bool Detect::getGesture(std::string& ret)
{
if(false == LeapController->isConnected())
{
return false;
}
HandList HL = LeapController->frame().hands();
Hand hand = HL[0];
FingerList fingers = hand.fingers();
GestureModel * gm = new GestureModel;
Leap::Matrix handTransform = hand.basis();
handTransform.origin = hand.palmPosition();
handTransform = handTransform.rigidInverse();
//get gesture data
int i = 0;
for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
const Finger finger = *fl;
// Get finger bones
for (int b = 0; b < 4; ++b) {
Bone::Type boneType = static_cast<Bone::Type>(b);
Bone bone = finger.bone(boneType);
Leap::Vector ori = bone.prevJoint();
Leap::Vector tP = handTransform.transformPoint(ori);
gm->GestureData[i][b][0][0] = tP[0];
gm->GestureData[i][b][0][1] = tP[1];
gm->GestureData[i][b][0][2] = tP[2];
tP = handTransform.transformPoint(bone.nextJoint());
gm->GestureData[i][b][1][0] = tP[0];
gm->GestureData[i][b][1][1] = tP[1];
gm->GestureData[i][b][1][2] = tP[2];
tP = handTransform.transformPoint(bone.direction());
gm->GestureData[i][b][2][0] = gm->GestureData[i][b][1][0] - gm->GestureData[i][b][0][0];
gm->GestureData[i][b][2][1] = gm->GestureData[i][b][1][1] - gm->GestureData[i][b][0][1];
gm->GestureData[i][b][2][2] = gm->GestureData[i][b][1][2] - gm->GestureData[i][b][0][2];
}
i++;
}
//compare
for (int index = 0; index < GestureList.size(); index++)
{
if (true == compareGesture(GestureList[index], gm))
{
ret = GestureList[index]->GestureName;
return true;
}
}
ret = " ";
return false;
}
mat4 toMat4( const Leap::Matrix& m )
{
mat4 mat;
Leap::FloatArray a = m.toArray4x4();
for ( size_t x = 0; x < 4; ++x ) {
for ( size_t y = 0; y < 4; ++y ) {
mat[ x ][ y ] = a[ y * 4 + x ];
}
}
return mat;
}
mat3 toMat3( const Leap::Matrix& m )
{
mat3 mat;
Leap::FloatArray a = m.toArray3x3();
for ( size_t x = 0; x < 3; ++x ) {
for ( size_t y = 0; y < 3; ++y ) {
mat[ x ][ y ] = a[ y * 3 + x ];
}
}
return mat;
}
Matrix44f toMatrix44f( const Leap::Matrix& m )
{
Matrix44f mtx;
Leap::FloatArray a = m.toArray4x4();
for ( size_t i = 0; i < 4; ++i ) {
size_t j = i * 4;
Vec4f row( a[ j + 0 ], a[ j + 1 ], a[ j + 2 ], a[ j + 3 ] );
mtx.setRow( i, row );
}
return mtx;
}
Matrix33f toMatrix33f( const Leap::Matrix& m )
{
Matrix33f mtx;
Leap::FloatArray a = m.toArray3x3();
for ( size_t i = 0; i < 3; ++i ) {
size_t j = i * 3;
Vec3f row( a[ j + 0 ], a[ j + 1 ], a[ j + 2 ] );
mtx.setRow( i, row );
}
return mtx;
}
