void LeapMotionFrame::copyFromFrame(const Leap::Frame& frame, const F32& maxHandAxisRadius)
{
   // This also resets all counters
   clear();

   // Retrieve frame information
   mFrameValid = frame.isValid();
   mFrameId = frame.id();
   mFrameTimeStamp = frame.timestamp();

   mFrameInternalId = smNextInternalFrameId;
   ++smNextInternalFrameId;
   mFrameSimTime = Sim::getCurrentTime();
   mFrameRealTime = Platform::getRealMilliseconds();

   if(!mFrameValid)
   {
      return;
   }

   // Retrieve hand information
   mHandCount = frame.hands().count();
   if(mHandCount > 0)
   {
      copyFromFrameHands(frame.hands(), maxHandAxisRadius);
   }

   // Retrieve pointable information
   mPointableCount = frame.pointables().count();
   if(mPointableCount > 0)
   {
      copyFromFramePointables(frame.pointables());
   }
}
Esempio n. 2
0
int main()
{
	//Leap Motion Vairables
	Leap::Controller controller;
	Leap::Frame frame;
	Leap::HandList hands;
	Leap::Hand h1;
	Leap::FingerList fingers;
	Leap::Finger index;
	Leap::Finger thumb;
	Leap::PointableList pointables;
	float indexX = 0, indexY = 0, indexZ = 0, thumbX = 0, thumbY = 0, thumbZ = 0, sum = 0;
	unsigned long cycles = 0;

	// TCP Variables
	WSADATA wsaData;
	SOCKET connectSocket = INVALID_SOCKET;

	struct addrinfo* result = NULL;
	struct addrinfo* ptr = NULL;
	struct addrinfo  hints;

	char cSendBuf[512][512];
	char sSendBuf[512];

	int iResult;
	int recvBufLen = DEFAULT_BUFLEN;

	int i = 0;

	iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
	if (iResult != 0) {
		printf("WSAStartup failed with error: %d\n", iResult);
		return 1;
	}

	// Initialize all address info to 0 to start.
	SecureZeroMemory(&hints, sizeof(hints));
	hints.ai_family = AF_UNSPEC;     // Doesn't matter if we use IPV4 or IPV6
	hints.ai_socktype = SOCK_STREAM; // TCP Stream sockets
	hints.ai_protocol = IPPROTO_TCP;

	// Resolve the server address and port
	iResult = getaddrinfo("127.0.0.1", DEFAULT_PORT, &hints, &result);
	if (iResult != 0) {
		printf("getaddrinfo failed with error: %d\n", iResult);
		WSACleanup();
		return 1;
	}

	// Attempt to connect to an address until one succeeds
	for (ptr = result; ptr != NULL; ptr = ptr->ai_next) {

		// create a socket for connecting to the server
		connectSocket = socket(ptr->ai_family, ptr->ai_socktype, ptr->ai_protocol);

		if (connectSocket == INVALID_SOCKET) {
			printf("socket failed with error: %ld\n", WSAGetLastError());
			WSACleanup();
			return 1;
		}

		// Connect to the server
		iResult = connect(connectSocket, ptr->ai_addr, (int)ptr->ai_addrlen);
		if (iResult == SOCKET_ERROR) {
			closesocket(connectSocket);
			connectSocket = INVALID_SOCKET;
			continue;
		}

		break;
	}

	// Deallocate the address info
	freeaddrinfo(result);

	if (connectSocket == INVALID_SOCKET) {
		printf("Unable to connect to server!\n");
		WSACleanup();
		return 1;
	}

	// Setup serial port connection and needed variables.
	SerialPort.Open(PORT_NUM, BAUD);

	Controller[20].value = 9;	//Verification Byte sent to make sure everything else ends up in the right location
	FillByteSize();

	while (true)
	{
		cycles++;
		UpdateControllerState();	//Updates all values on the controller
		WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;

		//Stores all of the values from the controller into the controller structure
		Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
		Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
		Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
		Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
		Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
		Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
		Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
		Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
		Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
		Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
		Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
		Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
		Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
		Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
		Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
		Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
		Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
		Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
		Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
		Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);

		CheckDeadZone();

		if (controller.isConnected() == true)
		{ 
			sum = 0;
			frame = controller.frame();
			hands = frame.hands();
			h1 = hands[0];
			fingers = frame.fingers();
			thumb = fingers[0];
			index = fingers[1];
			pointables = frame.pointables();

			Leapvalues[0].value = h1.palmVelocity().x;
			Leapvalues[1].value = h1.palmVelocity().y;
			Leapvalues[2].value = h1.palmVelocity().z;

			Leapvalues[3].value = h1.direction().pitch()*Leap::RAD_TO_DEG;
			Leapvalues[4].value = h1.direction().yaw()*Leap::RAD_TO_DEG;
			Leapvalues[5].value = h1.direction().roll()*Leap::RAD_TO_DEG;

			indexX = index.tipPosition().x;
			indexY = index.tipPosition().y;
			indexZ = index.tipPosition().z;

			thumbX = thumb.tipPosition().x;
			thumbY = thumb.tipPosition().y;
			thumbZ = thumb.tipPosition().z;

			Leapvalues[6].value = sqrt(pow((indexX - thumbX), 2) + pow((indexY - thumbY), 2) + pow((indexZ - thumbZ), 2));

			leapConnected = true;
			CheckLeapDeadZone();

		}

		for (i = 6; i < NUMBER_OF_BUTTONS; i++)	//DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
		{
			{
				Controller[i].value = AnalogToDigital(Controller[i].value);	//converts all of the button presses on the controller to a binary value
			}
		}

		//turns all of the numerical values into buffers that can be passed to the arduino
		for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
		{
			_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
		}

		/*
		for (i = 0; i < NUMBER_OF_BUTTONS; i++) {
			_itoa_s(Controller[i].value, cSendBuf[i], 10);
			cSendBuf[i][strlen(cSendBuf[i])] = '\0';

			iResult = send(connectSocket, cSendBuf[0], (int)strlen(cSendBuf[0]), 0);

			printf("String sent: %s\n", cSendBuf[0]);

			// Check for errors
			if (iResult == SOCKET_ERROR) {
				printf("send failed with error: %d\n", WSAGetLastError());
				closesocket(connectSocket);
				WSACleanup();
				return 1;
			}
		}

		// Try to send the packet
		iResult = send(connectSocket, "\n", (int)strlen("\n"), 0);

		//printf("String sent: %s\n", sendBuf);

		// Check for errors
		if (iResult == SOCKET_ERROR) {
			printf("send failed with error: %d\n", WSAGetLastError());
			closesocket(connectSocket);
			WSACleanup();
			return 1;
		}*/

		if (leapConnected = true)
		{
			for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
			{
				_itoa_s(Leapvalues[i].value, Leapvalues[i].passedValue, 10);
			}
		}

		/*Values recieved in this order:
		0) YAW
		1) PITCH
		2) ROLL
		3) ACCELERATION ON X AXIS
		4) ACCELERATION ON Y AXIS
		5) ACCELERATION ON Z AXIS
		6) SONAR SENSOR DISTANCE (IN METERS)
		*/
		if (SendData() == 1)
		{
			for (i = 0; i < 7; i++)
			{
				while (SerialPort.ReadDataWaiting() < 3)
				{
				}

				if (i > 2 && i < 6)
					SerialPort.ReadData(received[i], 5);

				else
					SerialPort.ReadData(received[i], 4);

				std::cout << received[i] << ' ';

				// Added this 6.25.14
				strcpy(sSendBuf, received[i]);
				sSendBuf[strlen(sSendBuf)] = '\0';
				iResult = send(connectSocket, sSendBuf, (int)strlen(sSendBuf), 0);

				printf("String sent: %s\n", sSendBuf);

				// Check for errors
				if (iResult == SOCKET_ERROR) {
					printf("send failed with error: %d\n", WSAGetLastError());
					closesocket(connectSocket);
					WSACleanup();
					return 1;
				}

				// Try to send the packet
				iResult = send(connectSocket, "\n", (int)strlen("\n"), 0);

				//printf("String sent: %s\n", sendBuf);

				// Check for errors
				if (iResult == SOCKET_ERROR) {
					printf("send failed with error: %d\n", WSAGetLastError());
					closesocket(connectSocket);
					WSACleanup();
					return 1;
				}
			}
		}
			
		
		
		//std::cout << recieved[0];
		printf("\t%d", cycles);
		printf("\n");
		//Sleep(500);  <<'\t' << recieved[1]

		
	}

	closesocket(connectSocket);
	WSACleanup();
	return 0;
}
Esempio n. 3
0
void ZirkLeap::onFrame(const Leap::Controller& controller) {
    if(controller.hasFocus()) {
        Leap::Frame frame = controller.frame();
        if (mPointableId >= 0) {
            ourProcessor->setSelectedSource(mEditor->getCBSelectedSource()-1);
            Leap::Pointable p = frame.pointable(mPointableId);
            if (!p.isValid() || !p.isExtended()) {
                mPointableId = -1;
                mLastPositionValid = false;
            } else {
                Leap::Vector pos = p.tipPosition();
                const float zPlane1 = 50;	// 5 cm
                const float zPlane2 = 100;	// 10 cm
                
                if (pos.z < zPlane2) {
                    if (mLastPositionValid) {
                        //Leap Motion mouvement are calculated from the last position in order to have something dynamic and ergonomic
                        Leap::Vector delta = pos- mLastPosition;
                        
                        float scale = 3;
                        if (pos.z > zPlane1) {
                            float s = 1 - (pos.z - zPlane1) / (zPlane2 - zPlane1);
                            scale *= s;
                            
                        }
                        
                        int src = ourProcessor->getSelectedSource();
                        float fX, fY;
                        ourProcessor->getSources()[src].getXY(fX, fY);
                        fX += delta.x * scale;
                        fY -= delta.y * scale;
                        
                        //clamp coordinates to circle
                        float fCurR = hypotf(fX, fY);
                        if ( fCurR > ZirkOscAudioProcessor::s_iDomeRadius){
                            float fExtraRatio = ZirkOscAudioProcessor::s_iDomeRadius / fCurR;
                            fX *= fExtraRatio;
                            fY *= fExtraRatio;
                        }
                        
                        mEditor->move(src, fX, fY);
                    } else {
                        //std::cout << "pointable last pos not valid" << std::endl;
                    }
                    mLastPosition = pos;
                    mLastPositionValid = true;
                } else {
                    //std::cout << "pointable not touching plane" << std::endl;
                    mLastPositionValid = false;
                }
            }
        }
        if (mPointableId < 0) {
            Leap::PointableList pl = frame.pointables().extended();
            if (pl.count() > 0) {
                mPointableId = pl[0].id();
                //std::cout << "got new pointable: " << mPointableId << std::endl;
            }
        }
    }
}
Esempio n. 4
0
int main()
{
	Leap::Controller controller;
	Leap::Frame frame;
	Leap::HandList hands;
	Leap::Hand h1;
	Leap::FingerList fingers;
	Leap::Finger index;
	Leap::Finger thumb;
	Leap::PointableList pointables;
	float indexX = 0, indexY = 0, indexZ = 0, thumbX = 0, thumbY = 0, thumbZ = 0, sum = 0, supersample[20];

	int i = 0;

	// Setup serial port connection and needed variables.
	HANDLE hSerial = CreateFile(L"COM6", GENERIC_WRITE | GENERIC_READ, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);

	if (hSerial != INVALID_HANDLE_VALUE)
	{
		printf("Port opened! \n");

		DCB dcbSerialParams;
		GetCommState(hSerial, &dcbSerialParams);

		dcbSerialParams.BaudRate = CBR_14400;
		dcbSerialParams.ByteSize = 8;
		dcbSerialParams.Parity = NOPARITY;
		dcbSerialParams.StopBits = ONESTOPBIT;

		SetCommState(hSerial, &dcbSerialParams);

		Sleep(1000);
	}

	else
	{
		if (GetLastError() == ERROR_FILE_NOT_FOUND)
		{
			printf("Serial port doesn't exist! \n");
		}

		printf("Error while setting up serial port! \n");
	}

	Controller[20].value = 9;	//Verification Byte sent to make sure everything else ends up in the right location
	FillByteSize();

	while (true)
	{
		UpdateControllerState();	//Updates all values on the controller
		WORD wButtons = g_Controllers[CONTROLLER1].state.Gamepad.wButtons;

		//Stores all of the values from the controller into the controller structure
		Controller[0].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRX;
		Controller[1].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbRY;
		Controller[2].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLX;
		Controller[3].value = g_Controllers[CONTROLLER1].state.Gamepad.sThumbLY;
		Controller[4].value = (g_Controllers[CONTROLLER1].state.Gamepad.bRightTrigger);
		Controller[5].value = (g_Controllers[CONTROLLER1].state.Gamepad.bLeftTrigger);
		Controller[6].value = (wButtons & XINPUT_GAMEPAD_RIGHT_THUMB);
		Controller[7].value = (wButtons & XINPUT_GAMEPAD_LEFT_THUMB);
		Controller[8].value = (wButtons & XINPUT_GAMEPAD_RIGHT_SHOULDER);
		Controller[9].value = (wButtons & XINPUT_GAMEPAD_LEFT_SHOULDER);
		Controller[10].value = (wButtons & XINPUT_GAMEPAD_DPAD_UP);
		Controller[11].value = (wButtons & XINPUT_GAMEPAD_DPAD_DOWN);
		Controller[12].value = (wButtons & XINPUT_GAMEPAD_DPAD_LEFT);
		Controller[13].value = (wButtons & XINPUT_GAMEPAD_DPAD_RIGHT);
		Controller[14].value = (wButtons & XINPUT_GAMEPAD_A);
		Controller[15].value = (wButtons & XINPUT_GAMEPAD_B);
		Controller[16].value = (wButtons & XINPUT_GAMEPAD_Y);
		Controller[17].value = (wButtons & XINPUT_GAMEPAD_X);
		Controller[18].value = (wButtons & XINPUT_GAMEPAD_START);
		Controller[19].value = (wButtons & XINPUT_GAMEPAD_BACK);

		CheckDeadZone();

		if (controller.isConnected() == true)
		{
			sum = 0;
			frame = controller.frame();
			hands = frame.hands();
			h1 = hands[0];
			fingers = frame.fingers();
			thumb = fingers[0];
			index = fingers[1];
			pointables = frame.pointables();

			Leapvalues[0].value = h1.palmVelocity().x;
			Leapvalues[1].value = h1.palmVelocity().y;
			Leapvalues[2].value = h1.palmVelocity().z;
			Leapvalues[3].value = h1.direction().pitch()*Leap::RAD_TO_DEG;
			Leapvalues[4].value = h1.direction().yaw()*Leap::RAD_TO_DEG;

			indexX = index.tipPosition().x;
			indexY = index.tipPosition().y;
			indexZ = index.tipPosition().z;

			thumbX = thumb.tipPosition().x;
			thumbY = thumb.tipPosition().y;
			thumbZ = thumb.tipPosition().z;

			Leapvalues[5].value = sqrt(pow((indexX - thumbX), 2) + pow((indexY - thumbY), 2) + pow((indexZ - thumbZ), 2));

			leapConnected = true;
			CheckLeapDeadZone();
		}



		for (i = 6; i < NUMBER_OF_BUTTONS; i++)	//DO NOT SET TO <= NUMBER_OF_BUTTONS, NOT A MISTAKE. Verification bit should always keep its value
		{
			{
				Controller[i].value = AnalogToDigital(Controller[i].value);	//converts all of the button presses on the controller to a binary value
			}
		}

		//turns all of the numerical values into buffers that can be passed to the arduino
		for (i = 0; i <= NUMBER_OF_BUTTONS; i++)
		{
			_itoa_s(Controller[i].value, Controller[i].passedValue, 10);
		}

		for (i = 0; i < NUMBER_OF_LEAP_INPUTS; i++)
		{
			_itoa_s(Leapvalues[i].value, Leapvalues[i].passedValue, 10);
		}

		SendData(hSerial);

		std::cout << Controller[8].value << std::endl;
	}
	return 0;
}
int main(int argc, char **argv)
{
	//int i;
	//static IplImage *src_img = 0, *src_gray = 0;
	CascadeClassifier face_cascade;
	//OK 2014.02.14 精度は荒いが速度はよい ※速度重視
	face_cascade.load("..\\..\\data\\haarcascade_frontalface_alt2.xml");
	
	//setup image files used in the capture process
	Mat captureFrame;
	Mat grayscaleFrame;

	static pLeapData pLeapData;
	pLeapData.init();

	static bool mLeapnot = false;
	static bool mTakOffFlag = false;
	static bool mSendCommandflag = false;
	static int  mSendCommandcounter = 0;
	static int  mSoundCommandcounter = 0;
	static int  mSoundCommandOKcounter = 20;
	
	float pitch = 0;		//前p:-0.5 後p: 0.9
	float yaw   = 0;		//左y:-1.0 右y: 0.7
	float roll  = 0;		//左R: 0.8 右R:-1.0
	float pitch_pre = 0;	//前p:-0.5 後p: 0.9
	float yaw_pre  = 0;		//左y:-1.0 右y: 0.7
	float roll_pre = 0;		//左R: 0.8 右R:-1.0

	float PosX = 0;			//左右   左  -150 〜 右 150
	float PosY = 0;			//上下昇降 下    50 〜 上 300
	float PosZ = 0;			//前後     手前-100 〜 奥 100
	float PosX_pre = 0;		//左右   左  -150 〜 右 150
	float PosY_pre = 0;		//上下昇降 下    50 〜 上 300
	float PosZ_pre = 0;		//前後     手前-100 〜 奥 100

	float Para_pre = 0.80f;	//
	float Para_cur = 0.2f;	//

	Leap::Frame frame;		// controller is a Leap::Controller object
	Leap::HandList hands;
	Leap::Hand firstHand;

	//double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;

	int mbatValue = 0;

	//マウスイベント用
	//http://ameblo.jp/banquet-of-merry-widow/entry-11101618791.html
	MouseParam mparam;
	mparam.x = 0; mparam.y = 0; mparam.event = 0; mparam.flags = 0;
	//ウインドウへコールバック関数とコールバック関数からイベント情報を受け取る変数を渡す。
	//setMouseCallback( wname, &mfunc, &mparam );

	// AR.Drone class
    // ARDrone ardrone;

	if(mNonDronDebug == true)
	{
	}else
	{   
		// Initialize
		//if (!ardrone.open()) {
		if ( initdrone(&ardrone) == -1) {
			printf("Failed to initialize.\n");
			return -1;
		}
	}

#ifdef MCISOUND
	PlayWaveSound();
#endif

    // Battery
    printf("Battery = %d%%\n", ardrone.getBatteryPercentage());

    // Instructions
    printf("***************************************\n");
    printf("*       CV Drone sample program       *\n");
    printf("*           - How to Play -           *\n");
    printf("***************************************\n");
    printf("*                                     *\n");
    printf("* - Controls -                        *\n");
    printf("*    'Space' -- Takeoff/Landing       *\n");
    printf("*    'Up'    -- Move forward          *\n");
    printf("*    'Down'  -- Move backward         *\n");
    printf("*    'Left'  -- Turn left             *\n");
    printf("*    'Right' -- Turn right            *\n");
    printf("*    'Q'     -- Move upward           *\n");
    printf("*    'A'     -- Move downward         *\n");
    printf("*                                     *\n");
    printf("* - Others -                          *\n");
    printf("*    'C'     -- Change camera         *\n");
    printf("*    'Esc'   -- Exit                  *\n");
    printf("*                                     *\n");
    printf("*    'F' --mFaceDetectMode:スイッチ  *\n");
    printf("*    'L' --LeapMode:スイッチ         *\n");
    printf("*                                     *\n");
    printf("***************************************\n\n");
	// 
	//2014.01.15 add
	Leap::Controller leapController;
        
	// Get an image
	static IplImage *image;
	//ardrone.setCamera(0);
	ardrone.setCamera(1);//下面カメラ指定

	//顔検出後の枠用
	CvPoint pt1;
	pt1.x = 100;
	pt1.y = 100;
	CvScalar rcolor;
	rcolor = CV_RGB( 128,  80, 128);

	//ウィンドウの表示
	cvNamedWindow ("FaceDetectW", CV_WINDOW_AUTOSIZE);
	cvNamedWindow ("camera", CV_WINDOW_AUTOSIZE);
	//ウインドウへコールバック関数とコールバック関数からイベント情報を受け取る変数を渡す。
	cvSetMouseCallback( "camera", &mMouseEventfunc, &mparam );

	time_t now = time(NULL);
	struct tm *pnow = localtime(&now);

    while (1) 
	{
        // Key input
        int key = cvWaitKey(33);
        //int key = cvWaitKey(15);
		if (key == 0x1b){
			break;
		}

		//2014.03.09 add
		vx = 0.0;
		vy = 0.0;
		vz = 0.0;
		vr = 0.0;

		//音声出力タイミング用ワーク
		if (mSendCommandflag == true)
		{
			if(mSendCommandcounter++ > 50)
			{
				mSendCommandflag = false;
				mSendCommandcounter = 0;
			}
		}
        // Update
		if(mNonDronDebug == false)
		{
	        if (!ardrone.update()) 
				break;

			// Get an image
			image = ardrone.getImage();
			if((mbatValue = ardrone.getBatteryPercentage()) < 30){
				printf("Battery = %d%%\n",mbatValue );

				if(mArDroneCommandFlag == false)
					ardrone.move3D(0.0, 0.0, 0.0, 0.0);
				msleep(80);
				ardrone.landing();
				printf("Landing\n");
				msleep(180);
			}
		//}
	
#ifndef FACEDETECT
		try{
			//2014.02.15 FaceDetection追加
			// (3)メモリを確保し,読み込んだ画像のグレースケール化,ヒストグラムの均一化を行う
			CvMemStorage *storage = 0;
			storage = cvCreateMemStorage (0);
			cvClearMemStorage (storage);

			//Mat captureFrame;
			//Mat grayscaleFrame;
			Mat captureFrameMat = cvarrToMat(image);
			cvtColor(captureFrameMat, grayscaleFrame, CV_BGR2GRAY);
			equalizeHist(grayscaleFrame, grayscaleFrame);
 
			// mFaceDetectMode:Fキーにてスイッチ
			if((mFaceDetectMode == true)
				&&((ardrone.getCameraMode() == 0)||(ardrone.getCameraMode() == 2)))//正面カメラの場合に有効
			{
				// (4)物体(顔)検出
				//create a vector array to store the face found
				std::vector<Rect> faces;
				face_cascade.detectMultiScale(grayscaleFrame, faces, 1.2, 4, CV_HAAR_FIND_BIGGEST_OBJECT|CV_HAAR_SCALE_IMAGE, Size(30,30));
				//printf("FaceNum:%02d\n",faces.size());

				// (5)検出された全ての顔位置に,四角を描画する
				Point pt1;
				Point pt2;
				Point cPt1;//Center Mark
				int mFaceHeight=0;
				int mFaceWidth=0;
				//複数検出の場合は、最大のものをTrackingする。
				for(int i = 0; i < (signed)faces.size(); i++)
				{
					if(i==0)
					{
						pt1.x = faces[i].x + faces[i].width;
						pt1.y = faces[i].y + faces[i].height;
						mFaceHeight = faces[i].height;
						mFaceWidth = faces[i].width;
						pt2.x = faces[i].x ;
						pt2.y = faces[i].y ;
						cPt1.x = faces[i].x + faces[i].width/2;
						cPt1.y = faces[i].y + faces[i].height/2;
					}else
					{
						//最大の検出対象の値をキープ
						if(faces[i-1].height < faces[i].height)
						{
							pt1.x = faces[i].x + faces[i].width;
							pt1.y = faces[i].y + faces[i].height;
							mFaceHeight = faces[i].height;
							mFaceWidth = faces[i].width;
							pt2.x = faces[i].x;
							pt2.y = faces[i].y;
							cPt1.x = faces[i].x + faces[i].width/2;
							cPt1.y = faces[i].y + faces[i].height/2;
						}
					}
				}

				//printf("FaceNum:%02d",faces.size());
				if(faces.size() > 0)
				{
					//顔検出した場合の処理
					mFaceLostFlag = false;

					rectangle(captureFrameMat, pt1, pt2, cvScalar(0, 255, 0, 0), 1, 8, 0);
					//Center Mark
					circle (captureFrameMat,cPt1,5,rcolor,-2);

					//double vx=0.0, vy=0.0, vr=0.0, vz=0.0;
					if((cPt1.x > 0)&&(cPt1.x < 200)){
						vr = 1.0;
					}
					if((cPt1.x > 280)&&(cPt1.x <350)){
						vr = 1.0;
					}
					if((cPt1.x > 450)&&(cPt1.x < 520)){
						vr = -1.0;
					}
					if((cPt1.x > 600)&&(cPt1.x < 800)){
						vr = -1.0;
					}
					
					if((cPt1.y > 0)&&(cPt1.y < 350)){
						//vz = 0.75;
					}else if((cPt1.y > 400)&&(cPt1.y < 600)){
						//vz = -0.75;
					}
					if((mFaceHeight > 1)&&(mFaceHeight < 200)){
						//vx = 0.75;
						//vz = 0.75;
					}else if((mFaceHeight > 300)&&(mFaceHeight < 600)){
						//vx = -0.75;
						//vz = -0.75;
					} 

					if(!mNonDronRDebug)
					{
						if((!ardrone.onGround())&&(mArDroneCommandFlag == false))
						{
							//time_t now = time(NULL);
							//struct tm *pnow = localtime(&now);
							//printf("FT:%02d:%02d:%02d X:%03d Y:%03d vx:%02.1f vy:%02.1f vz:%02.1f vr:%02.1f FH:%03d\n",pnow->tm_hour,pnow->tm_min,pnow->tm_sec, cPt1.x,cPt1.y, vx, vy, vz, vr, mFaceHeight);
							//ardrone.move3D(vx, vy, vz, vr);
							//msleep(30);
						}
					}
				}else
				{
					//Face Lostモード
					if(mFaceLostFlag == false)
					{
						mFaceLostFlag = true;
						if(!mNonDronRDebug)
						{
							if (!ardrone.onGround())
							{
								if(mArDroneCommandFlag == false)
								{
									//ardrone.move3D(0.0, 0.0, 0.0, 0.0);
									//printf(" X:%03d Y:%03d vx:%02d vy:%02d vz:%02d vr:%02d FH:%03d\n", 0, 0, 0, 0, 0, 0, 0);
									printf("Face Lostモード\n");
									//msleep(100);
								}
							}
						}
					}
				}

				//2014.02.22
				// height value enable 150 - 400
				// x 150 - 600  center:400
				// y 150 - 600  center:400
				//printf(" x:%02d y:%02d w:%02d h:%02d",faces[0].x,faces[0].y,faces[0].width,faces[0].height);
				//printf(" cx:%02d cy:%02d w:%02d h:%02d",cPt1.x,cPt1.y,faces[0].width,faces[0].height);
				//printf("\n");
				//
				IplImage wimage = captureFrameMat;
				//static IplImage wimage = grayscaleFrame;
				//cvCopy( image, wimage);
				image = &wimage;
			}

		}catch(char *e)
		{
			printf("%s\n",e);
		}
#endif
		}

        //2014.03.09 add
		if((mLeapnot != true)&&(pLeapData.mLeapMode == true)&&(leapController.isConnected()))
		{
			frame = leapController.frame(); // controller is a Leap::Controller object
			hands = frame.hands();
			firstHand = hands[0];

			pitch_pre = pitch;
			pitch = firstHand.direction().pitch();//前p:-0.5 後p: 0.9
			pitch = pitch_pre*Para_pre + pitch*Para_cur;	//Para_pre:0.80 Para_cur:0.20

			yaw_pre = yaw;    //左y:-1.0 右y: 0.7
			yaw = firstHand.direction().yaw();    //左y:-1.0 右y: 0.7
			yaw = yaw_pre*Para_pre + yaw*Para_cur;

			roll_pre = roll; //左R: 0.8 右R:-1.0
			roll = firstHand.palmNormal().roll(); //左R: 0.8 右R:-1.0
			roll = roll_pre*Para_pre + roll*Para_cur;

			PosX = frame.pointables().leftmost().tipPosition().x;       //左右   左-150 〜 右 150
			PosY = frame.pointables().leftmost().tipPosition().y;       //上下昇降 下  50 〜 上 300
			PosZ = frame.pointables().leftmost().tipPosition().z * (1); //前後   手前-100 〜 奥 100

			if(pLeapData.mLeapDebugPrint == true){
				printf("%03d XYZ:%03.02f:%03.02f:%03.02f p:%03.02f y:%03.02f r:%03.02f TF:%01i: %i\n",mSoundCommandcounter, PosX,PosY,PosZ,pitch,yaw,roll,(int)mTakOffFlag,mSendCommandcounter);
			}

			//LeapMotion Value set
			//LeapMotionに近づけると TakeOFF
			if((PosY > 50) && (PosY < 75) && (mTakOffFlag == true))
			{
				if(mNonDronDebug == false)
				{
					if (ardrone.onGround())
					{
						mTakOffFlag = false;
					}else
					{
						if(mSoundCommandcounter>mSoundCommandOKcounter){
							sndPlaySound("..\\..\\src\\resource\\HackathonUser1orimasu.wav", SND_ASYNC);//orimasu
							mSoundCommandcounter = 0;
						}
						
						if(!mNonDronRDebug) {
							ardrone.landing();
						}

						mTakOffFlag = false;
						mSendCommandflag = true;

						if(!mNonDronRDebug) 
							if((pLeapData.mLeapMode == true)&&(mArDroneCommandFlag == false))
								ardrone.move3D(0.0, 0.0, 0.0, 0.0);

						msleep(250);
					}
				}
			}

			if((PosY > 200) && (PosY < 250) && (mTakOffFlag == false))
			{
				if(mNonDronDebug == false)
				{
					if (ardrone.onGround())
					{
						if(pLeapData.mLeapMode == true)
						{
							mSendCommandflag = true;
							if(!mNonDronRDebug) 
								ardrone.takeoff();

							msleep(250);
						
							printf("Leap takeoff\n");
							mTakOffFlag = true;
							ardrone.move3D(0.0, 0.0, 0.0, 0.0);
							//msleep(50);
							msleep(100);
						}
					}
				}
			}

			if((pitch > -0.6) && (pitch < -0.45)){
			//前進
				//vx =  1.0;
			}else if((pitch < 0.9)&&(pitch > 0.5)){
			//back
				//vx =  -1.0;
			}

			if((roll > 0.5)&&(roll < 0.8)){
			//左傾斜
				//vy = 1.0;
			}else if((roll < -1.0)&&(roll > -1.4)){
			//右傾斜
				//vy = -1.0;
			}else if((vx == 0) &&(vy == 0))
			{
				//左向き
				if((yaw < -0.5)&&(yaw > -0.8)){
					vr = 1.0;
				}
				//右向き
				if((yaw > 0.05)&&(yaw < 0.5)){
					vr = -1.0;
				}
			}else
			{
				vr = 0.0;
			}

			if(!pLeapData.mLeapDebugPrint == true){
				printf("vxyr:%02.01f %02.01f %02.01f: %02.01f %02.01f \n",vx,vy,vr,roll,roll_pre);
			}
		}//(mLeapnot != true)

		//キーコントロール入力
        // Take off / Landing 
		if(mNonDronDebug == false)
		{
			if (key == ' ') 
			{
				if (ardrone.onGround())
				{
					if(!mNonDronRDebug) 
						ardrone.takeoff();

					msleep(300);
					printf("takeoff\n");
					if(mArDroneCommandFlag == false)
					{
						ardrone.move3D(0.0, 0.0, 0.0, 0.0);
						msleep(200);
					}

					if(mSoundCommandcounter>mSoundCommandOKcounter)
					{
						sndPlaySound("..\\..\\src\\resource\\HackathonUser1tobimasu.wav", SND_ASYNC);//orimasu
						mSoundCommandcounter = 0;
					}

					mTakOffFlag = true;
					mSendCommandflag = true;
					//msleep(500);
				}else//
				{
					if(!mNonDronRDebug)// false
					{
						ardrone.landing();
						printf("Landing\n");
						msleep(500);
						ardrone.move3D(0.0, 0.0, 0.0, 0.0);
						msleep(200);
					}

					if(mSoundCommandcounter>mSoundCommandOKcounter)
					{
						sndPlaySound("..\\..\\src\\resource\\HackathonUser1orimasu.wav", SND_ASYNC);//orimasu
						mSoundCommandcounter = 0;
					}

					mTakOffFlag = false;
					mSendCommandflag = true;
					//msleep(500);
				}
			}//'Space'
		}

		//printf("*    'Space' -- Takeoff/Landing       *\n");
		//printf("*    'Up'    -- Move forward          *\n");
		//printf("*    'Down'  -- Move backward         *\n");
		//printf("*    'Left'  -- Turn left             *\n");
		//printf("*    'Right' -- Turn right            *\n");
		//printf("*    'Q'     -- Move upward           *\n");
		//printf("*    'A'     -- Move downward         *\n");
        // Move
        //vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
        if (key == 0x260000) vx =  1.0;//Up arrow
        if (key == 0x280000) vx = -1.0;//Down arrow key
        if (key == 0x250000) vr =  1.0;//Left arrow key
        if (key == 0x270000) vr = -1.0;//Right arrow key
        if (key == 'q')      vz =  1.0;
        if (key == 'a')      vz = -1.0;

        if (key == 'r')
		{
			//Reset
			//ardrone.emergency();
			if(mNonDronDebug == true)
			{
			}else
			{   
				//2014.03.09 add
				vx = 0.0;
				vy = 0.0;
				vz = 0.0;
				vr = 0.0;
				//ardrone.close();
				if ( initdrone(&ardrone) == -1) {
					printf("Failed to initialize.\n");
					return -1;
				}
			}
		}
		
		// 2014.03.02 add
        if((key == 'f')||(key == 'F')){
			mFaceDetectMode = !mFaceDetectMode;
			printf("Face Mode:%02X  Battery = %d%%\n",mFaceDetectMode, ardrone.getBatteryPercentage());
		}
		
		if((key == 'l')||(key == 'L')){
			pLeapData.mLeapMode = !pLeapData.mLeapMode;
			printf("Leap Mode:%02X  Battery = %d%%\n",pLeapData.mLeapMode, ardrone.getBatteryPercentage());
		}

		if((key == 'v')||(key == 'V')){
			printf("Btry:%d%% mSendCommandflag:%02d\n", ardrone.getBatteryPercentage(), mSendCommandflag);
		}

		if((key == '0')||(key == '0')){
			printf("Btry:%d%% reset setFlatTrim():%02d\n", ardrone.getBatteryPercentage(), key);
			ardrone.setFlatTrim();
			msleep(500);
		}


		if(mNonDronDebug == false)
		{
			gotoPlaySound(vx, vy, vr, mSoundCommandcounter, mSoundCommandOKcounter);
			if((!mNonDronRDebug)&&(!ardrone.onGround()))
			{
				if((mArDroneCommandFlag == false)&&(MouseARMode == false))
				{
					ardrone.move3D(vx, vy, vz, vr);
					//ardrone.move3D(vx, vy, vz, vr);
					//ardrone.move3D(vx,  vr, 0.0, vy);
					msleep(150);
					time_t now = time(NULL);
					struct tm *pnow = localtime(&now);
					printf("KLT:%02d:%02d:%02d vx:%02.1f vy:%02.1f vz:%02.1f vr:%02.1f \n",pnow->tm_hour,pnow->tm_min,pnow->tm_sec, vx, vy, vz, vr);
				}
			}
			//ardrone.move3D(0, 0, 0, 0);
		}

        // Change camera
		if(mNonDronDebug == false)
		{
	        static int mode = 0;
		    if((key == 'c')||(key == 'C')) 
				ardrone.setCamera(++mode%2);
				//ardrone.setCamera(++mode%4);

	        // Display the image
			//cvCircle (image,pt1,30,rcolor,2);
			IplImage wGrayImage = grayscaleFrame;
			cvShowImage ("FaceDetectW", &wGrayImage);             
		    cvShowImage("camera", image);

			cvMoveWindow( "FaceDetectW", 600, 0 );
			cvMoveWindow( "camera", 50, 0 );
			//WindowFromPoint(point(100,200));
		
			if ((key == 's') && (ardrone.getCameraMode() == 1))
			{
				imgSave("..\\..\\SaveFileName.jpg", &wGrayImage);
			}
		}
    }//while loop

    // See you
	if(mNonDronDebug == false)
	{
	    ardrone.close();
		cvDestroyWindow ("camera");
		cvDestroyWindow ("FaceDetectW");
	}

    return 0;
}
Esempio n. 6
0
void oleap_bang(t_oleap *x)
{

	const Leap::Frame frame = x->leap->frame();
    const int64_t frame_id = frame.id();
    Leap::Controller controller;
    
	// ignore the same frame
	if (frame_id == x->frame_id_save) return;
	x->frame_id_save = frame_id;
	
	//outlet_anything(x->outlet, gensym("frame_start"), 0, nil);
    
    char buff[128];
    
    const Leap::HandList hands = frame.hands();
	const size_t numHands = hands.count();
    const Leap::Hand leftmost = hands.leftmost();
    const Leap::Hand rightmost = hands.rightmost();
    
    t_osc_bundle_u *bundle = osc_bundle_u_alloc();//alloc creates memory for and initializes the bundle

    controller.enableGesture(Leap::Gesture::TYPE_CIRCLE);
    controller.enableGesture(Leap::Gesture::TYPE_KEY_TAP);
    controller.enableGesture(Leap::Gesture::TYPE_SCREEN_TAP);
    controller.enableGesture(Leap::Gesture::TYPE_SWIPE);
    
    
    // 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;
                
                sprintf(buff,"/gesture/circle/center/x");
                oleap_bundleMessage(bundle,buff,circle.center().x);
                
                sprintf(buff,"/gesture/circle/center/y");
                oleap_bundleMessage(bundle,buff,circle.center().y);
                
                sprintf(buff,"/gesture/circle/center/z");
                oleap_bundleMessage(bundle,buff,circle.center().z);
                
                sprintf(buff,"/gesture/circle/pitch");
                oleap_bundleMessage(bundle,buff,circle.center().pitch());
                
                sprintf(buff,"/gesture/circle/yaw");
                oleap_bundleMessage(bundle,buff,circle.center().yaw());
                
                sprintf(buff,"/gesture/circle/roll");
                oleap_bundleMessage(bundle,buff,circle.center().roll());
                
                sprintf(buff,"/gesture/circle/radius");
                oleap_bundleMessage(bundle,buff,circle.radius());
                
                sprintf(buff,"/gesture/circle/duration");
                oleap_bundleMessage(bundle,buff,circle.duration());
                
                
                if (circle.pointable().direction().angleTo(circle.normal()) <= Leap::PI/4) {
                    clockwiseness = "clockwise";
                    
                    sprintf(buff,"/gesture/circle/clockwiseness/");
                    oleap_bundleMessage(bundle,buff,1);
                    
                } else {
                    clockwiseness = "counterclockwise";
                    
                    sprintf(buff,"/gesture/circle/clockwiseness/");
                    oleap_bundleMessage(bundle,buff,-1);
                }
                
                
                // 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;
                    
                    sprintf(buff,"/gesture/circle/angle/sweep");
                    oleap_bundleMessage(bundle,buff,sweptAngle);
                }
            }
                
            case Leap::Gesture::TYPE_SWIPE:
            {
                Leap::SwipeGesture swipe = gesture;
                int swipe_id = gesture.id();
                int gesture_state = gesture.state();
                Leap::Vector swipe_direction = swipe.direction();
                float swipe_speed = swipe.speed();
                
                ////////////////////////////////Swipe data
                
                sprintf(buff,"/gesture/swipe/direction/x");
                oleap_bundleMessage(bundle,buff,swipe_direction.x);
                
                sprintf(buff,"/gesture/swipe/direction/x");
                oleap_bundleMessage(bundle,buff,swipe_direction.y);
                
                sprintf(buff,"/gesture/swipe/direction/x");
                oleap_bundleMessage(bundle,buff,swipe_direction.z);
                
                sprintf(buff,"/gesture/swipe/position/x");
                oleap_bundleMessage(bundle,buff,swipe.position().x);
                
                sprintf(buff,"/gesture/swipe/position/y");
                oleap_bundleMessage(bundle,buff,swipe.position().y);
                
                sprintf(buff,"/gesture/swipe/position/z");
                oleap_bundleMessage(bundle,buff,swipe.position().z);
                
                sprintf(buff,"/gesture/swipe/pitch");
                oleap_bundleMessage(bundle,buff,swipe.position().pitch());
                
                sprintf(buff,"/gesture/swipe/yaw");
                oleap_bundleMessage(bundle,buff,swipe.position().yaw());
                
                sprintf(buff,"/gesture/swipe/roll");
                oleap_bundleMessage(bundle,buff,swipe.position().roll());
                
                sprintf(buff,"/gesture/swipe/position/start/x");
                oleap_bundleMessage(bundle,buff,swipe.startPosition().x);
                
                sprintf(buff,"/gesture/swipe/position/start/y");
                oleap_bundleMessage(bundle,buff,swipe.startPosition().y);
                
                sprintf(buff,"/gesture/swipe/position/start/z");
                oleap_bundleMessage(bundle,buff,swipe.startPosition().z);
                
                sprintf(buff,"/gesture/swipe/speed");
                oleap_bundleMessage(bundle,buff,swipe_speed);
                
                sprintf(buff,"/gesture/swipe/duration");
                oleap_bundleMessage(bundle,buff,swipe.duration());
            
                
            }
                
            case Leap::Gesture::TYPE_KEY_TAP:
            {
                Leap::KeyTapGesture tap = gesture;
                int tap_id = gesture.id();
                int tap_state = gesture.state();
                Leap::Vector tap_position = tap.position();
                Leap::Vector tap_direction = tap.direction();
                
                ////////////////////////////////Key tap data
                
                sprintf(buff,"/gesture/tap/down/position/x");
                oleap_bundleMessage(bundle,buff,tap_position.x);
                
                sprintf(buff,"/gesture/tap/down/position/y");
                oleap_bundleMessage(bundle,buff,tap_position.y);
                
                sprintf(buff,"/gesture/tap/down/position/z");
                oleap_bundleMessage(bundle,buff,tap_position.z);
                
                sprintf(buff,"/gesture/tap/down/direction/x");
                oleap_bundleMessage(bundle,buff,tap_direction.x);
                
                sprintf(buff,"/gesture/tap/down/direction/y");
                oleap_bundleMessage(bundle,buff,tap_direction.y);
                
                sprintf(buff,"/gesture/tap/down/direction/z");
                oleap_bundleMessage(bundle,buff,tap_direction.z);
                
                sprintf(buff,"/gesture/tap/down/duration");
                oleap_bundleMessage(bundle,buff,tap.duration());
          
            }
                
            case Leap::Gesture::TYPE_SCREEN_TAP:
            {
                Leap::ScreenTapGesture screentap = gesture;
                int screen_tap_id = gesture.id();
                int screen_tap_state = gesture.state();
                Leap::Vector screentap_position = screentap.position();
                Leap::Vector screentap_direction = screentap.direction();
                
                ////////////////////////////////Screen tap data
                
                sprintf(buff,"/gesture/tap/forward/position/x");
                oleap_bundleMessage(bundle,buff,screentap_position.x);
                
                sprintf(buff,"/gesture/tap/forward/position/y");
                oleap_bundleMessage(bundle,buff,screentap_position.y);
                
                sprintf(buff,"/gesture/tap/forward/position/z");
                oleap_bundleMessage(bundle,buff,screentap_position.z);
                
                sprintf(buff,"/gesture/tap/forward/direction/x");
                oleap_bundleMessage(bundle,buff,screentap_direction.x);
                
                sprintf(buff,"/gesture/tap/forward/direction/y");
                oleap_bundleMessage(bundle,buff,screentap_direction.y);
                
                sprintf(buff,"/gesture/tap/forward/direction/z");
                oleap_bundleMessage(bundle,buff,screentap_direction.z);
                
                sprintf(buff,"/gesture/tap/forward/duration");
                oleap_bundleMessage(bundle,buff,screentap.duration());

              
            }
            default:
                
                break;
        }
    }
    
    

    sprintf(buff,"/timeStamp");
    oleap_bundleMessage(bundle,buff,frame.timestamp());
    
    sprintf(buff,"/Hands");
    oleap_bundleMessage(bundle,buff,numHands);
    
    sprintf(buff,"/hand/leftmost/id");
    oleap_bundleMessage(bundle,buff,leftmost.id());
    
    sprintf(buff,"/hand/leftmost/palm/positiony/x");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().x);
    
    sprintf(buff,"/hand/leftmost/palm/positiony/y");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().y);
    
    sprintf(buff,"/hand/leftmost/palm/positiony/z");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().z);

    sprintf(buff,"/hand/leftmost/direction/x");
    oleap_bundleMessage(bundle,buff,leftmost.direction().x);
    
    sprintf(buff,"/hand/leftmost/direction/y");
    oleap_bundleMessage(bundle,buff,leftmost.direction().y);
    
    sprintf(buff,"/hand/leftmost/direction/z");
    oleap_bundleMessage(bundle,buff,leftmost.direction().z);
    
    sprintf(buff,"/hand/leftmost/pitch");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().pitch());
    
    sprintf(buff,"/hand/leftmost/yaw");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().yaw());
    
    sprintf(buff,"/hand/leftmost/roll");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().roll());
    
    sprintf(buff,"/hand/leftmost/palm/velocity/x");
    oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().x);
    
    sprintf(buff,"/hand/leftmost/palm/velocity/y");
    oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().y);
    
    sprintf(buff,"/hand/leftmost/palm/velocity/z");
    oleap_bundleMessage(bundle,buff,leftmost.palmVelocity().z);
    
    sprintf(buff,"/hand/leftmost/palm/sphere/center/x");
    oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().x);
    
    sprintf(buff,"/hand/leftmost/palm/sphere/center/y");
    oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().y);
    
    sprintf(buff,"/hand/leftmost/palm/sphere/center/z");
    oleap_bundleMessage(bundle,buff,leftmost.sphereCenter().z);

    sprintf(buff,"/hand/leftmost/palm/sphere/radius");
    oleap_bundleMessage(bundle,buff,leftmost.sphereRadius());
    
    sprintf(buff,"/hand/leftmost/palm/normal/x");
    oleap_bundleMessage(bundle,buff,leftmost.palmNormal().x);
    
    sprintf(buff,"/hand/leftmost/palm/normal/y");
    oleap_bundleMessage(bundle,buff,leftmost.palmNormal().y);
    
    sprintf(buff,"/hand/leftmost/palm/normal/z");
    oleap_bundleMessage(bundle,buff,leftmost.palmNormal().z);
    
    sprintf(buff,"/hand/leftmost/distance/from/rightmost");
    oleap_bundleMessage(bundle,buff,leftmost.palmPosition().angleTo(rightmost.palmPosition()));
    
    const Leap::FingerList &fingers = leftmost.fingers();
    const size_t numFingers = fingers.count();
    
    for(size_t j = 0; j < numFingers; j++)
    {
        const Leap::Finger &finger = fingers[j];
        const int32_t finger_id = finger.id();
        //const Leap::Ray& tip = finger.tip();
        const Leap::Vector direction = finger.direction();
        const Leap::Vector position = finger.tipPosition();
        const Leap::Vector velocity = finger.tipVelocity();
        const double width = finger.width();
        const double length = finger.length();
        const bool isTool = finger.isTool();
        
        sprintf(buff,"/hand/leftmost/finger/%d/hand_id",j+1);
        oleap_bundleMessage(bundle,buff,leftmost.id());
        
        sprintf(buff,"/hand/leftmost/finger/%d/finger_id",j+1);
        oleap_bundleMessage(bundle,buff,finger.id());
        
        sprintf(buff,"/hand/leftmost/finger/%d/position/x",j+1);
        oleap_bundleMessage(bundle,buff,position.x);
        
        sprintf(buff,"/hand/leftmost/finger/%d/position/y",j+1);
        oleap_bundleMessage(bundle,buff,position.y);
        
        sprintf(buff,"/hand/leftmost/finger/%d/position/z",j+1);
        oleap_bundleMessage(bundle,buff,position.z);
        
        sprintf(buff,"/hand/leftmost/finger/%d/direction/x",j+1);
        oleap_bundleMessage(bundle,buff,direction.x);
        
        sprintf(buff,"/hand/leftmost/finger/%d/direction/y",j+1);
        oleap_bundleMessage(bundle,buff,direction.y);
        
        sprintf(buff,"/hand/leftmost/finger/%d/direction/z",j+1);
        oleap_bundleMessage(bundle,buff,direction.z);
        
        sprintf(buff,"/hand/leftmost/finger/%d/velocity/x",j+1);
        oleap_bundleMessage(bundle,buff,velocity.x);
        
        sprintf(buff,"/hand/leftmost/finger/%d/velocity/y",j+1);
        oleap_bundleMessage(bundle,buff,velocity.y);
        
        sprintf(buff,"/hand/leftmost/finger/%d/velocity/z",j+1);
        oleap_bundleMessage(bundle,buff,velocity.z);
    
        sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/x",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().x);
        
        sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/y",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().y);
        
        sprintf(buff,"/hand/leftmost/finger/%d/direction/normalized/z",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().z);
        
        sprintf(buff,"/hand/leftmost/finger/%d/pitch/normalized/",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().pitch());
        
        sprintf(buff,"/hand/leftmost/finger/%d/yaw/normalized/",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().yaw());
        
        sprintf(buff,"/hand/leftmost/finger/%d/roll/normalized/",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().roll());
        
        sprintf(buff,"/hand/leftmost/finger/%d/width",j+1);
        oleap_bundleMessage(bundle,buff,width);
        
        sprintf(buff,"/hand/leftmost/finger/%d/length",j+1);
        oleap_bundleMessage(bundle,buff,length);
        
        sprintf(buff,"/hand/leftmost/isTool",j+1);
        oleap_bundleMessage(bundle,buff,isTool);
        
        for(size_t i = j+1; i < numFingers; i++)
        {
            sprintf(buff,"/hand/leftmost/finger/%d/distance/to/finger/%d",j+1,i+1);
            oleap_bundleMessage(bundle,buff,fingers[j].direction().distanceTo(fingers[i].direction()));
            
            sprintf(buff,"/hand/leftmost/finger/%d/angle/to/finger/%d",j+1,i+1);
            oleap_bundleMessage(bundle,buff,fingers[j].direction().angleTo((fingers[i].direction())));
            
        }
        
    }
    
    sprintf(buff,"/hand/rightmost/id");
    oleap_bundleMessage(bundle,buff,rightmost.id());
    
    sprintf(buff,"/hand/rightmost/palm/positiony/x");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().x);
    
    sprintf(buff,"/hand/rightmost/palm/positiony/y");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().y);
    
    sprintf(buff,"/hand/rightmost/palm/positiony/z");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().z);
    
    sprintf(buff,"/hand/rightmost/direction/x");
    oleap_bundleMessage(bundle,buff,rightmost.direction().x);
    
    sprintf(buff,"/hand/rightmost/direction/y");
    oleap_bundleMessage(bundle,buff,rightmost.direction().y);
    
    sprintf(buff,"/hand/rightmost/direction/z");
    oleap_bundleMessage(bundle,buff,rightmost.direction().z);
    
    sprintf(buff,"/hand/rightmost/pitch");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().pitch());
    
    sprintf(buff,"/hand/rightmost/yaw");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().yaw());
    
    sprintf(buff,"/hand/rightmost/roll");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().roll());
    
    sprintf(buff,"/hand/rightmost/palm/velocity/x");
    oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().x);
    
    sprintf(buff,"/hand/rightmost/palm/velocity/y");
    oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().y);
    
    sprintf(buff,"/hand/rightmost/palm/velocity/z");
    oleap_bundleMessage(bundle,buff,rightmost.palmVelocity().z);
    
    sprintf(buff,"/hand/rightmost/palm/sphere/center/x");
    oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().x);
    
    sprintf(buff,"/hand/rightmost/palm/sphere/center/y");
    oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().y);
    
    sprintf(buff,"/hand/rightmost/palm/sphere/center/z");
    oleap_bundleMessage(bundle,buff,rightmost.sphereCenter().z);
    
    sprintf(buff,"/hand/rightmost/palm/sphere/radius");
    oleap_bundleMessage(bundle,buff,rightmost.sphereRadius());
    
    sprintf(buff,"/hand/rightmost/palm/normal/x");
    oleap_bundleMessage(bundle,buff,rightmost.palmNormal().x);
    
    sprintf(buff,"/hand/rightmost/palm/normal/y");
    oleap_bundleMessage(bundle,buff,rightmost.palmNormal().y);
    
    sprintf(buff,"/hand/rightmost/palm/normal/z");
    oleap_bundleMessage(bundle,buff,rightmost.palmNormal().z);
    
    sprintf(buff,"/hand/rightmost/distance/from/leftmost");
    oleap_bundleMessage(bundle,buff,rightmost.palmPosition().angleTo(leftmost.palmPosition()));
    
    const Leap::FingerList &rightMostfingers = rightmost.fingers();
    const size_t rightMostnNumFingers = fingers.count();
    
    for(size_t j = 0; j < rightMostnNumFingers; j++)
    {
        const Leap::Finger &finger = rightMostfingers[j];
        const int32_t finger_id = finger.id();
        //const Leap::Ray& tip = finger.tip();
        const Leap::Vector direction = finger.direction();
        const Leap::Vector position = finger.tipPosition();
        const Leap::Vector velocity = finger.tipVelocity();
        const double width = finger.width();
        const double length = finger.length();
        const bool isTool = finger.isTool();
        
        sprintf(buff,"/hand/rightmost/finger/%d/hand_id",j+1);
        oleap_bundleMessage(bundle,buff,rightmost.id());
        
        sprintf(buff,"/hand/rightmost/finger/%d/finger_id",j+1);
        oleap_bundleMessage(bundle,buff,finger.id());
        
        sprintf(buff,"/hand/rightmost/finger/%d/position/x",j+1);
        oleap_bundleMessage(bundle,buff,position.x);
        
        sprintf(buff,"/hand/rightmost/finger/%d/position/y",j+1);
        oleap_bundleMessage(bundle,buff,position.y);
        
        sprintf(buff,"/hand/rightmost/finger/%d/position/z",j+1);
        oleap_bundleMessage(bundle,buff,position.z);
        
        sprintf(buff,"/hand/rightmost/finger/%d/direction/x",j+1);
        oleap_bundleMessage(bundle,buff,direction.x);
        
        sprintf(buff,"/hand/rightmost/finger/%d/direction/y",j+1);
        oleap_bundleMessage(bundle,buff,direction.y);
        
        sprintf(buff,"/hand/rightmost/finger/%d/direction/z",j+1);
        oleap_bundleMessage(bundle,buff,direction.z);
        
        sprintf(buff,"/hand/rightmost/finger/%d/velocity/x",j+1);
        oleap_bundleMessage(bundle,buff,velocity.x);
        
        sprintf(buff,"/hand/rightmost/finger/%d/velocity/y",j+1);
        oleap_bundleMessage(bundle,buff,velocity.y);
        
        sprintf(buff,"/hand/rightmost/finger/%d/velocity/z",j+1);
        oleap_bundleMessage(bundle,buff,velocity.z);
        
        sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/x",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().x);
        
        sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/y",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().y);
        
        sprintf(buff,"/hand/rightmost/finger/%d/direction/normalized/z",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().z);
        
        sprintf(buff,"/hand/rightmost/finger/%d/pitch/normalized/",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().pitch());
        
        sprintf(buff,"/hand/rightmost/finger/%d/yaw/normalized/",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().yaw());
        
        sprintf(buff,"/hand/rightmost/finger/%d/roll/normalized/",j+1);
        oleap_bundleMessage(bundle,buff,direction.normalized().roll());
        
        sprintf(buff,"/hand/rightmost/finger/%d/width",j+1);
        oleap_bundleMessage(bundle,buff,width);
        
        sprintf(buff,"/hand/rightmost/finger/%d/length",j+1);
        oleap_bundleMessage(bundle,buff,length);
        
        sprintf(buff,"/hand/rightmost/isTool",j+1);
        oleap_bundleMessage(bundle,buff,isTool);
        
        for(size_t i = j+1; i < numFingers; i++)
        {
            sprintf(buff,"/hand/rightmost/finger/%d/distance/to/finger/%d",j+1,i+1);
            oleap_bundleMessage(bundle,buff,fingers[j].direction().distanceTo(fingers[i].direction()));
            
            sprintf(buff,"/hand/rightmost/finger/%d/angle/to/finger/%d",j+1,i+1);
            oleap_bundleMessage(bundle,buff,fingers[j].direction().angleTo((fingers[i].direction())));
            
        }
        
    }
    
    
    //////////////////////////
    for(size_t i = 0; i < numHands; i++)
	{
		// Hand
        
        
		const Leap::Hand &hand = hands[i];
		const int32_t hand_id = hand.id();
                
		const Leap::FingerList &fingers = hand.fingers();
		const size_t numFingers = fingers.count();
        
        float pitch = hand.direction().pitch();
        float yaw = hand.direction().yaw();
        float roll = hand.palmNormal().roll();
        
        //Leap::Hand leftmost = ;
        
        

        //t_osc_bundle_u *bundle, string address, float datum

        sprintf(buff,"/hand/%d/id",i+1);
        oleap_bundleMessage(bundle,buff,hand_id);
        
        sprintf(buff,"/hand/%d/fingers",i+1);
        oleap_bundleMessage(bundle,buff,numFingers);
        
        sprintf(buff,"/hand/%d/pitch",i+1);
        oleap_bundleMessage(bundle,buff,pitch);
        
        sprintf(buff,"/hand/%d/yaw",i+1);
        oleap_bundleMessage(bundle,buff,yaw);
        
        sprintf(buff,"/hand/%d/roll",i+1);
        oleap_bundleMessage(bundle,buff,roll);
        

        
		for(size_t j = 0; j < numFingers; j++)
		{
			// Finger
			const Leap::Finger &finger = fingers[j];
			const int32_t finger_id = finger.id();
			//const Leap::Ray& tip = finger.tip();
			const Leap::Vector direction = finger.direction();
			const Leap::Vector position = finger.tipPosition();
			const Leap::Vector velocity = finger.tipVelocity();
			const double width = finger.width();
			const double length = finger.length();
			const bool isTool = finger.isTool();
            
            
            /*
            string names [14]= {“xpos”,”ypos”,”zpos”,”xdir”,”ydir”,”zdir”,”xvel”,”yvel”,”zvel,finger_length”,”istool_mes”};
            
            for(LOOP OVER FINGERS “J”)
            {
                t_osc_message_u *handdata[14];
                for(int i=0;i<14;i++)
                {
                    handdata[i]=osc_message_u_alloc();
                    osc_message_u_setAddress(handdata[i], “/”+j.toString()+ ”/” +names[i]);
                }	
                
            }
            */
            
            sprintf(buff,"/hand/%d/finger/%d/hand_id",i+1,j+1);
            oleap_bundleMessage(bundle,buff,hand_id);
            
            sprintf(buff,"/hand/%d/finger/%d/finger_id",i+1,j+1);
            oleap_bundleMessage(bundle,buff,finger_id);

            sprintf(buff,"/hand/%d/finger/%d/position/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,position.x);
            
            sprintf(buff,"/hand/%d/finger/%d/position/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,position.y);
            
            sprintf(buff,"/hand/%d/finger/%d/position/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,position.z);

            sprintf(buff,"/hand/%d/finger/%d/direction/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,direction.x);
            
            sprintf(buff,"/hand/%d/finger/%d/direction/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,direction.y);

            sprintf(buff,"/hand/%d/finger/%d/direction/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,direction.z);

            sprintf(buff,"/hand/%d/finger/%d/velocity/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,velocity.x);

            sprintf(buff,"/hand/%d/finger/%d/velocity/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,velocity.y);

            sprintf(buff,"/hand/%d/finger/%d/velocity/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,velocity.z);

            sprintf(buff,"/hand/%d/finger/%d/width",i+1,j+1);
            oleap_bundleMessage(bundle,buff,width);

            sprintf(buff,"/hand/%d/finger/%d/length",i+1,j+1);
            oleap_bundleMessage(bundle,buff,length);

            sprintf(buff,"/hand/%d/tool",i+1,j+1);
            oleap_bundleMessage(bundle,buff,isTool);

		}
        
        
        const Leap::Vector position = hand.palmPosition();
        const Leap::Vector direction = hand.direction();
        const Leap::Vector velocity = hand.palmVelocity();
        const Leap::Vector normal = hand.palmNormal();
        const Leap::Vector sphereCenter = hand.sphereCenter();
        const double sphereRadius = hand.sphereRadius();
        
        
        ///////////////////////////Palm Data!!!
        
        
        sprintf(buff,"/hand/%d/palm/hand_id",i+1);
        oleap_bundleMessage(bundle,buff,hand_id);
        
        sprintf(buff,"/hand/%d/palm/frame_id",i+1);
        oleap_bundleMessage(bundle,buff,frame_id);
        
        sprintf(buff,"/hand/%d/palm/position/x",i+1);
        oleap_bundleMessage(bundle,buff,position.x);
        
        sprintf(buff,"/hand/%d/palm/position/y",i+1);
        oleap_bundleMessage(bundle,buff,position.y);
        
        sprintf(buff,"/hand/%d/palm/position/z",i+1);
        oleap_bundleMessage(bundle,buff,position.z);
        
        sprintf(buff,"/hand/%d/palm/direction/x",i+1);
        oleap_bundleMessage(bundle,buff,direction.x);
        
        sprintf(buff,"/hand/%d/palm/direction/y",i+1);
        oleap_bundleMessage(bundle,buff,direction.y);
        
        sprintf(buff,"/hand/%d/palm/direction/z",i+1);
        oleap_bundleMessage(bundle,buff,direction.z);
        
        sprintf(buff,"/hand/%d/palm/velocity/x",i+1);
        oleap_bundleMessage(bundle,buff,velocity.x);
        
        sprintf(buff,"/hand/%d/palm/velocity/x",i+1);
        oleap_bundleMessage(bundle,buff,velocity.y);
        
        sprintf(buff,"/hand/%d/palm/velocity/z",i+1);
        oleap_bundleMessage(bundle,buff,velocity.z);
        
        sprintf(buff,"/hand/%d/palm/normal/x",i+1);
        oleap_bundleMessage(bundle,buff,normal.x);
        
        sprintf(buff,"/hand/%d/palm/normal/y",i+1);
        oleap_bundleMessage(bundle,buff,normal.y);
        
        sprintf(buff,"/hand/%d/palm/normal/z",i+1);
        oleap_bundleMessage(bundle,buff,normal.z);
        
        
        sprintf(buff,"/hand/%d/sphere/id",i);
        oleap_bundleMessage(bundle,buff,hand_id);
        
        sprintf(buff,"/hand/%d/sphere/frame_id",i);
        oleap_bundleMessage(bundle,buff,frame_id);
        
        sprintf(buff,"/hand/%d/sphere/center/x",i+1);
        oleap_bundleMessage(bundle,buff,sphereCenter.x);
        
        sprintf(buff,"/hand/%d/sphere/center/y",i+1);
        oleap_bundleMessage(bundle,buff,sphereCenter.y);
        
        sprintf(buff,"/hand/%d/sphere/center/z",i+1);
        oleap_bundleMessage(bundle,buff,sphereCenter.z);
        
        sprintf(buff,"/hand/%d/sphere/radius",i+1);
        oleap_bundleMessage(bundle,buff,sphereRadius);
    
        
        
        const Leap::PointableList pointables = frame.pointables();
        const int count = pointables.count();

        for(size_t j = 0; j < count; j++){

            sprintf(buff,"/hand/%d/pointable/%d/id",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).id());
            
            sprintf(buff,"/hand/%d/pointable/%d/length",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).length());
            
            sprintf(buff,"/hand/%d/pointable/%d/width",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).width());
        
            sprintf(buff,"/hand/%d/pointable/%d/direction/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).direction().x);
        
            sprintf(buff,"/hand/%d/pointable/%d/direction/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).direction().y);
        
            sprintf(buff,"/hand/%d/pointable/%d/direction/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).direction().z);
        
            sprintf(buff,"/hand/%d/pointable/%d/isFinger",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).isFinger());
            
            sprintf(buff,"/hand/%d/pointable/%d/isTool",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).isTool());
        
            sprintf(buff,"/hand/%d/pointable/%d/position/tip/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipPosition().x);
            
            sprintf(buff,"/hand/%d/pointable/%d/position/tip/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipPosition().y);
        
            sprintf(buff,"/hand/%d/pointable/%d/position/tip/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipPosition().z);
            
            sprintf(buff,"/hand/%d/pointable/%d/velocity/tip/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipVelocity().x);
            
            sprintf(buff,"/hand/%d/pointable/%d/velocity/tip/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipVelocity().y);
            
            sprintf(buff,"/hand/%d/pointable/%d/velocity/tip/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).tipVelocity().z);
     
            sprintf(buff,"/hand/%d/pointable/%d/position/stabilized/x",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).stabilizedTipPosition().x);
            
            sprintf(buff,"/hand/%d/pointable/%d/position/stabilized/y",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).stabilizedTipPosition().y);
            
            sprintf(buff,"/hand/%d/pointable/%d/position/stabilized/z",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).stabilizedTipPosition().z);
            
            sprintf(buff,"/hand/%d/pointable/%d/touchZone/distance",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).touchDistance());
            
            sprintf(buff,"/hand/%d/pointable/%d/touchZone",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).touchZone());
            
            sprintf(buff,"/hand/%d/pointable/%d/touchZone/touching",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).ZONE_TOUCHING);
            
            sprintf(buff,"/hand/%d/pointable/%d/touchZone/hovering",i+1,j+1);
            oleap_bundleMessage(bundle,buff,pointables.operator[](j).ZONE_HOVERING);
            
        }
        
        const Leap::InteractionBox box = frame.interactionBox();
        const Leap::Vector center = box.center();
        const Leap::Vector normalizedPosition = box.normalizePoint(position);
    
        sprintf(buff,"/hand/%d/interactionBox/depth",i+1);
        oleap_bundleMessage(bundle,buff,box.depth());
        
        sprintf(buff,"/hand/%d/interactionBox/center/x",i+1);
        oleap_bundleMessage(bundle,buff,center.x);
        
        sprintf(buff,"/hand/%d/interactionBox/center/y",i+1);
        oleap_bundleMessage(bundle,buff,center.y);
        
        sprintf(buff,"/hand/%d/interactionBox/center/z",i+1);
        oleap_bundleMessage(bundle,buff,center.z);
        
        sprintf(buff,"/hand/%d/interactionBox/position/normalized/x",i+1);
        oleap_bundleMessage(bundle,buff,normalizedPosition.x);
        
        sprintf(buff,"/hand/%d/interactionBox/position/normalized/y",i+1);
        oleap_bundleMessage(bundle,buff,normalizedPosition.y);
        
        sprintf(buff,"/hand/%d/interactionBox/position/normalized/z",i+1);
        oleap_bundleMessage(bundle,buff,normalizedPosition.z);
        
        sprintf(buff,"/hand/%d/interactionBox/width",i+1);
        oleap_bundleMessage(bundle,buff,box.width());
        
        sprintf(buff,"/hand/%d/interactionBox/height",i+1);
        oleap_bundleMessage(bundle,buff,box.height());
        
    }

    
    long bytes = 0;//length of byte array
    char* pointer = NULL;
    
    osc_bundle_u_serialize(bundle, &bytes, &pointer);//& is address of the variable
    //post("%ld %p", bytes,pointer);
    
    t_atom out[2];
    atom_setlong(out, bytes);
    atom_setlong(out+1, (long)pointer);
    outlet_anything(x->outlet, gensym("FullPacket"), 2, out);
    
    osc_bundle_u_free(bundle);//get rid of stuff in osc message
    osc_mem_free(pointer);//marks pointer address as being free (clear if you want to keep using same)
    

}
void DefaultQtLeapMouseHandler::onFrame(const Leap::Frame &frame)
{
    /////// MOUSE EVENTS /////////
    // MOUSE BUTTON PRESSED
    // MOUSE BUTTON RELEASED
    // MOUSE MOVE

    if (this->listeners.empty())
        return ;

    Leap::Pointable pointer = frame.pointable(this->savedMousePointableId);
    if (!pointer.isValid())
    {
        pointer = frame.pointables().frontmost();
        this->savedMousePointableId = pointer.id();
    }

    bool forceRelease = (frame.pointables().count() == 0 && this->mousePressed);
    QMouseEvent::Type frameMouseEvent = QMouseEvent::None;
    QPointF globalPointerPos = QtLeapUtils::convertPointablePosToScreenPos(frame.interactionBox(), pointer);
    Qt::MouseButton button = Qt::NoButton;
    Qt::MouseButtons buttons = Qt::NoButton;

    // FINGER TOUCHING AND NO PREVIOUS PRESS -> SETTING BUTTON PRESS
    if (pointer.touchDistance() <= 0 &&
            pointer.touchZone() == Leap::Pointable::ZONE_TOUCHING &&
            !this->mousePressed)
    {
        this->mousePressed = true;
        frameMouseEvent = QMouseEvent::MouseButtonPress;
        button = Qt::LeftButton;
    }
    else if (this->mousePressed && (pointer.touchDistance() > 0 ||
                                    pointer.touchZone() == Leap::Pointable::ZONE_NONE ||
                                    forceRelease))         // FINGER NOT TOUCHING AND PREVIOUS PRESS -> RELEASING BUTTON PRESS
    {
        frameMouseEvent = QMouseEvent::MouseButtonRelease;
        this->mousePressed = false;
        button = Qt::LeftButton;
    }
    else if (frameMouseEvent == QMouseEvent::None &&     // FINGER IN TOUCHING OR HOVERING ZONE AND NO BUTTON PRESS / RELEASE CHANGE -> MouseMove
             pointer.touchZone() != Leap::Pointable::ZONE_NONE
             && globalPointerPos.toPoint() != this->previousPos)
    {
        frameMouseEvent = QMouseEvent::MouseMove;
        this->previousPos = globalPointerPos.toPoint();
        QCursor::setPos(this->previousPos);
    }

    if (this->mousePressed)
        buttons |= Qt::LeftButton;

    if (frameMouseEvent != QMouseEvent::None)
        foreach (QObject *listener, this->listeners)
            QCoreApplication::postEvent(listener, new QMouseEvent(frameMouseEvent,
                                                                  QtLeapUtils::convertGlobalPosToLocalPos(listener, globalPointerPos),
                                                                  globalPointerPos,
                                                                  button,
                                                                  buttons,
                                                                  Qt::NoModifier));
}