void CloudsVisualSystemYellowTail::selfBegin(){
//MA: changed ofGetWidth() to getCanvasWidth() and ofGetHeight() to getCanvasHeight()
Gesture *introGesture = new Gesture(getCanvasWidth(), getCanvasHeight());
introGesture->fromXMLFile( getVisualSystemDataPath() + "strokes/y_stroke.xml" );
gestures.push_back(introGesture);
}
//--------------------------------------------------------------
void CloudsVisualSystemYellowTail::selfInteractionStarted(CloudsInteractionEventArgs& args){
int touchId = args.playerId;
/*
if (neverTouchedBefore) {
clearGestures();
neverTouchedBefore = false;
}
*/
// if (touchId%2 == 0){
mNewGestureStyle = GestureStyleTraveling;
// } else {
// mNewGestureStyle = GestureStyleInPlace;
// }
//MA: changed ofGetWidth() to getCanvasWidth() and ofGetHeight() to getCanvasHeight()
Gesture *newGesture = new Gesture(getCanvasWidth(), getCanvasHeight());
newGesture->clear();
newGesture->clearPolygons();
newGesture->addPoint((float)args.position.x, (float)args.position.y);
newGesture->setStyle(mNewGestureStyle);
potentialGestures.insert(newGesture);
gestureForTouch[touchId] = newGesture;
}
vector<double> GestureHMM::train(vector< Gesture* > train_set, int max_iter) {
this->_trainset = train_set;
field<rowvec> data(train_set.size(),1);
vector< Gesture* >::const_iterator iter;
int r = 0;
for ( iter = train_set.begin(); iter != train_set.end(); ++iter ) {
Gesture * g = *iter;
vector<int> x = g->labels();
data(r++,0) = conv_to< rowvec >::from(g->labels());
}
return HMM::train(data, max_iter);
}
//--------------------------------------------------------------
void CloudsVisualSystemYellowTail::selfInteractionDragged(CloudsInteractionEventArgs& args){
int touchId = args.playerId;
map<int,Gesture *>::iterator G = gestureForTouch.find(touchId);
//JG removed asserts as they are a stability problem
// assert(G != gestureForTouch.end());
if(G == gestureForTouch.end()){
return;
}
Gesture *gesture = G->second;
if (gesture->distanceToLastPoint((float)args.position.x, (float)args.position.y) > minimumTravelForNewPoint) {
float distanceThresholdForAdding = minimumTravelForNewPoint * 8.0;
if (gesture->pointCount > 10){ distanceThresholdForAdding = minimumTravelForNewPoint * 2.0;}
gesture->addPointAndHalfwayPoint((float)args.position.x, (float)args.position.y, distanceThresholdForAdding);
gesture->smooth(22.0);
gesture->compile();
}
}
//--------------------------------------------------------------
void CloudsVisualSystemYellowTail::selfInteractionEnded(CloudsInteractionEventArgs& args){
int touchId = args.playerId;
map<int,Gesture *>::iterator G = gestureForTouch.find(touchId);
//JG removed asserts as they are a stability problem
//assert(G != gestureForTouch.end());
if(G == gestureForTouch.end()){
return;
}
Gesture *gesture = G->second;
gestureForTouch.erase(G);
potentialGestures.erase(find(potentialGestures.begin(), potentialGestures.end(), gesture));
if (gesture->isValid()) {
gestures.push_back(gesture);
} else {
delete gesture;
}
}
void Parser::sGesture() {
if (m_reader.isEndElement() && m_reader.name() == "gesture") {
state.removeLast();
return;
} else if (m_reader.isStartElement() && m_reader.name() == "action") {
state.append("ACTION");
auto attrs = m_reader.attributes();
if (!attrs.hasAttribute("type"))
throw(err("Attribute 'type' expected."));
Group *g = Memory::getGroup(appKey);
g->addGest(ges->num, Lists::gT(ges->type), Lists::gD(ges->direction));
Gesture *gest = g->getGest(ges->num, Lists::gT(ges->type), Lists::gD(ges->direction));
gest->setAction(Lists::aT(attrs.value("type").toString()));
//sAction(g->getGest(ges->num, Lists::gT(ges->type), Lists::gD(ges->direction))->getAction());->setAction(Lists::aT(attrs.value("type").toString()))
QStringList params = m_reader.readElementText().split(":");
foreach(const QString &p, params)
gest->getAction()->addParam(p.section("=",0,0),p.section("=",1));
state.removeLast();
} else
void MyListener::onFrame(const Controller& controller)
{
const Frame frame = controller.frame();
const GestureList gestures = frame.gestures();
HandList hands = frame.hands();
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
const Hand hand = *hl;
// Smoothing and stabilization is performed in order to make this
// value more suitable for interaction with 2D content. The stabilized
// position lags behind the palm position by a variable amount,
// depending primarily on the speed of movement.
Vector position = hand.stabilizedPalmPosition();
if (m_positionChanged)
m_positionChanged(position[0], position[1], position[2],
frame.fingers().extended().count(),
hand.direction(),
hand.palmVelocity());
if (m_pinch)
m_pinch(hand.pinchStrength());
if (m_grab)
m_grab(hand.grabStrength());
}
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
switch (gesture.type()) {
case Gesture::TYPE_KEY_TAP:
case Gesture::TYPE_SCREEN_TAP:
if (m_tapped)
m_tapped();
break;
case Gesture::TYPE_SWIPE:
break;
}
}
}
// TODO : move to an external class (kind of serialization factory)
void GestureHMM::save(string filename) {
Gesture *g;
stringstream ss;
fix_stream(ss);
ofxXmlSettings XML;
XML.clear();
XML.addValue("name", name);
XML.addValue("alphabet", alphabet);
XML.addValue("hiddenStates", hiddenStates);
XML.addValue( "prior", matrix_to_string(prior) );
XML.addValue( "transmat", matrix_to_string(transmat) );
XML.addValue( "obsmat", matrix_to_string(obsmat) );
XML.addTag("gestures");
XML.pushTag("gestures");
int trainset_size = _trainset.size();
for (int i = 0; i < trainset_size; ++i) {
g = _trainset[i];
XML.addTag("train_gestures");
XML.addAttribute("train_gestures","num",i, i);
XML.pushTag("train_gestures", i);
{
XML.addValue("labeled", to_string(g->labels()));
XML.addValue("raw", to_string( g->points()) );
}
XML.popTag();
}
XML.popTag();
XML.saveFile(filename);
}
int main()
{
GestureDB db("gesture_data.db");
db.load();
//cout<<*db<<endl;
/// fetch the 7th gesture
Gesture* gesture = db[7];
cout<<*gesture<<endl;
cout<<gesture->numPoint();
gesture->filter();
//cout<<gesture->numPoint();
gesture->sample(17);
cout<<*gesture<<endl;
cout<<"similarity score"<<smith_waterman(gesture, gesture)<<endl;
//db.save();
return 0;
}
void Quantizer2::init(Gesture gesture){
radius = (gesture.getMaxacc() + gesture.getMinacc()) / 2;
double pi = M_PI;
// inizializza i centroidi
centroids[0] = Sample_3d(radius, 0, 0);
centroids[1] = Sample_3d(cos(pi/4)*radius, 0, sin(pi/4)*radius);
centroids[2] = Sample_3d(0, 0, radius);
centroids[3] = Sample_3d(cos(pi*3/4)*radius, 0, sin(pi*3/4)*radius);
centroids[4] = Sample_3d(-radius, 0, 0);
centroids[5] = Sample_3d(cos(pi*5/4)*radius, 0, sin(pi*5/4)*radius);
centroids[6] = Sample_3d(0, 0, -radius);
centroids[7] = Sample_3d(cos(pi*7/4)*radius, 0, sin(pi*7/4)*radius);
centroids[8] = Sample_3d(0, radius, 0);
centroids[9] = Sample_3d(0, cos(pi/4)*radius, sin(pi/4)*radius);
centroids[10] = Sample_3d(0, cos(pi*3/4)*radius, sin(pi*3/4)*radius);
centroids[11] = Sample_3d(0, -radius, 0);
centroids[12] = Sample_3d(0, cos(pi*5/4)*radius, sin(pi*5/4)*radius);
centroids[13] = Sample_3d(0, cos(pi*7/4)*radius, sin(pi*7/4)*radius);
}
std::string& DTWRecognizer::decideGesture(std::vector<Recognition *>& recognitionArray, std::vector<Ogre::Vector3>& inputPattern)
{
float minDistance = numeric_limits<float>::max();
Recognition *minRecog = NULL;
int minNumSamples;
static std::string noDetect("NO_DETECT");
std::vector<Recognition *>::iterator itr1 = recognitionArray.begin();
for ( ; itr1 != recognitionArray.end(); itr1++)
{
Recognition *dataRecog = *itr1;
std::vector<Gesture *>::iterator itr2 = dataRecog->getGestureArray().begin();
for ( ; itr2 != dataRecog->getGestureArray().end(); itr2++)
{
Gesture *dataGesture = *itr2;
SimpleDTW<Ogre::Vector3> dtw(inputPattern, dataGesture->getLocalAccelerationArray(), ptr_fun(ogreVectorLength));
float result = dtw.calculateDistance();
PRINTF("(%10s(%2d)<-->Input(%2d) : %f",
dataRecog->getName().c_str(), dataGesture->getLocalAccelerationArray().size(),
inputPattern.size(), result);
if (result < minDistance)
{
minDistance = result;
minRecog = dataRecog;
minNumSamples = dataGesture->getLocalAccelerationArray().size();
}
}
}
PRINTF("DECISION: %10s(%2d, %2d)(distance:%5.1f)", minRecog->getName().c_str(), minNumSamples, inputPattern.size(), minDistance);
return minRecog->getName();
return (minDistance < 256.0f ? minRecog->getName() : noDetect);
}
std::vector<int> Quantizer2::getDiscreteSequence(Gesture& gesture){
this->init(gesture);
std::vector<Sample_3d> data = gesture.getData();
int size = data.size();
// associazioni (componente della gesture) <-> centroide
std::vector<int> assoc;
for(int i=0; i<size; i++)
assoc.push_back(-1);
// n° vettori associati a ciascun centroide
int numVectPerCentroid[n_centroids];
for(int i=0; i<n_centroids; i++ )
numVectPerCentroid[i] = 0;
// determina centroide a distanza minima per ogni vettore
for(int i=0; i<size; i++){
// minima distanza finora riscontrata
double min_dist = std::numeric_limits<double>::max();
// centroide a minima distanza
int centroid_count = -1;
for(int j=0; j<n_centroids; j++){
// calcola la distanza dell'elemento dal centroide corrente
double d = distance(data.at(i), centroids[j]);
// se la nuova distanza è minore della minima finora riscontrata,
// allora il centroide è il più vicino
if(d < min_dist){
min_dist = d;
centroid_count = j;
}
}//j
// associa il sample al centroide più vicino
if(assoc.at(i) != centroid_count){
assoc.at(i) = centroid_count;
}
}//i
return assoc;
}
Gesture *GestureHandler::createGesture(const QString &type, int id, const QHash<QString, QVariant>& attrs,
bool isComposedGesture) const
{
// Creamos el gesto sin su acción
Gesture *ret;
if (isComposedGesture)
ret = this->gestureFact->createComposedGesture(type, id, attrs);
else
ret = this->gestureFact->createSimpleGesture(type, id, attrs);
if (ret == NULL)
return NULL;
// Vemos sobre que ventana se ha ejecutado
Window gestureWindow = this->getGestureWindow(attrs.value(GEIS_GESTURE_ATTRIBUTE_CHILD_WINDOW_ID).toInt());
if (gestureWindow == None)
return NULL;
QString appClass = this->getAppClass(gestureWindow);
// Creamos y asignamos la acción asociada al gesto
ActionTypeEnum::ActionType actionType = this->config->getAssociatedAction(appClass, ret->getType(),
ret->getNumFingers(), ret->getDirection());
QString actionSettings = this->config->getAssociatedSettings(appClass, ret->getType(), ret->getNumFingers(),
ret->getDirection());
ret->setAction(this->actionFact->createAction(actionType, actionSettings, gestureWindow));
// Mostramos los datos sobre el gesto
qDebug() << "[+] New gesture:";
qDebug() << "\tType -> " << GestureTypeEnum::getValue(ret->getType());
qDebug() << "\tFingers -> " << ret->getNumFingers();
qDebug() << "\tDirection -> " << GestureDirectionEnum::getValue(ret->getDirection());
qDebug() << "\tAction -> " << ActionTypeEnum::getValue(actionType);
qDebug() << "\tApp Class -> " << appClass;
return ret;
}
void Leap::LeapListener::onFrame( const Controller& controller )
{
Frame frame = controller.frame();
HandList hands = frame.hands();
Leap::DirectionDetector::Direction direction;
//bool handExtended;
Hand leftHand;
Hand rightHand;
//jurik
//takin just first gesture (gestures are defined for each finger)
Gesture gesture = frame.gestures()[0];
if ( arMode ) {
for ( int i=0; i< hands.count(); ++i ) {
if ( hands[i].isRight() ) {
rightHand = hands[i];
}
else {
leftHand = hands[i];
}
}
leapActions->updateARHands( leftHand,rightHand );
}
else {
for ( int i=0; i< hands.count(); ++i ) {
if ( hands[i].isRight() ) {
direction = Leap::DirectionDetector::getPalmDirection( hands[i] );
//using cameramanipulator
//leapActions->changeViewAngle( direction );
//using pickhandler class
leapActions->rotateAruco( direction );
if ( gesture.type() == Gesture::TYPE_KEY_TAP ) {
leapActions->scaleNodes( true );
}
}
else {
direction = Leap::DirectionDetector::getPalmDirection( hands[i] );
//leapActions.changeViewAngle( direction );
leapActions->scaleEdges( direction );
if ( gesture.type() == Gesture::TYPE_KEY_TAP ) {
leapActions->scaleNodes( false );
}
/*handExtended = Leap::FingerPositionDetector::isHandExtended( hands[i] );
if ( handExtended ) {
leapActions->startMovingForward();
}
else {
leapActions->stopMovingForward();
}*/
}
}
}
//std::cout << "id: " << frame.id();
/*
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
HandList hands = gesture.hands();
Hand firstHand = hands[0];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE:
{
leapActions->zoomGraph(gesture);
break;
}
case Gesture::TYPE_SWIPE:
{
if(firstHand.isRight()){
if(leapActions->isCameraMoving)
leapActions->moveCamera(gesture);
else
leapActions->rotateGraph(gesture);
}
break;
}
case Gesture::TYPE_KEY_TAP:
{
if(firstHand.isLeft())
leapActions->onKeyTap(gesture);
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
leapActions->onScreenTap(gesture);
break;
}
default:
qDebug() << "Unknown gesture type.";
break;
}
}*/
}
void SampleListener::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()
<< ", fingers: " << frame.fingers().count()
<< ", tools: " << frame.tools().count()
<< ", gestures: " << frame.gestures().count() << std::endl;
if (!frame.hands().isEmpty()) {
// Get the first hand
const Hand hand = frame.hands()[0];
// Check if the hand has any fingers
const FingerList fingers = hand.fingers();
if (!fingers.isEmpty()) {
// Calculate the hand's average finger tip position
Vector avgPos;
for (int i = 0; i < fingers.count(); ++i) {
avgPos += fingers[i].tipPosition();
}
avgPos /= (float)fingers.count();
std::cout << "Hand has " << fingers.count()
<< " fingers, average finger tip position" << avgPos << std::endl;
}
// Get the hand's sphere radius and palm position
std::cout << "Hand sphere radius: " << hand.sphereRadius()
<< " mm, 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 << "Hand pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << 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/4) {
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 << "Circle id: " << gesture.id()
<< ", state: " << 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 << "Swipe id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
std::cout << "Key Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
std::cout << "Screen Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction()<< std::endl;
break;
}
default:
std::cout << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty()) {
std::cout << std::endl;
}
}
void SampleListener::onFrame(const Controller& controller)
{
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
int currentFrameId = frame.id();
//std::cout << "CurrentFrameId " << currentFrameId << std::endl;
if (frame.hands().count() > 0)
{
//std::cout << "Frame id: " << frame.id()
//<< ", timestamp: " << frame.timestamp()
//<< ", hands: " << frame.hands().count()
// << ", fingers: " << frame.fingers().count()
// << ", tools: " << frame.tools().count()
// << ", gestures: " << frame.gestures().count() << std::endl;
// Dealing with the hands
if (!frame.hands().empty())
{
// Get the first hand
const Hand hand = frame.hands()[0];
// Check if the hand has any fingers
const FingerList fingers = hand.fingers();
if (!fingers.empty()) {
// Calculate the hand's average finger tip position
Vector avgPos;
for (int i = 0; i < fingers.count(); ++i) {
avgPos += fingers[i].tipPosition();
}
avgPos /= (float)fingers.count();
//std::cout << "Hand has " << fingers.count()
//<< " fingers, average finger tip position" << avgPos << std::endl;
}
// Get the hand's sphere radius and palm position
/*std::cout << "Hand sphere radius: " << hand.sphereRadius()
<< " mm, palm position: " << hand.palmPosition() << std::endl;*/
//deatecting Up and Down hand motions
Vector myPalmPosition = hand.palmPosition();
double currentPalmPositionY = myPalmPosition.y;
if (currentPalmPositionY > lastPalmPositionY)
{
std::cout << "[moving up";
}
else
{
std::cout << "[moving down";
}
lastPalmPositionY = currentPalmPositionY;
//deatecting left and right hand motions
myPalmPosition = hand.palmPosition();
double currentPalmPositionX = myPalmPosition.x;
if (currentPalmPositionX > lastPalmPositionX)
{
std::cout << "/right] ";
}
else
{
std::cout << "/left] ";
}
lastPalmPositionX = currentPalmPositionX;
// 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 << "Hand pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
// << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
//<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
//Find Gestures
// 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/4) {
std::cout << " CLOCKWISE";
} else {
std::cout << " ANTICLOCKWISE";
}
break;
}
case Gesture::TYPE_SWIPE:
{
std::cout << " SWIPE";
break;
}
case Gesture::TYPE_KEY_TAP:
{
std::cout << " KEY TAP";
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
std::cout << " SCREEN TAP";
break;
}
default:
std::cout << "Unknown gesture type." << std::endl;
break;
}
}
if (!frame.hands().empty()) {
std::cout << std::endl;
}
} // end if frame print
} // end on frame
} /* end class SampleListener */
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 QLeapEventListener::onFrame(const Controller & controller)
{
const Frame frame = controller.frame();
// 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/4) {
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 << "Circle id: " << gesture.id()
<< ", state: " << 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 << "Swipe id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
onSwipe(swipe);
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
std::cout << "Key Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
std::cout << "Screen Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction()<< std::endl;
break;
}
default:
std::cout << "Unknown gesture type." << std::endl;
break;
}
}
}
void LeapHands::onFrame(const Controller& controller)
{
//Game::Instance()->PrintFloat("Hand children: ", childrenMap.size());
std::map<string, BoneData> tempBoneData;
HandList hands = controller.frame().hands();
int handId = 0;
hands[0].fingers()[(int) Finger::Type::TYPE_THUMB];
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Hand hand = *hl;
// Get fingers
const FingerList fingers = hand.fingers();
int fingerId = 0;
bool firstFinger = true;
Finger previousFinger;
stringstream ass;
ass << "Arm: 0 Hand: " << handId;
tempBoneData[ass.str()] = BoneData(ass.str(), LeapToGlVec3(hand.arm().wristPosition()), LeapToGlVec3(hand.arm().elbowPosition()), true);
ass.clear();
glm::vec3 thumbBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_THUMB].bone(Bone::Type::TYPE_DISTAL).nextJoint());
glm::vec3 indexBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_INDEX].bone(Bone::Type::TYPE_DISTAL).nextJoint());
pinchDist = glm::length(thumbBone - indexBone);
if (pinchDist < 5.0f)
{
pinch = true;
}
else
{
pinch = false;
}
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);
stringstream ss;
ss << "Hand: " << handId << " Finger: " << fingerId << " Bone: " << b;
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(bone.prevJoint()), LeapToGlVec3(bone.nextJoint()), true);
}
// Draw some other bits of the hand
if (!firstFinger)
{
for (int b = 0; b < 2; ++b)
{
stringstream ss;
ss << "Hand: " << handId << "Finger: " << (fingerId - 1) << "Finger: " << (fingerId) << " Bone: " << b;
Bone startBone = previousFinger.bone(static_cast<Bone::Type>(b));
Bone endBone = finger.bone(static_cast<Bone::Type>(b));
if ((b == 1) && (fingerId == 1))
{
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.nextJoint()), LeapToGlVec3(endBone.prevJoint()), false);
}
else
{
tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.prevJoint()), LeapToGlVec3(endBone.prevJoint()), false);
}
}
}
const GestureList gestures = controller.frame().gestures();
for (int g = 0; g < gestures.count(); ++g)
{
Gesture gesture = gestures[g];
switch (gesture.type())
{
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
if (gesture.durationSeconds() > 1)
{
if (circle.pointable().direction().angleTo(circle.normal()) <= PI / 2) {
spawn = vehicle;
}
else {
spawn = model;
}
}
}
}
}
previousFinger = finger;
firstFinger = false;
++fingerId;
}
++handId;
}
EnterCriticalSection(&criticalSection);
trackedHands = handId;
map<string, BoneData>::iterator it = tempBoneData.begin();
boneData = tempBoneData;
LeaveCriticalSection(&criticalSection);
}
//old gesture config
void KinectARTTransfUnit::GESTURE(const GestureEvent * event){
Gesture recGesture = event->getPayload();
std::cout << "gesture arrived with id: " << recGesture << std::endl;
if(recGesture.getGestureType() == Gesture::Wave){
std::cout << "wave !!" << std::endl;
m_dev = (m_dev+1)%3;
}
else if(recGesture.getGestureType() == Gesture::Click){
std::cout << "click !!" << std::endl;
if(m_dev == 2){
DigitalChangedEvent * dig_event = new DigitalChangedEvent();
if(clicked)
dig_event->setPayload(0);
else
dig_event->setPayload(1);
clicked = !clicked;
map<string, IEventSink *>::iterator iter = this->registeredEventSinkMap->find("Menu_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(dig_event);
} else {
TFERROR("not found");
}
}
}
else if(recGesture.getGestureType() == Gesture::Grab){
std::cout << "grab it !!" << std::endl;
DigitalChangedEvent * dig_event = new DigitalChangedEvent();
dig_event->setPayload(1);
map<string, IEventSink *>::iterator iter;
if(m_dev == 0){
iter = this->registeredEventSinkMap->find("Draw_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(dig_event);
} else {
TFERROR("not found");
}
}
else if (m_dev == 1){
iter = this->registeredEventSinkMap->find("Grab_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(dig_event);
} else {
TFERROR("not found");
}
}
else{
AnalogChangedEvent * ana_event = new AnalogChangedEvent();
ana_event->setPayload(1.0f);
map<string, IEventSink *>::iterator iter = this->registeredEventSinkMap->find("DrawStroke_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(ana_event);
} else {
TFERROR("not found");
}
}
}
else if(recGesture.getGestureType() == Gesture::NoMoreGrab){
std::cout << "no more grab !!" << std::endl;
DigitalChangedEvent * dig_event = new DigitalChangedEvent();
dig_event->setPayload(0);
map<string, IEventSink *>::iterator iter;
if(m_dev == 0){
iter = this->registeredEventSinkMap->find("Draw_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(dig_event);
} else {
TFERROR("not found");
}
}
else if (m_dev == 1){
iter = this->registeredEventSinkMap->find("Grab_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(dig_event);
} else {
TFERROR("not found");
}
}
else{
AnalogChangedEvent * ana_event = new AnalogChangedEvent();
ana_event->setPayload(0.0f);
map<string, IEventSink *>::iterator iter = this->registeredEventSinkMap->find("DrawStroke_OUT");
if (iter != this->registeredEventSinkMap->end()) {
(*iter).second->push(ana_event);
} else {
TFERROR("not found");
}
}
}
else if(recGesture.getGestureType() == Gesture::NoGesture){
std::cout << "no gesture !!" << std::endl;
}
}
void LeapInput::onFrame(const Controller& controller)
{
Frame frame = controller.frame();
HandList hands = frame.hands();
this->hands = hands.count();
if(hands.count() == 2)
{
Hand leftHand = hands.leftmost();
Hand rightHand = hands.rightmost();
leftHandY = leftHand.palmPosition().y;
rightHandY = rightHand.palmPosition().y;
leftFingers = leftHand.fingers().count();
rightFingers = rightHand.fingers().count();
float threshold = tanf(5* 3.141592f / 180.0f);
float maxTan = tanf(45 * 3.141592f / 180.0f);
if(leftHand.palmPosition().x != rightHand.palmPosition().x){
float tanValue = fabs((leftHand.palmPosition().y - rightHand.palmPosition().y) / (leftHand.palmPosition().x - rightHand.palmPosition().x));
if(tanValue > threshold){
curve = tanValue / maxTan;
if(curve > 1)
curve = 1;
}else
curve = 0;
}else
curve = 0;
}
else
{
leftHandY = rightHandY = 0;
}
boost = false;
GestureList gestureList = frame.gestures();
for(GestureList::const_iterator i = gestureList.begin(); i != gestureList.end(); ++i)
{
Gesture gesture = *i;
if(gesture.state() != Gesture::State::STATE_INVALID)
{
switch(gesture.type())
{
case Gesture::Type::TYPE_SCREEN_TAP:
boost = true;
break;
}
}
}
back = false;
if(hands.count() == 2 && leftFingers == 1 && rightFingers == 1 &&
hands.leftmost().fingers()[0].direction().z > 0 &&
hands.rightmost().fingers()[0].direction().z > 0)
{
back = true;
}
//accelGesture = brakeGesture = false;
//GestureList gestureList = frame.gestures();
//for(GestureList::const_iterator i = gestureList.begin(); i != gestureList.end(); ++i)
//{
// Gesture gesture = *i;
// if(gesture.state() != Gesture::State::STATE_INVALID)
// {
// if(typeid(gesture) == typeid(MyGesture))
// {
// accelGesture = true;
// }
//
// }
//}
}
/*----------------------------------------------------------------------------------------------------*/
void Gestures::sendGesture(const Gesture& pGesture) {
if ( !pGesture.isValid() ) {
return;
}
Gesture::Type type = pGesture.type();
Gesture::State state = pGesture.state();
int64_t duration = pGesture.duration();
Leap::Vector position;
Leap::Vector direction;
float progress = 0;
float speed = 0;
float radius = 0;
std::string typeKey;
std::string stateName;
////
if ( type == Gesture::TYPE_CIRCLE ) {
CircleGesture circle = (CircleGesture)pGesture;
position = circle.center();
progress = circle.progress();
radius = circle.radius();
typeKey = GestureKey::Circle;
}
else if ( type == Gesture::TYPE_SWIPE ) {
SwipeGesture swipe = (SwipeGesture)pGesture;
position = swipe.startPosition();
direction = swipe.direction();
speed = swipe.speed();
typeKey = GestureKey::Swipe;
}
else if ( type == Gesture::TYPE_KEY_TAP ) {
KeyTapGesture keyTap = (KeyTapGesture)pGesture;
position = keyTap.position();
direction = keyTap.direction();
progress = keyTap.progress();
typeKey = GestureKey::KeyTap;
}
else if ( type == Gesture::TYPE_SCREEN_TAP ) {
ScreenTapGesture screenTap = (ScreenTapGesture)pGesture;
position = screenTap.position();
direction = screenTap.direction();
progress = screenTap.progress();
typeKey = GestureKey::ScreenTap;
}
else {
std::cout << "[LEAP] Unsupported gesture type: " << type << std::endl;
return;
}
////
switch ( state ) {
case Gesture::STATE_INVALID:
stateName = "Invalid";
break;
case Gesture::STATE_START:
stateName = "Start";
break;
case Gesture::STATE_UPDATE:
stateName = "Update";
break;
case Gesture::STATE_STOP:
stateName = "Stop";
break;
default:
std::cout << "[LEAP] Unsupported state type: " << state << std::endl;
return;
}
////
std::cout << "GESTURE MESSAGE" <<
"\n - type: " << type << " (" << typeKey << ")" <<
"\n - stat: " << state << " (" << stateName << ")" <<
"\n - dura: " << duration <<
"\n - pos: " << position <<
"\n - dir: " << direction <<
"\n - prog: " << progress <<
"\n - radi: " << radius <<
"\n - spd: " << speed <<
"\n" << std::endl;
}
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 m_bang()
{
Frame frame;
t_atom generalInfo[6];
int num_hands, num_tools, num_gestures;
frame = dispatcher.frame;
num_hands = frame.hands().count();
num_tools = frame.tools().count();
num_gestures = frame.gestures().count();
if(general_flag){
SETFLOAT(&generalInfo[0], (float)frame.id());
SETFLOAT(&generalInfo[1], (float)frame.timestamp());
SETFLOAT(&generalInfo[2], (float)num_hands);
SETFLOAT(&generalInfo[3], (float)frame.fingers().count());
SETFLOAT(&generalInfo[4], (float)frame.tools().count());
SETFLOAT(&generalInfo[5], (float)frame.gestures().count());
ToOutList(0, 6, generalInfo);
}
// tools
for(int i = 0; i<num_tools; i++){
Tool tool;
tool = frame.tools()[i];
t_atom toolInfo[5];
if(tools_position_flag) {
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("direction"));
SETFLOAT(&toolInfo[2], tool.direction().x);
SETFLOAT(&toolInfo[3], tool.direction().y);
SETFLOAT(&toolInfo[4], tool.direction().z);
ToOutAnything(1, gensym("tool"), 5, toolInfo);
}
if(tools_position_flag) {
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("position"));
SETFLOAT(&toolInfo[2], tool.tipPosition().x);
SETFLOAT(&toolInfo[3], tool.tipPosition().y);
SETFLOAT(&toolInfo[4], tool.tipPosition().z);
ToOutAnything(1, gensym("tool"), 5, toolInfo);
}
if(tools_velocity_flag){
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("velocity"));
SETFLOAT(&toolInfo[2], tool.tipVelocity().x);
SETFLOAT(&toolInfo[3], tool.tipVelocity().y);
SETFLOAT(&toolInfo[4], tool.tipVelocity().z);
ToOutAnything(1, gensym("tool"), 5, toolInfo);
}
if(tools_size_flag){
SETFLOAT(&toolInfo[0], i);
SETSYMBOL(&toolInfo[1], gensym("size"));
SETFLOAT(&toolInfo[2], tool.width());
SETFLOAT(&toolInfo[3], tool.length());
ToOutAnything(1, gensym("tool"), 4, toolInfo);
}
}
// hands and fingers
for(int i = 0; i<num_hands; i++){
Hand hand;
hand = frame.hands()[i];
int num_fingers = hand.fingers().count();
int num_tools = hand.tools().count();
t_atom handInfo[5];
if(hands_direction_flag){
// direction
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("direction"));
SETFLOAT(&handInfo[2], hand.direction().x);
SETFLOAT(&handInfo[3], hand.direction().y);
SETFLOAT(&handInfo[4], hand.direction().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_palm_position_flag){
// position
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("palm_position"));
SETFLOAT(&handInfo[2], hand.palmPosition().x);
SETFLOAT(&handInfo[3], hand.palmPosition().y);
SETFLOAT(&handInfo[4], hand.palmPosition().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_palm_velocity_flag){
// velocity
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("palm_velocity"));
SETFLOAT(&handInfo[2], hand.palmVelocity().x);
SETFLOAT(&handInfo[3], hand.palmVelocity().y);
SETFLOAT(&handInfo[4], hand.palmVelocity().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_palm_normal_flag){
// normal
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("palm_normal"));
SETFLOAT(&handInfo[2], hand.palmNormal().x);
SETFLOAT(&handInfo[3], hand.palmNormal().y);
SETFLOAT(&handInfo[4], hand.palmNormal().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_sphere_radius_flag){
// sphere radius
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("sphere_radius"));
SETFLOAT(&handInfo[2], hand.sphereRadius());
ToOutAnything(1, gensym("hand"), 3, handInfo);
}
if(hands_sphere_center_flag){
// sphere center
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("sphere_center"));
SETFLOAT(&handInfo[2], hand.sphereCenter().x);
SETFLOAT(&handInfo[3], hand.sphereCenter().y);
SETFLOAT(&handInfo[4], hand.sphereCenter().z);
ToOutAnything(1, gensym("hand"), 5, handInfo);
}
if(hands_finger_count_flag){
// finger count
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("finger_count"));
SETFLOAT(&handInfo[2], num_fingers);
ToOutAnything(1, gensym("hand"), 3, handInfo);
}
if(hands_tool_count_flag){
// tool count
SETFLOAT(&handInfo[0], i);
SETSYMBOL(&handInfo[1], gensym("tool_count"));
SETFLOAT(&handInfo[2], num_tools);
ToOutAnything(1, gensym("hand"), 3, handInfo);
}
for(int j = 0; j<num_fingers; j++){
Finger finger;
finger = hand.fingers()[j];
t_atom fingerInfo[7];
if(fingers_direction_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("direction"));
SETFLOAT(&fingerInfo[4], finger.direction().x);
SETFLOAT(&fingerInfo[5], finger.direction().y);
SETFLOAT(&fingerInfo[6], finger.direction().z);
ToOutAnything(1, gensym("hand"), 7, fingerInfo);
}
if(fingers_position_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("position"));
SETFLOAT(&fingerInfo[4], finger.tipPosition().x);
SETFLOAT(&fingerInfo[5], finger.tipPosition().y);
SETFLOAT(&fingerInfo[6], finger.tipPosition().z);
ToOutAnything(1, gensym("hand"), 7, fingerInfo);
}
if(fingers_velocity_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("velocity"));
SETFLOAT(&fingerInfo[4], finger.tipVelocity().x);
SETFLOAT(&fingerInfo[5], finger.tipVelocity().y);
SETFLOAT(&fingerInfo[6], finger.tipVelocity().z);
ToOutAnything(1, gensym("hand"), 7, fingerInfo);
}
if(fingers_size_flag){
SETFLOAT(&fingerInfo[0], i); // index
SETSYMBOL(&fingerInfo[1], gensym("fingers"));
SETFLOAT(&fingerInfo[2], j);
SETSYMBOL(&fingerInfo[3], gensym("size"));
SETFLOAT(&fingerInfo[4], finger.width());
SETFLOAT(&fingerInfo[5], finger.length());
ToOutAnything(1, gensym("hand"), 6, fingerInfo);
}
}
}
t_atom gestureCountInfo[1];
for(int i = 0;i < num_gestures; i++){
Gesture gesture;
gesture = frame.gestures()[i];
//type
t_atom gestureTypeInfo[3];
SETFLOAT(&gestureTypeInfo[0], i);
SETSYMBOL(&gestureTypeInfo[1], gensym("type"));
switch(gesture.type())
{
case Gesture::TYPE_INVALID:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_INVALID"));
break;
case Gesture::TYPE_SWIPE:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_SWIPE"));
break;
case Gesture::TYPE_CIRCLE:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_CIRCLE"));
break;
case Gesture::TYPE_SCREEN_TAP:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_SCREEN_TAP"));
break;
case Gesture::TYPE_KEY_TAP:
SETSYMBOL(&gestureTypeInfo[2], gensym("TYPE_KEY_TAP"));
break;
}
ToOutList(2, 3, gestureTypeInfo);
//state
t_atom gestureStateInfo[3];
SETFLOAT(&gestureStateInfo[0], i);
SETSYMBOL(&gestureStateInfo[1], gensym("state"));
switch(gesture.state())
{
case Gesture::STATE_INVALID:
SETSYMBOL(&gestureStateInfo[2], gensym("STATE_INVALID"));
break;
case Gesture::STATE_START:
SETSYMBOL(&gestureStateInfo[2], gensym("TYPE_START"));
break;
case Gesture::STATE_UPDATE:
SETSYMBOL(&gestureStateInfo[2], gensym("STATE_UPDATE"));
break;
case Gesture::STATE_STOP:
SETSYMBOL(&gestureStateInfo[2], gensym("TYPE_STOP"));
break;
}
ToOutList(2, 3, gestureStateInfo);
t_atom gestureDurationInfo[3];
SETFLOAT(&gestureDurationInfo[0], i);
SETSYMBOL(&gestureDurationInfo[1], gensym("duration"));
SETFLOAT(&gestureDurationInfo[2], gesture.duration());
ToOutList(2, 3, gestureDurationInfo);
t_atom gestureIdInfo[3];
SETFLOAT(&gestureIdInfo[0], i);
SETSYMBOL(&gestureIdInfo[1], gensym("id"));
SETFLOAT(&gestureIdInfo[2], gesture.id());
ToOutList(2, 3, gestureIdInfo);
}
}
void ExecutionManager::newSkeletonData(QString pData)
{
if(this->role == INACTIVE)
{
return;
}
DAOLayer *daoLayer = DAOLayer::getInstance();
if(daoLayer != NULL)
{
RawJointState * rjs = RawJointState::fromInputLine(pData);
if(rjs == NULL)
{
qDebug() << "rjs is NULL";
return;
}
if (rjs->jointsCount < SkeletonData::leftPelvis)
{
delete rjs;
qDebug() << "rjs is NULL";
return;
}
if(this->segmenter->addState(rjs))
{
InputGesture *ig = this->segmenter->getLastInputGesture();
QList<QPair<Record*, double>* >* results = this->lra->recognizeSingleGesture(ig);
if(results == NULL)
{
qDebug() << "results are NULL";
return;
}
switch(role)
{
case RECORDER:
{
Gesture *g = InputGesture::toGesture(ig);
// TODO MANAGE CONFLICT
/*if (results->count() > 0 && results->first()->second > 0.8f)
{
qDebug()<<"Conflict with "<<results->first()->first->getName()<<" at "<<results->first()->second;
emit this->gestureConflict(g);
}
else*/
{
qDebug()<<"Nb frames "<<g->getFrames()->count();
emit this->gestureRecorded(g);
}
break;
}
case RECOGNIZER:
qDebug("-----------------------------");
for(int i=0; i<results->count(); i++)
{
if (results->at(i)->first == NULL)
{
continue;
}
qDebug()<< results->at(i)->first->getName()<< " "<< results->at(i)->second;
}
qDebug("-----------------------------");
// Compute threshold
float thresh = pow(0.9f, results->count());
/*if(thresh < 0.45f)
{
thresh = 0.45f;
}*/
qDebug()<<"Thresh "<<thresh;
// Consider recognized
DAOLayer *daoLayer = DAOLayer::getInstance();
if (daoLayer != NULL && results->count() > 0 && results->first()->second > thresh)
{
Record *r = daoLayer->getSingleRecord(results->first()->first->getId());
if(r != NULL && r->isGestureActive() && !r->isDeleted())
{
qDebug("Recognize with : %f", results->first()->second);
daoLayer->gestureRecognized(r);
}
}
break;
}
// qDebug()<<"Clear segmenter";
this->segmenter->clear();
delete results;
}
}
}
void SampleListener::onFrame(const Controller& controller) {
//tictoc_stack.push(clock());
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
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";
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Get the Arm bone
Arm arm = hand.arm();
// Get fingers
const FingerList fingers = hand.fingers();
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
myfile << std::string(4, ' ') << fingerNames[finger.type()]
<< ": " << hand.palmPosition().distanceTo(finger.tipPosition());
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
}
}
}
// Get tools
const ToolList tools = frame.tools();
for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Tool tool = *tl;
}
// 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;
}
break;
}
case Gesture::TYPE_SWIPE:
{
SwipeGesture swipe = gesture;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
break;
}
default:
break;
}
}
if (!frame.hands().isEmpty() || !gestures.isEmpty()) {
std::cout << std::endl;
}
myfile << " Time elapsed: "
<< ((double)(clock() - tictoc_stack.top())) / CLOCKS_PER_SEC;
tictoc_stack.pop();
myfile << endl;
}
void GestureHandler::executeGestureUpdate(const QString &type, int id, const QHash<QString, QVariant>& attrs)
{
// If is an update of the current gesture execute it
if (this->currentGesture != NULL && this->currentGesture->getId() == id && !this->timerTap->isActive()) {
qDebug() << "\tGesture Update" << id << type;
this->currentGesture->setAttrs(attrs);
this->currentGesture->update();
// If no gesture is running the gesture is a TAP, an unsupported gesture, or in Precise a DRAG
} else if (this->currentGesture == NULL) {
Gesture *gesture = this->createGesture(type, id, attrs, false);
if (gesture != NULL) {
this->currentGesture = gesture;
// If the gesture is a tap allow to make a tap & hold
if (gesture->getType() == GestureTypeEnum::TAP) {
this->timerTap->start();
// In Precise the DeltaX and DeltaY attrs in start are 0. Create the Drag here
} else if (gesture->getType() == GestureTypeEnum::DRAG) {
qDebug() << "\tGesture Start";
this->currentGesture->start();
qDebug() << "\tGesture Update" << id << type;
this->currentGesture->update();
}
}
// If is an update whith the timer running it is a DOUBLE_TAP or a TAP_AND_HOLD
} else if (this->currentGesture != NULL && this->timerTap->isActive()) {
this->timerTap->stop();
int currentNumFingers = this->currentGesture->getAttrs().value(GEIS_GESTURE_ATTRIBUTE_TOUCHES).toInt();
int newNumFingers = attrs.value(GEIS_GESTURE_ATTRIBUTE_TOUCHES).toInt();
Gesture *gesture = this->createGesture(type, id, attrs, true);
if (gesture != NULL && currentNumFingers == newNumFingers) {
// TAP_AND_HOLD
if (gesture->getType() == GestureTypeEnum::TAP_AND_HOLD) {
this->currentGesture = gesture;
qDebug() << "\tGesture Start";
this->currentGesture->start();
qDebug() << "\tGesture Update";
this->currentGesture->update();
// DOUBLE_TAP
} else if (gesture->getType() == GestureTypeEnum::DOUBLE_TAP) {
this->currentGesture = gesture;
qDebug() << "\tGesture Start";
this->currentGesture->start();
qDebug() << "\tGesture Update";
this->currentGesture->update();
qDebug() << "\tGesture Finish";
this->currentGesture->finish();
delete this->currentGesture;
this->currentGesture = NULL;
}
}
}
}
void AppListener::onFrame(const Controller& controller) {
// Get the most recent frame and report some basic information
const Frame frame = controller.frame();
::Sleep(1);
const HandList& hands = frame.hands();
const FingerList& fingers = frame.fingers();
const ToolList& tools = frame.tools();
const GestureList& gestures = frame.gestures();
if (hands.empty() && fingers.empty() && tools.empty() && gestures.empty())
return;
#if 0
std::cout
<< "Frame id: " << frame.id()
<< ", timestamp: " << frame.timestamp()
<< " hands: " << hands.count()
<< " fingers: " << fingers.count()
<< " tools: " << tools.count()
<< " gestures: " << gestures.count()
<< std::endl;
#endif
ofxOscBundle bundle;
ofxOscMessage alive;
{
alive.setAddress("/tuio/2Dcur");
alive.addStringArg("alive");
}
ofxOscMessage fseq;
{
fseq.setAddress( "/tuio/2Dcur" );
fseq.addStringArg( "fseq" );
fseq.addIntArg(frame.id());
}
if (!hands.empty()) {
// Get the first hand
const Hand& hand = hands[0];
// Check if the hand has any fingers
const FingerList& fingers = hand.fingers();
if (!fingers.empty()) {
for (int i = 0; i < fingers.count(); ++i) {
const Vector& tipPos = fingers[i].tipPosition();
const Vector& tipVel = fingers[i].tipVelocity();
{
#ifdef INIT_BBOX
// max/min bbox
bboxMax.x = std::max<float>(bboxMax.x, tipPos.x);
bboxMax.y = std::max<float>(bboxMax.y, tipPos.y);
bboxMax.z = std::max<float>(bboxMax.z, tipPos.z);
bboxMin.x = std::min<float>(bboxMin.x, tipPos.x);
bboxMin.y = std::min<float>(bboxMin.y, tipPos.y);
bboxMin.z = std::min<float>(bboxMin.z, tipPos.z);
#endif
Vector tuioPos;
tuioPos.x = normalize(tipPos.x, bboxMin.x, bboxMax.x);
tuioPos.y = normalize(tipPos.y, bboxMax.y, bboxMin.y);
tuioPos.z = normalize(tipPos.z, bboxMin.z, bboxMax.z);
// tuio
{
ofxOscMessage m;
m.setAddress( "/tuio/2Dcur" );
m.addStringArg("set");
m.addIntArg(fingers[i].id()); // id
m.addFloatArg(tuioPos.x); // x
m.addFloatArg(tuioPos.y); // y
// TOTO
m.addFloatArg(tipVel.x / 400); // dX
m.addFloatArg(tipVel.y / 400); // dY
m.addFloatArg(0); // maccel
bundle.addMessage(m);
alive.addIntArg(fingers[i].id()); // add blob to list of ALL active IDs
}
}
}
#ifdef INIT_BBOX
std::cout << "min: " << bboxMin << std::endl;
std::cout << "max: " << bboxMax << std::endl;
#endif
}
#if 0
// Get the hand's sphere radius and palm position
std::cout << "Hand sphere radius: " << hand.sphereRadius()
<< " mm, palm position: " << hand.palmPosition() << std::endl;
#endif
// Get the hand's normal vector and direction
const Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
#if 0
// Calculate the hand's pitch, roll, and yaw angles
std::cout << "Hand pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
#endif
}
bundle.addMessage(alive);
bundle.addMessage(fseq);
tuioSender.sendBundle(bundle);
// Get 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/4) {
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 << "Circle id: " << gesture.id()
<< ", state: " << 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 << "Swipe id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", direction: " << swipe.direction()
<< ", speed: " << swipe.speed() << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
std::cout << "Key Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << tap.position()
<< ", direction: " << tap.direction()<< std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
std::cout << "Screen Tap id: " << gesture.id()
<< ", state: " << gesture.state()
<< ", position: " << screentap.position()
<< ", direction: " << screentap.direction()<< std::endl;
break;
}
default:
std::cout << "Unknown gesture type." << std::endl;
break;
}
}
#if 0
if (!hands.empty() || !gestures.empty()) {
std::cout << std::endl;
}
#endif
}
void Quantizer2::train(std::vector<Gesture> gestures, int considered_gestures){
//metagesture: contiene tutte le componenti di tutte le gesture.
Gesture gesture;
//costruzione della metagesture
int gesture_number;
if(considered_gestures<gestures.size()){
gesture_number = considered_gestures;
}else{
gesture_number = gestures.size();
}
for(int k=0; k<gesture_number; k++){
std::vector<Sample_3d> curGesturData = gestures.at(k).getData();
for(int w=0; w<curGesturData.size(); w++){
gesture.add( curGesturData.at(w) );
}
}
this->init(gesture);
std::vector<Sample_3d> data = gesture.getData();
int size = data.size();
// associazioni (componente della gesture) <-> centroide
int* assoc = new int[size];
for(int i=0; i<size; i++)
assoc[i] = -1;
// n° vettori associati a ciascun centroide
// contando il centroide stesso! (infatti si inizializza a 1)
int numVectPerCentroid[n_centroids];
for(int i=0; i<n_centroids; i++ )
numVectPerCentroid[i] = 1;
bool modified;
int n_iter = 0;
do{
// determina centroide a distanza minima per ogni vettore
modified = false;
for(int i=0; i<size; i++){
// minima distanza finora riscontrata
double min_dist = std::numeric_limits<double>::max();
// centroide a minima distanza
int centroid_count = -1;
for(int j=0; j<n_centroids; j++){
// calcola la distanza dell'elemento dal centroide corrente
double d = distance(data.at(i), centroids[j]);
// se la nuova distanza è minore della minima finora riscontrata,
// aggiorna il centroide più vicino
if(d < min_dist){
min_dist = d;
centroid_count = j;
}
}//j
// associa il sample al centroide più vicino
if(assoc[i] != centroid_count){
assoc[i] = centroid_count;
modified = true;
}
}//i
// ricalcola posizione dei centroidi
for(int i=0; i<size; i++){
numVectPerCentroid[assoc[i]]++;
centroids[assoc[i]] += data.at(i);
}
for(int j=0; j<n_centroids; j++)
centroids[j] /= numVectPerCentroid[j];
n_iter++;
}
while(modified && n_iter < 100);
}
void MangoListener::onFrame(const Controller& controller) {
const Frame frame = controller.frame();
HandList hands = frame.hands();
int extendedFingers = 0;
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
const Hand hand = *hl;
for (int i = 0; i < hand.fingers().count(); i++)
{
Finger finger = hand.fingers()[i];
if(finger.isExtended()) extendedFingers++;
}
if (!onGesture && !frame.hands().isEmpty() && frame.hands().count() == 1 && extendedFingers == 0)
{
preGestureCounter++;
std::cout << preGestureCounter << std::endl;
if (preGestureCounter > MAX_PREGESTURE && frameCount == 0)
{
onGesture = true;
preGestureCounter = 0;
frameCount++;
note.show();
}
}
else if (preGestureCounter > 0)
{
preGestureCounter--;
}
}
if (onGesture && frameCount < MAX_FRAMECOUNT) {
switch (extendedFingers)
{
case 1:
{
std::string command = commands.getCommand("FING3");
std::cout << command << std::endl;
break;
}
case 2:
{
break;
}
case 3:
{
break;
}
default:
{
break;
}
}
frameCount++;
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g]; //need to move finger detection in here too
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE:
{
CircleGesture circle = gesture;
std::string clockwiseness; //probably simplfy to a bool
if (circle.pointable().direction().angleTo(circle.normal()) <= PI/4)
{
clockwiseness = "clockwise";
std::cout << "CIRCLE CLOCKWISE" << std::endl;
}
else
{
clockwiseness = "counterclockwise";
std::cout << "CIRCLE COUNTERCLOCKWISE" << std::endl;
}
break;
}
case Gesture::TYPE_SWIPE:
{
SwipeGesture swipe = gesture;
std::cout << "SWIPE" << std::endl;
break;
}
case Gesture::TYPE_KEY_TAP:
{
KeyTapGesture tap = gesture;
std::cout << "KEY TAP" << std::endl;
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
ScreenTapGesture screentap = gesture;
std::cout << "SCREEN TAP" << std::endl;
break;
}
default:
{
std::cout << std::string(2, ' ') << "Unknown gesture type." << std::endl;
break;
}
}
float seconds = gesture.durationSeconds();
std::cout << seconds << std::endl;
}
}
else if (onGesture == true && frameCount > MAX_FRAMECOUNT)
{
note.hide();
onGesture = false;
frameCount = 0;
}
else if (onGesture)
{
frameCount++;
}
}
