 5;
SwipeGesture swipe = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.SwipeGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "direction", createVector3(swipe.direction().x, swipe.direction().y, swipe.direction().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "position", createVector3(swipe.position().x, swipe.position().y, swipe.position().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "startPosition", createVector3(swipe.startPosition().x, swipe.startPosition().y, swipe.startPosition().z), NULL);
FREObject freSwipeGestureSpeed;
FRENewObjectFromDouble(swipe.speed(), &freSwipeGestureSpeed);
FRESetObjectProperty(freGesture, (const uint8_t*) "speed", freSwipeGestureSpeed, NULL);
break;
}
case Gesture::TYPE_CIRCLE:
{
type = 6;
CircleGesture circle = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.CircleGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "center", createVector3(circle.center().x, circle.center().y, circle.center().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "normal", createVector3(circle.normal().x, circle.normal().y, circle.normal().z), NULL);
FREObject freCircleGestureProgress;
FRENewObjectFromDouble(circle.progress(), &freCircleGestureProgress);
FRESetObjectProperty(freGesture, (const uint8_t*) "progress", freCircleGestureProgress, NULL);
FREObject freCircleGestureRadius;
FRENewObjectFromDouble(circle.radius(), &freCircleGestureRadius);
FRESetObjectProperty(freGesture, (const uint8_t*) "radius", freCircleGestureRadius, NULL);
FREObject frePointable = frePointablesMap[circle.pointable().id()];
if(frePointable != NULL)
{
FRESetObjectProperty(freGesture, (const uint8_t*) "pointable", frePointable, NULL);
}
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
type = 7;
ScreenTapGesture screentap = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.ScreenTapGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "direction", createVector3(screentap.direction().x, screentap.direction().y, screentap.direction().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "position", createVector3(screentap.position().x, screentap.position().y, screentap.position().z), NULL);
break;
}
case Gesture::TYPE_KEY_TAP:
{
type = 8;
KeyTapGesture tap = gesture;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.KeyTapGesture", 0, NULL, &freGesture, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "direction", createVector3(tap.direction().x, tap.direction().y, tap.direction().z), NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "position", createVector3(tap.position().x, tap.position().y, tap.position().z), NULL);
break;
}
default:
{
type = 4;
FRENewObject( (const uint8_t*) "com.leapmotion.leap.Gesture", 0, NULL, &freGesture, NULL);
break;
}
}
FREObject freGestureState;
FRENewObjectFromInt32(state, &freGestureState);
FRESetObjectProperty(freGesture, (const uint8_t*) "state", freGestureState, NULL);
FREObject freGestureType;
FRENewObjectFromInt32(type, &freGestureType);
FRESetObjectProperty(freGesture, (const uint8_t*) "type", freGestureType, NULL);
FREObject freGestureDuration;
FRENewObjectFromInt32((int32_t) gesture.duration(), &freGestureDuration);
FRESetObjectProperty(freGesture, (const uint8_t*) "duration", freGestureDuration, NULL);
FREObject freGestureDurationSeconds;
FRENewObjectFromDouble(gesture.durationSeconds(), &freGestureDurationSeconds);
FRESetObjectProperty(freGesture, (const uint8_t*) "durationSeconds", freGestureDurationSeconds, NULL);
FRESetObjectProperty(freGesture, (const uint8_t*) "frame", freCurrentFrame, NULL);
FREObject freGestureId;
FRENewObjectFromInt32(gesture.id(), &freGestureId);
FRESetObjectProperty(freGesture, (const uint8_t*) "id", freGestureId, NULL);
if (!gesture.hands().empty()) {
FREObject freGestureHands;
FREGetObjectProperty(freGesture, (const uint8_t*) "hands", &freGestureHands, NULL);
for(int i = 0; i < gesture.hands().count(); i++) {
const Hand hand = gesture.hands()[i];
FREObject freHand = freHandsMap[hand.id()];
FRESetArrayElementAt(freGestureHands, i, freHand);
}
}
if (!gesture.pointables().empty()) {
FREObject freGesturePointables;
FREGetObjectProperty(freGesture, (const uint8_t*) "pointables", &freGesturePointables, NULL);
for(int i = 0; i < gesture.pointables().count(); i++) {
const Pointable pointable = gesture.pointables()[i];
FREObject frePointable = frePointablesMap[pointable.id()];
FRESetArrayElementAt(freGesturePointables, i, frePointable);
}
}
//push it in current gesture vector
FRESetArrayElementAt(freGestures, i, freGesture);
}
}
lastFrame = frame;
return freCurrentFrame;
}
void LeapListener::onFrame(const Controller & controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
std::cout << "Frame id: " << frame.id()
<< ", timestamp: " << frame.timestamp()
<< ", hands: " << frame.hands().count()
<< ", extended fingers: " << frame.fingers().extended().count()
<< ", tools: " << frame.tools().count()
<< ", gestures: " << frame.gestures().count() << std::endl;
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
std::string handType = hand.isLeft() ? "Left hand" : "Right hand";
std::cout << std::string(2, ' ') << handType << ", id: " << hand.id()
<< ", palm position: " << hand.palmPosition() << std::endl;
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Arm arm = hand.arm();
std::cout << std::string(2, ' ') << "Arm direction: " << arm.direction()
<< " wrist position: " << arm.wristPosition()
<< " elbow position: " << arm.elbowPosition() << std::endl;
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
std::cout << std::string(4, ' ') << fingerNames[finger.type()]
<< " finger, id: " << finger.id()
<< ", length: " << finger.length()
<< "mm, width: " << finger.width() << std::endl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
std::cout << std::string(6, ' ') << boneNames[boneType]
<< " bone, start: " << bone.prevJoint()
<< ", end: " << bone.nextJoint()
<< ", direction: " << bone.direction() << std::endl;
}
}
}
// Get tools
const ToolList tools = frame.tools();
for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Tool tool = *tl;
std::cout << std::string(2, ' ') << "Tool, id: " << tool.id()
<< ", position: " << tool.tipPosition()
<< ", direction: " << tool.direction() << std::endl;
}
// Get gestures
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE: {
CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/2) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Gesture::STATE_START) {
CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
}
std::cout << std::string(2, ' ')
<< "Circle id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Gesture::TYPE_SWIPE: {
SwipeGesture swipe = gesture;
std::cout << std::string(2, ' ')
<< "Swipe id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP: {
KeyTapGesture tap = gesture;
std::cout << std::string(2, ' ')
<< "Key Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP: {
ScreenTapGesture screentap = gesture;
std::cout << std::string(2, ' ')
<< "Screen Tap id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction() << std::endl;
break;
}
default:
std::cout << std::string(2, ' ') << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty())
std::cout << std::endl;
}
void LeapHander::frame(pugi::xml_node &frameNode){
Leap::Frame currentFrame = m_sampleListener.frame();
m_lock.lock();
frameNode.append_attribute("id").set_value(currentFrame.id());
pugi::xml_node handList = frameNode.append_child("hands");
HandList hands = currentFrame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
pugi::xml_node handNode = handList.append_child("hand");
handNode.append_attribute("id").set_value(hand.id());
std::string handType;
if (hand.isLeft()) {
handType = "Left";
}
else {
handType = "Right";
}
handNode.append_attribute("type").set_value(handType.c_str());
pugi::xml_node positionNode = handNode.append_child("position");
positionToXml(positionNode, hand.palmPosition());
/*pugi::xml_node normalNode = handNode.append_child("normal");
positionToXml(normalNode, hand.palmNormal());
pugi::xml_node directionNode = handNode.append_child("direction");
positionToXml(directionNode, hand.direction());
pugi::xml_node rotationNode = handNode.append_child("basis");
rotationToXml(rotationNode, hand.basis());*/
//// Get fingers
pugi::xml_node fingerList = handNode.append_child("fingers");
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
pugi::xml_node fingerNode = fingerList.append_child("finger");
fingerNode.append_attribute("id").set_value(finger.id());
fingerNode.append_attribute("name").set_value(fingerNames[finger.type()].c_str());
pugi::xml_node boneList = fingerNode.append_child("bones");
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
pugi::xml_node boneNode = boneList.append_child("bone");
boneNode.append_attribute("length").set_value(bone.length());
boneNode.append_attribute("name").set_value(boneNames[boneType].c_str());
pugi::xml_node prevJoint = boneNode.append_child("prevJoint");
positionToXml(prevJoint, bone.prevJoint());
pugi::xml_node nextJoint = boneNode.append_child("nextJoint");
positionToXml(nextJoint, bone.nextJoint());
/*pugi::xml_node rotation = boneNode.append_child("basis");
rotationToXml(rotation, bone.basis());*/
}
}
}
m_lock.unlock();
}