Exemplo n.º 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();
}
Exemplo n.º 2
0
void jester::LeapMotionImpl::setFingerInJointData(Leap::Finger finger, Bone::BoneId bone) {
	std::pair<Bone::JointId, Bone::JointId> joints = Bone::BoneToJointsMap.find(bone)->second;
	glm::vec3 fingerTip(finger.tipPosition()[0], finger.tipPosition()[1], finger.tipPosition()[2]);
	glm::vec3 fingerDir(finger.direction()[0], finger.direction()[1], finger.direction()[2]);
	float fingerLength = finger.length();
	JointFusionData fingerStartData;
	JointFusionData fingerEndData;

	fingerDir = glm::normalize(fingerDir);
	glm::vec3 fingerStart = fingerTip - fingerLength * fingerDir;

	glm::vec3 boneStart = glm::vec3(fingerStart / LeapMeasurmentScalingFactor);
	glm::vec3 boneEnd = glm::vec3(fingerTip / LeapMeasurmentScalingFactor);
	fingerStartData.position = boneStart;
	fingerEndData.position = boneEnd;
	fingerStartData.id = joints.first;
	fingerEndData.id = joints.second;
	fingerStartData.confidence = fingerEndData.confidence = LeapConfidence;

	kJointData.insert(std::pair<Bone::JointId, JointFusionData>(joints.first, fingerStartData));
	kJointData.insert(std::pair<Bone::JointId, JointFusionData>(joints.second, fingerEndData));
}
Exemplo n.º 3
0
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();
}
Exemplo n.º 4
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;
  }

}