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; }
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; }