void LeapMotionListener::onFrame(const Leap::Controller & controller)
{
const Leap::Frame frame = controller.frame();
Leap::HandList hands = frame.hands();
for (Leap::HandList::const_iterator hl = hands.begin(); hl!=hands.end();hl++)
{
const Leap::Hand hand = *hl;
QString handType = hand.isLeft() ? "Left hand" : "Right hand";
qDebug()<<handType<<"id: "<<hand.id()<<"palm position: "
<<hand.palmPosition().x<<hand.palmPosition().y<<hand.palmPosition().z;
QFile f("share.dat");
if(!f.open(QIODevice::WriteOnly | QIODevice::Text))
return;
QTextStream out(&f);
out<<QString("%1 %2 %3").arg(hand.palmPosition().x)
.arg(hand.palmPosition().y).arg(hand.palmPosition().z);
f.close();
}
}
void jester::LeapMotionImpl::processLeapFrame(Leap::Frame frame) {
Leap::HandList handList = frame.hands();
std::vector<Leap::Hand> hands;
Leap::Hand right, left;
bool foundRight = false, foundLeft = false;
clearJointData();
//put all of the hands in a std::vector
for (Leap::HandList::const_iterator handsIter = handList.begin(); handsIter != handList.end(); handsIter++)
hands.push_back(*handsIter);
std::sort(hands.begin(), hands.end(), finger_count_comparator);
//search to see if last known hand Ids are still available, assign hand, and delete from available hands
// also, delete any unknown hands that have no fingers
for (unsigned int i = 0; i < hands.size(); i++)
if (hands[i].id() == kRightHandId) {
foundRight = true;
right = hands[i];
hands.erase(hands.begin() + i);
} else if (hands[i].id() == kLeftHandId) {
foundLeft = true;
left = hands[i];
hands.erase(hands.begin() + i);
} else if (hands[i].fingers().count() == 0){
hands.erase(hands.begin() + i);
}
//figure out how many hands we need
int neededHands = 0;
if (!foundLeft) neededHands++;
if (!foundRight) neededHands++;
//assume that the highest finger count objects are the most likely to be hands
//only keep as many hands as we need (bounded by the number actually available)
hands.erase(hands.begin() + std::min((int) hands.size(), neededHands), hands.end());
//sort by x coordinate
std::sort(hands.begin(), hands.end(), hand_x_coordinate_comparator);
if (hands.size() == 0 || neededHands == 0) { //if we have or need no hands, do nothing here
} else if (neededHands > (int) hands.size()) { //if we need two and only have 1
//assume left side is left, right side is right
if (hands[0].palmPosition()[0] < 0) {
foundLeft = true;
left = hands[0];
kLeftHandId = left.id();
} else {
foundRight = true;
right = hands[0];
kRightHandId = right.id();
}
} else if (foundLeft == false && neededHands == 1) { //if we need left
foundLeft = true;
left = hands[0];
kLeftHandId = left.id();
} else if (foundRight == false && neededHands == 1) { //if we need right
foundRight = true;
right = hands[hands.size() - 1];
kRightHandId = right.id();
} else { //if we need both and have two
foundLeft = foundRight = true;
left = hands[0];
kLeftHandId = left.id();
right = hands[1];
kRightHandId = right.id();
}
if (foundLeft)
processHand(left, LeapHand::LEFT);
if (foundRight)
processHand(right, LeapHand::RIGHT);
kController->suggestJointInfo(this, kJointData);
}
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;
}
}