예제 #1
0
GestureFrame LMRecorder::prepareDataClone(const Leap::Frame frame, double timestamp)
{

	GestureFrame outputFrame;

	outputFrame.setTimestamp(timestamp);

	Leap::HandList handsInFrame = frame.hands();
	for(int handIndex=0; handIndex<handsInFrame.count(); handIndex++)
	{
		Leap::Hand currHand = handsInFrame[handIndex];

		//create GestureHand
		GestureHand gestureHand(
			currHand.id(),
			Vertex(currHand.palmPosition().x, currHand.palmPosition().y, currHand.palmPosition().z),
			Vertex(0, 0, 0/*currHand.stabilizedPalmPosition().x, currHand.stabilizedPalmPosition().y, currHand.stabilizedPalmPosition().z*/),
			Vertex(currHand.palmNormal().x, currHand.palmNormal().y, currHand.palmNormal().z),
			Vertex(currHand.direction().x, currHand.direction().y, currHand.direction().z)
		);
		gestureHand.setOrderValue(currHand.palmPosition().x);

		Vertex planeNormalVec = gestureHand.getDirection().crossProduct(gestureHand.getPalmNormal()).getNormalized();

		Leap::FingerList fingersInCurrHand = currHand.fingers();
		for (int fingerIndex=0; fingerIndex<fingersInCurrHand.count(); fingerIndex++)
		{
			Leap::Finger currFinger = fingersInCurrHand[fingerIndex];

			Leap::Vector leapFingerTipPos = currFinger.tipPosition();
			Vertex fingerTipPos(leapFingerTipPos.x, leapFingerTipPos.y, leapFingerTipPos.z);
			float distance = getPointDistanceFromPlane(fingerTipPos, gestureHand.getPalmPosition(), planeNormalVec);

			//create GestureFinger
			GestureFinger gestureFinger(
				currFinger.id(),
				fingerTipPos,
				Vertex(currFinger.stabilizedTipPosition().x, currFinger.stabilizedTipPosition().y, currFinger.stabilizedTipPosition(). z),
				Vertex(currFinger.direction().x, currFinger.direction().y, currFinger.direction().z),
				currFinger.length(),
				currFinger.width()
			);
			gestureFinger.setOrderValue(distance);

			gestureHand.addFinger(gestureFinger);
		}
		gestureHand.sortFingers();

		outputFrame.addHand(gestureHand);
	}
	outputFrame.sortHands();
}
예제 #2
0
void jester::LeapMotionImpl::processHand(Leap::Hand hand, LeapHand whichHand) {
	Bone::JointId toSet = (whichHand == LeapHand::LEFT ? Bone::JointId::WRIST_L : Bone::JointId::WRIST_R);
	Bone::BoneId firstFinger = (whichHand == LeapHand::LEFT ? Bone::BoneId::PHALANX_L_1 : Bone::BoneId::PHALANX_R_1);
	JointFusionData wristData;

	wristData.confidence = LeapConfidence;
	wristData.position = glm::vec3(hand.palmPosition()[0] / LeapMeasurmentScalingFactor,
			hand.palmPosition()[1] / LeapMeasurmentScalingFactor,
			hand.palmPosition()[2] / LeapMeasurmentScalingFactor);
	wristData.id = toSet;

	kJointData.insert(std::pair<Bone::JointId, JointFusionData>(toSet, wristData));

	processFingers(hand, firstFinger, whichHand);
}
// This experimental mode sends chat messages into SL on a back channel for LSL scripts
// to intercept with a listen() event.   This is experimental and not sustainable for
// a production feature ... many avatars using this would flood the chat system and
// hurt server performance.   Depending on how useful this proves to be, a better
// mechanism should be designed to stream data from the viewer into SL scripts.
void LLLMImpl::modeStreamDataToSL(Leap::HandList & hands)
{
	S32 numHands = hands.count();
	if (numHands == 1 &&
		mChatMsgTimer.checkExpirationAndReset(LLLEAP_CHAT_MSG_INTERVAL))
	{
		// Get the first (and only) hand
		Leap::Hand hand = hands[0];

		Leap::Vector palm_pos = hand.palmPosition();
		Leap::Vector palm_normal = hand.palmNormal();

		F32 ball_radius = (F32) hand.sphereRadius();
		Leap::Vector ball_center = hand.sphereCenter();

		// Chat message looks like "/2343 LM1,<palm pos>,<palm normal>,<sphere center>,<sphere radius>"
		LLVector3 vec;
		std::stringstream status_chat_msg;
		status_chat_msg << "/2343 LM,";
		status_chat_msg << "<" << palm_pos.x << "," << palm_pos.y << "," << palm_pos.z << ">,";
		status_chat_msg << "<" << palm_normal.x << "," << palm_normal.y << "," << palm_normal.z << ">,";
		status_chat_msg << "<" << ball_center.x << "," << ball_center.y << "," << ball_center.z << ">," << ball_radius;

		FSNearbyChat::instance().sendChatFromViewer(status_chat_msg.str(), CHAT_TYPE_SHOUT, FALSE);
	}
}
예제 #4
0
파일: leap.cpp 프로젝트: Drone2/utils
void LeapListener::onFrame(const Controller& controller) {
	const Frame frame = controller.frame();
	static int64_t lastFrameID = 0;

	if(frame.id() < lastFrameID+10)
		return;

	Leap::HandList hands = frame.hands();
	Leap::Hand hand = hands[0];

	if(hand.isValid()) {
		float pitch = hand.direction().pitch();
		float yaw = hand.direction().yaw();
		float roll = hand.palmNormal().roll();
		float height = hand.palmPosition().y;

		std::cout << "Pitch: " << RAD_TO_DEG*pitch << " Yaw: " << RAD_TO_DEG*yaw << " Roll: " << RAD_TO_DEG*roll << " Height: " << height << " Frame: " << frame.id() << std::endl;

// 		switch(gest.type()) {
// 			case Gesture::TYPE_CIRCLE:
// 				std::cout << "Takeoff" << std::endl;
// 				if (jakopter_takeoff() < 0)
// 					return;
// 				break;
// 			case Gesture::TYPE_SWIPE:
// 				std::cout << "Land" << std::endl;
// 				if (jakopter_land() < 0)
// 					return;
// 				break;
// 			default:
// 				break;
// 		}

		char c = 's';

		if (height > 300)
			c = 'u';
		else if(height < 75)
			c = 'k';
		else if (height < 150)
			c = 'd';


		if (roll > 0.7)
			c = 'l';
		else if (roll < -0.7)
			c = 'r';

		if (pitch > 0.7)
			c = 'b';
		else if (pitch < -0.7)
			c = 'f';

		FILE *cmd = fopen(CMDFILENAME,"w");
		fprintf(cmd, "%c\n", c);
		fclose(cmd);
	}

	lastFrameID = frame.id();
}
// This controller mode just dumps out a bunch of the Leap Motion device data, which can then be
// analyzed for other use.
void LLLMImpl::modeDumpDebugInfo(Leap::HandList & hands)
{
	S32 numHands = hands.count();		
	if (numHands == 1)
	{
		// Get the first hand
		Leap::Hand hand = hands[0];

		// Check if the hand has any fingers
		Leap::FingerList finger_list = hand.fingers();
		S32 num_fingers = finger_list.count();

		if (num_fingers >= 1) 
		{	// Calculate the hand's average finger tip position
			Leap::Vector pos(0, 0, 0);
			Leap::Vector direction(0, 0, 0);
			for (size_t i = 0; i < num_fingers; ++i) 
			{
				Leap::Finger finger = finger_list[i];
				pos += finger.tipPosition();
				direction += finger.direction();

				// Lots of log spam
				LL_INFOS("LeapMotion") << "Finger " << i << " string is " << finger.toString() << LL_ENDL;
			}
			pos = Leap::Vector(pos.x/num_fingers, pos.y/num_fingers, pos.z/num_fingers);
			direction = Leap::Vector(direction.x/num_fingers, direction.y/num_fingers, direction.z/num_fingers);

			LL_INFOS("LeapMotion") << "Hand has " << num_fingers << " fingers with average tip position"
				<< " (" << pos.x << ", " << pos.y << ", " << pos.z << ")" 
				<< " direction (" << direction.x << ", " << direction.y << ", " << direction.z << ")" 
				<< LL_ENDL;

		}

		Leap::Vector palm_pos = hand.palmPosition();
		Leap::Vector palm_normal = hand.palmNormal();
		LL_INFOS("LeapMotion") << "Palm pos " << palm_pos.x
			<< ", " <<  palm_pos.y
			<< ", " <<  palm_pos.z
			<< ".   Normal: " << palm_normal.x
			<< ", " << palm_normal.y
			<< ", " << palm_normal.z
			<< LL_ENDL;

		F32 ball_radius = (F32) hand.sphereRadius();
		Leap::Vector ball_center = hand.sphereCenter();
		LL_INFOS("LeapMotion") << "Ball pos " << ball_center.x
			<< ", " << ball_center.y
			<< ", " << ball_center.z
			<< ", radius " << ball_radius
			<< LL_ENDL;
	}	// dump_out_data
}
예제 #6
0
void eleap::eleap_t::impl_t::onFrame(const Leap::Controller& controller)
{
    const Leap::Frame frame = controller.frame();
    if (frame.isValid())
    {
        // send the known hands in this frame, this will handle hands coming and going
        const Leap::HandList hands = frame.hands();
        {
            unsigned long long time_encoded = (0&0xffffffff)<<8 | (DATA_KNOWN_HANDS&0xff);

            float *f;
            unsigned char *dp;
            piw::data_nb_t d = ctx_.allocate_host(time_encoded,INT32_MAX,INT32_MIN,0,BCTVTYPE_INT,sizeof(int32_t),&dp,hands.count(),&f);
            memset(f,0,hands.count()*sizeof(int32_t));
            *dp = 0;

            for(int i = 0; i < hands.count(); ++i)
            {
                const Leap::Hand hand = hands[i];
                if(hand.isValid() && hand.fingers().count() > 1)
                {
                    ((int32_t *)f)[i] = hand.id();
                }
            }
            enqueue_fast(d,1);
        }
        
        // handle the actual data for the detected hands
        for(int i = 0; i < hands.count(); ++i)
        {
            const Leap::Hand hand = hands[i];
            if(hand.isValid() && hand.fingers().count() > 1)
            {
                unsigned long long time_encoded = (hand.id()&0xffffffff)<<8 | (DATA_PALM_POSITION&0xff);

                const Leap::Vector palm_pos = hand.palmPosition();

                float *f;
                unsigned char *dp;
                piw::data_nb_t d = ctx_.allocate_host(time_encoded,600,-600,0,BCTVTYPE_FLOAT,sizeof(float),&dp,3,&f);
                memset(f,0,3*sizeof(float));
                *dp = 0;

                f[0] = piw::normalise(600,-600,0,palm_pos.x);
                f[1] = piw::normalise(600,-600,0,palm_pos.y);
                f[2] = piw::normalise(600,-600,0,palm_pos.z);

                enqueue_fast(d,1);
            }
        }
    }
}
예제 #7
0
    virtual void onFrame        (const Leap::Controller&)
    {
        const Leap::Frame frame(m_Controller.frame(0));
        const Leap::Hand hand(frame.hands().rightmost());
        if (!hand.isValid())
        {
            m_LastNormalizedPos.reset();
            return;
        }

        const Leap::Vector pos(hand.palmPosition());
        m_LastNormalizedPos = frame.interactionBox().normalizePoint(pos);
    }
예제 #8
0
int StateKen::eventShake(StateContext& context, const Leap::Controller& controller)
{
    std::cout << "けん\n" << std::endl;
    
    const Leap::Frame frame = controller.frame();
    const Leap::Hand hand = frame.hands()[0];
    
    Leap::Vector position = hand.palmPosition();
    
    JankenApp::getInstance()->setShakeStartPosition(position);
    
    int ret = context.changeState(StatePon::getInstance());
    
    return ret;
}
예제 #9
0
void LeapListener::onFrame(const Controller& controller) {
    const Frame frame = controller.frame();
    Leap::HandList hands = frame.hands();
    Leap::Hand hand = hands[0];

    if(hand.isValid()){
        leapData.pitch = hand.direction().pitch();
        leapData.yaw = hand.direction().yaw();
        leapData.roll = hand.palmNormal().roll();
        leapData.height = hand.palmPosition().y;


        std::cout << "Frame id: " << frame.id()
              << ", timestamp: " << frame.timestamp()
              << ", height: " << leapData.height
              << ", pitch: " << RAD_TO_DEG * leapData.pitch
              << ", yaw: " << RAD_TO_DEG * leapData.yaw
              << ", roll: " << RAD_TO_DEG * leapData.roll << std::endl;
    }
}
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();

    }

}
예제 #11
0
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;
  }

}
예제 #12
0
파일: LeapManager.cpp 프로젝트: sinoth/hifi
void LeapManager::nextFrame(Avatar& avatar) {
    // Apply the frame data directly to the avatar.
    Hand& hand = avatar.getHand();
    
    // If we actually get valid Leap data, this will be set to true;
    bool gotRealData = false;

    if (controllersExist()) {
        _listener->onFrame(*_controller);
    }

#ifndef LEAP_STUBS
    if (controllersExist()) {
        gotRealData = true;
        // First, see which palms and fingers are still valid.
        Leap::Frame& frame = _listener->lastFrame;
        
        // Note that this is O(n^2) at worst, but n is very small.

        // After this many frames of no data, assume the digit is lost.
        const int assumeLostAfterFrameCount = 10;

        // Increment our frame data counters
        for (size_t i = 0; i < hand.getNumPalms(); ++i) {
            PalmData& palm = hand.getPalms()[i];
            palm.incrementFramesWithoutData();
            if (palm.getFramesWithoutData() > assumeLostAfterFrameCount) {
                palm.setActive(false);
            }
            for (size_t f = 0; f < palm.getNumFingers(); ++f) {
                FingerData& finger = palm.getFingers()[f];
                finger.incrementFramesWithoutData();
                if (finger.getFramesWithoutData() > assumeLostAfterFrameCount) {
                    finger.setActive(false);
                }
            }
        }

        size_t numLeapHands = frame.hands().count();
        std::vector<PalmData*> palmAssignment(numLeapHands);
        
        // Look for matches
        for (size_t index = 0; index < numLeapHands; ++index) {
            PalmData* takeoverCandidate = NULL;
            palmAssignment[index] = NULL;
            Leap::Hand leapHand = frame.hands()[index];
            int id = leapHand.id();
            if (leapHand.isValid()) {
                for (size_t i = 0; i < hand.getNumPalms() && palmAssignment[index] == NULL; ++i) {
                    PalmData& palm = hand.getPalms()[i];
                    if (palm.getLeapID() == id) {
                        // Found hand with the same ID. We're set!
                        palmAssignment[index] = &palm;
                        palm.resetFramesWithoutData();
                    }
                    else if (palm.getFramesWithoutData() > assumeLostAfterFrameCount) {
                        takeoverCandidate = &palm;
                    }
                }
                if (palmAssignment[index] == NULL) {
                    palmAssignment[index] = takeoverCandidate;
                }
                if (palmAssignment[index] == NULL) {
                    palmAssignment[index] = &hand.addNewPalm();
                }
            }
        }
        
        // Apply the assignments
        for (size_t index = 0; index < numLeapHands; ++index) {
            if (palmAssignment[index]) {
                Leap::Hand leapHand = frame.hands()[index];
                PalmData& palm = *(palmAssignment[index]);

                palm.resetFramesWithoutData();
                palm.setLeapID(leapHand.id());
                palm.setActive(true);
                const Leap::Vector pos = leapHand.palmPosition();
                const Leap::Vector normal = leapHand.palmNormal();
                palm.setRawPosition(glm::vec3(pos.x, pos.y, pos.z));
                palm.setRawNormal(glm::vec3(normal.x, normal.y, normal.z));
            }
        }

        // Look for fingers per palm
        for (size_t i = 0; i < hand.getNumPalms(); ++i) {
            PalmData& palm = hand.getPalms()[i];
            if (palm.isActive()) {
                Leap::Hand leapHand = frame.hand(palm.getLeapID());
                if (leapHand.isValid()) {
                    int numLeapFingers = leapHand.fingers().count();
                    std::vector<FingerData*> fingerAssignment(numLeapFingers);

                    
                    // Look for matches
                    for (size_t index = 0; index < numLeapFingers; ++index) {
                        FingerData* takeoverCandidate = NULL;
                        fingerAssignment[index] = NULL;
                        Leap::Finger leapFinger = leapHand.fingers()[index];
                        int id = leapFinger.id();
                        if (leapFinger.isValid()) {
                            for (size_t f = 0; f < palm.getNumFingers() && fingerAssignment[index] == NULL; ++f) {
                                FingerData& finger = palm.getFingers()[f];
                                if (finger.getLeapID() == id) {
                                    // Found hand with the same ID. We're set!
                                    fingerAssignment[index] = &finger;
                                }
                                else if (finger.getFramesWithoutData() > assumeLostAfterFrameCount) {
                                    takeoverCandidate = &finger;
                                }
                            }
                            // If we didn't find a match, but we found an unused finger, us it.
                            if (fingerAssignment[index] == NULL) {
                                fingerAssignment[index] = takeoverCandidate;
                            }
                        }
                    }

                    // Apply the assignments
                    for (size_t index = 0; index < numLeapFingers; ++index) {
                        if (fingerAssignment[index]) {
                            Leap::Finger leapFinger = leapHand.fingers()[index];
                            FingerData& finger = *(fingerAssignment[index]);
                            
                            finger.resetFramesWithoutData();
                            finger.setLeapID(leapFinger.id());
                            finger.setActive(true);
#ifdef USE_STABILIZED_DATA
                            const Leap::Vector tip = leapFinger.stabilizedTipPosition();
#else
                            const Leap::Vector tip = leapFinger.tipPosition();
#endif
                            const Leap::Vector root = tip - leapFinger.direction() * leapFinger.length();
                            finger.setRawTipPosition(glm::vec3(tip.x, tip.y, tip.z));
                            finger.setRawRootPosition(glm::vec3(root.x, root.y, root.z));
                        }
                    }
                }
            }
        }
    }
#endif
    if (!gotRealData) {
        if (_doFakeFingers) {
            // There's no real Leap data and we need to fake it.
            for (size_t i = 0; i < hand.getNumPalms(); ++i) {
                static const glm::vec3 fakeHandOffsets[] = {
                    glm::vec3( -500.0f, 50.0f, 50.0f),
                    glm::vec3(    0.0f, 50.0f, 50.0f)
                };
                static const glm::vec3 fakeHandFingerMirrors[] = {
                    glm::vec3( -1.0f, 1.0f, 1.0f),
                    glm::vec3(  1.0f, 1.0f, 1.0f)
                };
                static const glm::vec3 fakeFingerPositions[] = {
                    glm::vec3( -60.0f, 0.0f, -40.0f),
                    glm::vec3( -20.0f, 0.0f, -60.0f),
                    glm::vec3(  20.0f, 0.0f, -60.0f),
                    glm::vec3(  60.0f, 0.0f, -40.0f),
                    glm::vec3( -50.0f, 0.0f,  30.0f)
                };

                PalmData& palm = hand.getPalms()[i];
                palm.setActive(true);
                // Simulated data
                
                palm.setRawPosition(glm::vec3( 0.0f, 0.0f, 0.0f) + fakeHandOffsets[i]);
                palm.setRawNormal(glm::vec3(0.0f, 1.0f, 0.0f));

                for (size_t f = 0; f < palm.getNumFingers(); ++f) {
                    FingerData& finger = palm.getFingers()[f];
                    finger.setActive(true);
                    const float tipScale = 1.5f;
                    const float rootScale = 0.75f;
                    glm::vec3 fingerPos = fakeFingerPositions[f] * fakeHandFingerMirrors[i];
                    finger.setRawTipPosition(fingerPos * tipScale + fakeHandOffsets[i]);
                    finger.setRawRootPosition(fingerPos * rootScale + fakeHandOffsets[i]);
                }
            }
        }
        else {
            // Just deactivate everything.
            for (size_t i = 0; i < hand.getNumPalms(); ++i) {
                PalmData& palm = hand.getPalms()[i];
                palm.setActive(false);
                for (size_t f = 0; f < palm.getNumFingers(); ++f) {
                    FingerData& finger = palm.getFingers()[f];
                    finger.setActive(false);
                }
            }
        }
    }
    hand.updateFingerTrails();
}
// This controller mode is used to fly the avatar, going up, down, forward and turning.
void LLLMImpl::modeFlyingControlTest(Leap::HandList & hands)
{
	static S32 sLMFlyingHysteresis = 0;

	S32 numHands = hands.count();		
	BOOL agent_is_flying = gAgent.getFlying();

	if (numHands == 0
		&& agent_is_flying
		&& sLMFlyingHysteresis > 0)
	{
		sLMFlyingHysteresis--;
		if (sLMFlyingHysteresis == 0)
		{
			LL_INFOS("LeapMotion") << "LM stop flying - look ma, no hands!" << LL_ENDL;
			gAgent.setFlying(FALSE);
		}
	}
	else if (numHands == 1)
	{
		// Get the first hand
		Leap::Hand hand = hands[0];

		// Check if the hand has any fingers
		Leap::FingerList finger_list = hand.fingers();
		S32 num_fingers = finger_list.count();

		Leap::Vector palm_pos = hand.palmPosition();
		Leap::Vector palm_normal = hand.palmNormal();

		F32 ball_radius = (F32) hand.sphereRadius();
		Leap::Vector ball_center = hand.sphereCenter();

		// Number of fingers controls flying on / off
		if (num_fingers == 0 &&			// To do - add hysteresis or data smoothing?
			agent_is_flying)
		{
			if (sLMFlyingHysteresis > 0)
			{
				sLMFlyingHysteresis--;
			}
			else
			{
				LL_INFOS("LeapMotion") << "LM stop flying" << LL_ENDL;
				gAgent.setFlying(FALSE);
			}
		}
		else if (num_fingers > 2 && 
				!agent_is_flying)
		{
			LL_INFOS("LeapMotion") << "LM start flying" << LL_ENDL;
			gAgent.setFlying(TRUE);
			sLMFlyingHysteresis = 5;
		}

		// Radius of ball controls forward motion
		if (agent_is_flying)
		{

			if (ball_radius > 110.f)
			{	// Open hand, move fast
				gAgent.setControlFlags(AGENT_CONTROL_AT_POS | AGENT_CONTROL_FAST_AT);
			}
			else if (ball_radius > 85.f)
			{	// Partially open, move slow
				gAgent.setControlFlags(AGENT_CONTROL_AT_POS);
			}
			else
			{	// Closed - stop
				gAgent.clearControlFlags(AGENT_CONTROL_AT_POS);
			}

			// Height of palm controls moving up and down
			if (palm_pos.y > 260.f)
			{	// Go up fast
				gAgent.setControlFlags(AGENT_CONTROL_UP_POS | AGENT_CONTROL_FAST_UP);
			}
			else if (palm_pos.y > 200.f)
			{	// Go up
				gAgent.setControlFlags(AGENT_CONTROL_UP_POS);
			}
			else if (palm_pos.y < 60.f)
			{	// Go down fast
				gAgent.setControlFlags(AGENT_CONTROL_FAST_UP | AGENT_CONTROL_UP_NEG);
			}
			else if (palm_pos.y < 120.f)
			{	// Go down
				gAgent.setControlFlags(AGENT_CONTROL_UP_NEG);
			}
			else
			{	// Clear up / down
				gAgent.clearControlFlags(AGENT_CONTROL_FAST_UP | AGENT_CONTROL_UP_POS | AGENT_CONTROL_UP_NEG);
			}

			// Palm normal going left / right controls direction
			if (mYawTimer.checkExpirationAndReset(LLLEAP_YAW_INTERVAL))
			{
				if (palm_normal.x > 0.4f)
				{	// Go left fast
					gAgent.moveYaw(1.f);
				}
				else if (palm_normal.x < -0.4f)
				{	// Go right fast
					gAgent.moveYaw(-1.f);
				}
			}

		}		// end flying controls
	}
}
예제 #14
0
bool hand_x_coordinate_comparator (Leap::Hand a, Leap::Hand b) { return a.palmPosition()[0] < b.palmPosition()[0]; }
예제 #15
0
파일: Output.cpp 프로젝트: caront/LeapTable
void Output::PrintHand(Leap::Hand hand){
 	Leap::Vector handCenter = hand.palmPosition();
 	std::cout << "Hand " << std::endl;
 	PrintVector(handCenter);
 	std::cout<< std::endl;
}
예제 #16
0
void LeapListener::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()
            << ", fingers: " << frame.fingers().count()
            << ", tools: " << frame.tools().count()
            << ", gestures: " << frame.gestures().count();
  */

  if (!frame.hands().isEmpty()) {
    // Get the first hand
    const Leap::Hand hand = frame.hands()[0];


    qDebug() << "Radius: " << hand.sphereRadius();

    // Grab
    if(hand.sphereRadius() < 50.0 && hand.translationProbability(controller.frame(1)) > 0.6){
        Leap::Vector v = hand.translation(controller.frame(1));
        v = 0.1 * v;
        glwidget_->camera_.translate(v.x, v.y, v.z);
        glwidget_->update();
    }

    qDebug() << "Hand pos" << hand.palmPosition().x << hand.palmPosition().y << hand.palmPosition().z;

    if(frame.fingers().count() > 200 && frame.hands().count() == 1){
        Leap::Vector trans = hand.translation(controller.frame(1));

        //int dir = trans.y > 0 ? 1 : -1;
        trans = 0.1 * trans;
        //glwidget_->camera_.translate(0, 0, dir*0.1);

        //Leap::Vector rot = hand.rotationAxis(controller.frame());

        float yaw = hand.rotationAngle(controller.frame(1), Leap::Vector(1, 0, 0));
        float pitch = hand.rotationAngle(controller.frame(1), Leap::Vector(1, 0, 0)); // works
        float roll = hand.rotationAngle(controller.frame(1), Leap::Vector(0, 0, 1));

        //qDebug() << yaw <<  pitch <<  roll;

        glwidget_->camera_.rotate3D(yaw, pitch, roll);

        //glwidget_->camera_.rotate2D(0.01 * trans.x, 0.01 * trans.y);

        glwidget_->update();
    }

/*
    // Check if the hand has any fingers
    const Leap::FingerList fingers = hand.fingers();
    if (!fingers.empty()) {
      // Calculate the hand's average finger tip position
      Leap::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 Leap::Vector normal = hand.palmNormal();
    const Leap::Vector direction = hand.direction();

    // Calculate the hand's pitch, roll, and yaw angles
    std::cout << "Hand 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 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()) <= M_PI/4) {
          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().gesture(circle.id()));
          sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * M_PI;
        }
        std::cout << "Circle id: " << gesture.id()
                  << ", state: " << 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 << "Swipe id: " << gesture.id()
          << ", state: " << gesture.state()
          << ", direction: " << swipe.direction()
          << ", speed: " << swipe.speed() << std::endl;
        break;
      }
      case Leap::Gesture::TYPE_KEY_TAP:
      {
        Leap::KeyTapGesture tap = gesture;
        std::cout << "Key Tap id: " << gesture.id()
          << ", state: " << gesture.state()
          << ", position: " << tap.position()
          << ", direction: " << tap.direction()<< std::endl;
        break;
      }
      case Leap::Gesture::TYPE_SCREEN_TAP:
      {
        Leap::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.";
        break;
    }
    */
  }

}
//-------------------------------------------------------------------------------------
bool DigitalForensicsVisualisation::updateFrame(const Ogre::FrameEvent& evt)
{
	
	pointLight->setPosition(mCamera->getPosition());

	//leap
	const Frame frame = leapController.frame();
	Leap::Hand rightMost = frame.hands().rightmost();

	
#pragma region hand
	//
	//
	//if (!frame.hands().isEmpty() && !handOrientationFlag) 
	//{
	//		
	//	palmNode->resetOrientation();
	//	handOrientationFlag = true;	
	//}
	//else if (handOrientationFlag && frame.hands().isEmpty() )
	//{
	//	handOrientationFlag = false;
	//}

#pragma endregion hand


	if (!frame.hands().isEmpty())
	{
		
		

		Leap::Hand rightMost = frame.hands().rightmost();
		


		float pitchValue = rightMost.direction().pitch() * RAD_TO_DEG;
		float rollValue = rightMost.palmNormal().roll() * RAD_TO_DEG;
		float yawValue = rightMost.direction().yaw() * RAD_TO_DEG;

		// to detect open and closed hand
		Ogre::Vector3 indexTip = toVector(rightMost.fingers()[1].tipPosition());
		Ogre::Vector3 pinkyTip = toVector(rightMost.fingers()[3].tipPosition());

	
		float angle = std::abs(indexTip.x - pinkyTip.x);
		angle /= rightMost.fingers()[1].length(); // to normalise 

		if (rightMost.grabStrength() == 1)
		{
			if (mCamera->getOrientation().getPitch() + (Ogre::Radian) (rightMost.palmPosition().y - previousPosition.y) / 80 < (Ogre::Radian) 0.17 && mCamera->getOrientation().getPitch() + (Ogre::Radian) (rightMost.palmPosition().y - previousPosition.y) / 80 > (Ogre::Radian) -1.4)
				mCamera->pitch((Ogre::Radian) (rightMost.palmPosition().y - previousPosition.y) / 80);
			//mCamera->yaw((Ogre::Radian) (rightMost.palmPosition().x - previousPosition.x) / -80);
			//mCamera->roll((Ogre::Radian) (rollValue - previousFrameRoll) / 30);
			
		}
		else if (angle > 0.65)
		{
			
			//palmNode->setPosition(toVector(frame.hands().rightmost().palmPosition())); // between 100 and 250	
			if ((mCamera->getPosition().y + (frame.hands().rightmost().palmPosition().y - previousPosition.y)*2 ) > -290)
				mCamera->setPosition(mCamera->getPosition() + (toVector(frame.hands().rightmost().palmPosition()) - previousPosition)*2 );

			
		}
		//else
		//{
		//	mCamera->yaw((Ogre::Radian) (yawValue - previousFrameYaw) / -10);
		//}

		previousPosition = toVector(frame.hands().rightmost().palmPosition());
		

#pragma region hand
		//palmNode->pitch((Ogre::Radian) (pitchValue - previousFramePitch) );

		//
		//palmNode->roll((Ogre::Radian) (rollValue - previousFrameRoll) );

		//
		//palmNode->yaw((Ogre::Radian) (yawValue - previousFrameYaw) );

		//previousFramePitch = rightMost.direction().pitch() * RAD_TO_DEG;
		//previousFrameYaw = rightMost.direction().yaw() * RAD_TO_DEG;
		//previousFrameRoll = rightMost.palmNormal().roll() * RAD_TO_DEG;

		// Get fingers
		//FingerList fingers; 
		//fingers = rightMost.fingers();
		//int i = 0; //between 0 and 19 (finger bones)
		//
		//for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) 
		//{
		//	
		//	Finger finger;
		//	finger = *fl;
		//	
		//	
		//  /*char* dummy = (char*) malloc(128);
		//	sprintf (dummy, "finger id: %d, length: %f, width: %f\n", finger.id(), finger.length(), finger.width()); 
		//	OutputDebugString (dummy);
		//	free(dummy);*/

		//	// Get finger bones
		//	for (int b = 0; b < 4; ++b) 
		//	{
		//		Bone::Type boneType;
		//		boneType = static_cast<Bone::Type>(b);
		//		Bone bone;
		//		bone = finger.bone(boneType);
		//		bonesArr[i++]->setPosition(bone.center().x, bone.center().y, bone.center().z);

		//	}
		//}

		// to detect fist
		/*char* dummy = (char*) malloc(8);
		sprintf (dummy, "%f\n", rightMost.grabStrength()); 
		OutputDebugString(dummy);*/


		// to detect open and closed hand
		//Ogre::Vector3 indexTip = toVector(rightMost.fingers()[1].tipPosition());
		//Ogre::Vector3 pinkyTip = toVector(rightMost.fingers()[3].tipPosition());

	
		//float angle = std::abs(indexTip.x - pinkyTip.x);
		//angle /= rightMost.fingers()[1].length(); // to normalise 
		//
		//char* dummy = (char*) malloc(8);
		//sprintf (dummy, "%f\n", angle); 
		//OutputDebugString(dummy);
#pragma endregion hand
	}



 
   

    return true;
}
예제 #18
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)
    

}