void jester::LeapMotionImpl::processFingers(Leap::Hand hand, Bone::BoneId fingerOne, LeapHand whichHand) {
Leap::FingerList fingerList = hand.fingers();
std::vector<Leap::Finger> fingers;
FingerData *fingerIds = (whichHand == LeapHand::LEFT ? kLeftFingerIds : kRightFingerIds);
bool fingersFound[] = {false, false, false, false, false};
//project finger tip positions onto palm plane and calculate angle
for (Leap::FingerList::const_iterator fingerIter = fingerList.begin(); fingerIter != fingerList.end(); fingerIter++) {
fingers.push_back(*fingerIter);
}
//if this is the first time we've seen the full hand, calibrate the finger lengths
if (fingerIds[0].id == -1 && fingers.size() == 5) {
if (whichHand == LeapHand::LEFT)
std::sort(fingers.begin(), fingers.end(), left_hand_finger_x_coordinate_comparator);
else if (whichHand == LeapHand::RIGHT)
std::sort(fingers.begin(), fingers.end(), right_hand_finger_x_coordinate_comparator);
else
return;
fingersFound[0] = fingersFound[1] = fingersFound[2] = fingersFound[3] = fingersFound[4] = true;
for (int i = 0; i < 5; i++) {
fingerIds[i].id = fingers[i].id();
fingerIds[i].length = fingers[i].length();
}
} else if (fingerIds[0].id == -1)
return;
//search for all of the known finger ids
for (unsigned int i = 0; i < 5; i++) {
for (unsigned int j = 0; j < fingers.size(); j++) {
if (fingers[j].id() == fingerIds[i].id) {
fingersFound[i] = true;
setFingerInJointData(fingers[j], static_cast<Bone::BoneId>(fingerOne + i));
fingers.erase(fingers.begin() + j);
}
}
}
//match all unclaimed fingers based on closest size
for (unsigned int i = 0; i < fingers.size(); i++) {
float closestLengthDelta = FLT_MAX;
int closestFingerIx = -1;
for (int j = 0; j < 5; j++) {
if (!fingersFound[j]) {
float lengthDelta = abs(fingerIds[j].length - fingers[i].length());
if (lengthDelta < closestLengthDelta) {
closestLengthDelta = lengthDelta;
closestFingerIx = j;
}
}
}
if (closestFingerIx >= 0) {
fingersFound[closestFingerIx] = true;
fingerIds[closestFingerIx].id = fingers[i].id();
setFingerInJointData(fingers[i], static_cast<Bone::BoneId>(fingerOne + closestFingerIx));
}
}
}
void SampleListener::onFrame(const Leap::Controller& controller) {
// Get the most recent frame and report some basic information
const Leap::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;
Leap::HandList hands = frame.hands();
for (Leap::HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
const Leap::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 Leap::Vector normal = hand.palmNormal();
const Leap::Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * Leap::RAD_TO_DEG << " degrees, "
<< "roll: " << normal.roll() * Leap::RAD_TO_DEG << " degrees, "
<< "yaw: " << direction.yaw() * Leap::RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
Leap::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 Leap::FingerList fingers = hand.fingers();
for (Leap::FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Leap::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) {
Leap::Bone::Type boneType = static_cast<Leap::Bone::Type>(b);
Leap::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 Leap::ToolList tools = frame.tools();
for (Leap::ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
const Leap::Tool tool = *tl;
std::cout << std::string(2, ' ') << "Tool, id: " << tool.id()
<< ", position: " << tool.tipPosition()
<< ", direction: " << tool.direction() << std::endl;
}
// Get gestures
const Leap::GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Leap::Gesture gesture = gestures[g];
switch (gesture.type()) {
case Leap::Gesture::TYPE_CIRCLE:
{
Leap::CircleGesture circle = gesture;
std::string clockwiseness;
if (circle.pointable().direction().angleTo(circle.normal()) <= Leap::PI/2) {
clockwiseness = "clockwise";
} else {
clockwiseness = "counterclockwise";
}
// Calculate angle swept since last frame
float sweptAngle = 0;
if (circle.state() != Leap::Gesture::STATE_START) {
Leap::CircleGesture previousUpdate = Leap::CircleGesture(controller.frame(1).gesture(circle.id()));
sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * Leap::PI;
}
std::cout << std::string(2, ' ')
<< "Circle id: " << gesture.id()
<< ", state: " << stateNames[gesture.state()]
<< ", progress: " << circle.progress()
<< ", radius: " << circle.radius()
<< ", angle " << sweptAngle * Leap::RAD_TO_DEG
<< ", " << clockwiseness << std::endl;
break;
}
case Leap::Gesture::TYPE_SWIPE:
{
Leap::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 Leap::Gesture::TYPE_KEY_TAP:
{
Leap::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 Leap::Gesture::TYPE_SCREEN_TAP:
{
Leap::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;
}
}