/// @brief get a frame from the leap controller
///
/// @param nlhs matlab mex output interface
/// @param plhs[] matlab mex output interface
void get_frame (int nlhs, mxArray *plhs[])
{
// get the frame
const matleap::frame &f = fg->get_frame ();
// create matlab frame struct
const char *frame_field_names[] =
{
"id",
"timestamp",
"pointables",
"hands"
};
int frame_fields = sizeof (frame_field_names) / sizeof (*frame_field_names);
plhs[0] = mxCreateStructMatrix (1, 1, frame_fields, frame_field_names);
// fill the frame struct
mxSetFieldByNumber (plhs[0], 0, 0, mxCreateDoubleScalar (f.id));
mxSetFieldByNumber (plhs[0], 0, 1, mxCreateDoubleScalar (f.timestamp));
// create the pointables structs
if (f.pointables.count () > 0)
{
const char *pointable_field_names[] =
{
"id",
"position",
"velocity",
"direction",
"is_extended",
"is_finger",
"is_tool",
"is_valid",
"length",
"width",
"touch_distance",
"time_visible"
};
int pointable_fields = sizeof (pointable_field_names) / sizeof (*pointable_field_names);
mxArray *p = mxCreateStructMatrix (1, f.pointables.count (), pointable_fields, pointable_field_names);
mxSetFieldByNumber (plhs[0], 0, 2, p);
// fill the pointables structs
for (size_t i = 0; i < f.pointables.count (); ++i)
{
// set the id
mxSetFieldByNumber (p, i, 0, mxCreateDoubleScalar (f.pointables[i].id ()));
// create and fill arrays for vectors
mxArray *pos = create_and_fill (f.pointables[i].tipPosition ());
mxArray *vel = create_and_fill (f.pointables[i].tipVelocity ());
mxArray *dir = create_and_fill (f.pointables[i].direction ());
// set them in the struct
mxSetFieldByNumber (p, i, 1, pos);
mxSetFieldByNumber (p, i, 2, vel);
mxSetFieldByNumber (p, i, 3, dir);
mxSetFieldByNumber (p, i, 4, mxCreateDoubleScalar (f.pointables[i].isExtended ()));
mxSetFieldByNumber (p, i, 5, mxCreateDoubleScalar (f.pointables[i].isFinger ()));
mxSetFieldByNumber (p, i, 6, mxCreateDoubleScalar (f.pointables[i].isTool ()));
mxSetFieldByNumber (p, i, 7, mxCreateDoubleScalar (f.pointables[i].isValid ()));
mxSetFieldByNumber (p, i, 8, mxCreateDoubleScalar (f.pointables[i].length ()));
mxSetFieldByNumber (p, i, 9, mxCreateDoubleScalar (f.pointables[i].width ()));
mxSetFieldByNumber (p, i, 10, mxCreateDoubleScalar (f.pointables[i].touchDistance ()));
mxSetFieldByNumber (p, i, 11, mxCreateDoubleScalar (f.pointables[i].timeVisible ()));
}
}
if (f.hands.count () > 0)
{
const char *hand_field_names[] =
{
"id", // 0
"basis", // 1
"confidence", // 2
"direction", // 3
"grab_strength", // 4
"is_left", // 5
"is_right", // 6
"is_valid", // 7
"palm_normal", // 8
"palm_position", // 9
"palm_velocity", // 10
"palm_width", // 11
"pinch_strength", // 12
"sphere_center", // 13
"sphere_radius", // 14
"stabilized_palm_position", // 15
"time_visible", // 16
"wrist_position" // 17
};
int hand_fields = sizeof (hand_field_names) / sizeof (*hand_field_names);
mxArray *p = mxCreateStructMatrix (1, f.hands.count (), hand_fields, hand_field_names);
mxSetFieldByNumber (plhs[0], 0, 3, p);
// 3 because hands is the third (fourth) field name in
// the overall struct we are creating.
for (size_t i = 0; i < f.hands.count (); ++i)
{
// one by one, get the fields for the hand
mxSetFieldByNumber (p, i, 0, mxCreateDoubleScalar (f.hands[i].id ()));
mxSetFieldByNumber (p, i, 1, create_and_fill (f.hands[i].basis ()));
mxSetFieldByNumber (p, i, 2, mxCreateDoubleScalar (f.hands[i].confidence ()));
mxSetFieldByNumber (p, i, 3, create_and_fill (f.hands[i].direction ()));
mxSetFieldByNumber (p, i, 4, mxCreateDoubleScalar (f.hands[i].grabStrength ()));
mxSetFieldByNumber (p, i, 5, mxCreateDoubleScalar (f.hands[i].isLeft ()));
mxSetFieldByNumber (p, i, 6, mxCreateDoubleScalar (f.hands[i].isRight ()));
mxSetFieldByNumber (p, i, 7, mxCreateDoubleScalar (f.hands[i].isValid ()));
mxSetFieldByNumber (p, i, 8, create_and_fill (f.hands[i].palmNormal ()));
mxSetFieldByNumber (p, i, 9, create_and_fill (f.hands[i].palmPosition ()));
mxSetFieldByNumber (p, i, 10, create_and_fill (f.hands[i].palmVelocity ()));
mxSetFieldByNumber (p, i, 11, mxCreateDoubleScalar (f.hands[i].palmWidth ()));
mxSetFieldByNumber (p, i, 12, mxCreateDoubleScalar (f.hands[i].pinchStrength ()));
mxSetFieldByNumber (p, i, 13, create_and_fill (f.hands[i].sphereCenter ()));
mxSetFieldByNumber (p, i, 14, mxCreateDoubleScalar (f.hands[i].sphereRadius ()));
mxSetFieldByNumber (p, i, 15, create_and_fill (f.hands[i].stabilizedPalmPosition ()));
mxSetFieldByNumber (p, i, 16, mxCreateDoubleScalar (f.hands[i].timeVisible ()));
mxSetFieldByNumber (p, i, 17, create_and_fill (f.hands[i].wristPosition ()));
} // re: for f.hands.count()
} // re: if f.hands.count() > 0
}
/// @brief get a frame from the leap controller
///
/// @param nlhs matlab mex output interface
/// @param plhs[] matlab mex output interface
void get_frame (int nlhs, mxArray *plhs[])
{
// get the frame
const matleap::frame &f = fg->get_frame ();
// create matlab frame struct
const char *frame_field_names[] =
{
"id",
"timestamp",
"pointables"
};
int frame_fields = sizeof (frame_field_names) / sizeof (*frame_field_names);
plhs[0] = mxCreateStructMatrix (1, 1, frame_fields, frame_field_names);
// fill the frame struct
mxSetFieldByNumber (plhs[0], 0, 0, mxCreateDoubleScalar (f.id));
mxSetFieldByNumber (plhs[0], 0, 1, mxCreateDoubleScalar (f.timestamp));
// create the pointables structs
if (f.pointables.count () > 0)
{
const char *pointable_field_names[] =
{
"id",
"position",
"velocity",
"direction",
"is_extended",
"is_finger",
"is_tool",
"is_valid",
"length",
"width",
"touch_distance",
"time_visible"
};
int pointable_fields = sizeof (pointable_field_names) / sizeof (*pointable_field_names);
mxArray *p = mxCreateStructMatrix (1, f.pointables.count (), pointable_fields, pointable_field_names);
mxSetFieldByNumber (plhs[0], 0, 2, p);
// fill the pointables structs
for (size_t i = 0; i < f.pointables.count (); ++i)
{
// set the id
mxSetFieldByNumber (p, i, 0, mxCreateDoubleScalar (f.pointables[i].id ()));
// create and fill arrays for vectors
mxArray *pos = create_and_fill (f.pointables[i].tipPosition ());
mxArray *vel = create_and_fill (f.pointables[i].tipVelocity ());
mxArray *dir = create_and_fill (f.pointables[i].direction ());
// set them in the struct
mxSetFieldByNumber (p, i, 1, pos);
mxSetFieldByNumber (p, i, 2, vel);
mxSetFieldByNumber (p, i, 3, dir);
mxSetFieldByNumber (p, i, 4, mxCreateDoubleScalar (f.pointables[i].isExtended ()));
mxSetFieldByNumber (p, i, 5, mxCreateDoubleScalar (f.pointables[i].isFinger ()));
mxSetFieldByNumber (p, i, 6, mxCreateDoubleScalar (f.pointables[i].isTool ()));
mxSetFieldByNumber (p, i, 7, mxCreateDoubleScalar (f.pointables[i].isValid ()));
mxSetFieldByNumber (p, i, 8, mxCreateDoubleScalar (f.pointables[i].length ()));
mxSetFieldByNumber (p, i, 9, mxCreateDoubleScalar (f.pointables[i].width ()));
mxSetFieldByNumber (p, i, 10, mxCreateDoubleScalar (f.pointables[i].touchDistance ()));
mxSetFieldByNumber (p, i, 11, mxCreateDoubleScalar (f.pointables[i].timeVisible ()));
}
}
}
