void LeapBrowser::updateCursorLocation()
{
bool is_index_found = false;
Frame frame = leap_controller.frame();
HandList hands = frame.hands();
for( int h=0; h < hands.count(); h++ )
{
Hand hand = hands[h];
FingerList fingers = hand.fingers();
for( int f=0; f < fingers.count(); f++ )
{
Finger finger = fingers[f];
if( finger.type() == Finger::Type::TYPE_INDEX )
{
is_index_found = true;
Vector position = finger.tipPosition();
cursor_location = math::position(position.x, position.y, position.z) * leap_transform;
break;
}
}
if( is_index_found )
{
break;
}
}
if( !is_index_found )
{
cursor_location = math::position(0,0,0);
is_cursor_located = false;
}
else
{
is_cursor_located = true;
}
}
void Leap::LeapListener::onFrame( const Controller& controller )
{
Frame frame = controller.frame();
HandList hands = frame.hands();
Leap::DirectionDetector::Direction direction;
//bool handExtended;
Hand leftHand;
Hand rightHand;
//jurik
//takin just first gesture (gestures are defined for each finger)
Gesture gesture = frame.gestures()[0];
if ( arMode ) {
for ( int i=0; i< hands.count(); ++i ) {
if ( hands[i].isRight() ) {
rightHand = hands[i];
}
else {
leftHand = hands[i];
}
}
leapActions->updateARHands( leftHand,rightHand );
}
else {
for ( int i=0; i< hands.count(); ++i ) {
if ( hands[i].isRight() ) {
direction = Leap::DirectionDetector::getPalmDirection( hands[i] );
//using cameramanipulator
//leapActions->changeViewAngle( direction );
//using pickhandler class
leapActions->rotateAruco( direction );
if ( gesture.type() == Gesture::TYPE_KEY_TAP ) {
leapActions->scaleNodes( true );
}
}
else {
direction = Leap::DirectionDetector::getPalmDirection( hands[i] );
//leapActions.changeViewAngle( direction );
leapActions->scaleEdges( direction );
if ( gesture.type() == Gesture::TYPE_KEY_TAP ) {
leapActions->scaleNodes( false );
}
/*handExtended = Leap::FingerPositionDetector::isHandExtended( hands[i] );
if ( handExtended ) {
leapActions->startMovingForward();
}
else {
leapActions->stopMovingForward();
}*/
}
}
}
//std::cout << "id: " << frame.id();
/*
const GestureList gestures = frame.gestures();
for (int g = 0; g < gestures.count(); ++g) {
Gesture gesture = gestures[g];
HandList hands = gesture.hands();
Hand firstHand = hands[0];
switch (gesture.type()) {
case Gesture::TYPE_CIRCLE:
{
leapActions->zoomGraph(gesture);
break;
}
case Gesture::TYPE_SWIPE:
{
if(firstHand.isRight()){
if(leapActions->isCameraMoving)
leapActions->moveCamera(gesture);
else
leapActions->rotateGraph(gesture);
}
break;
}
case Gesture::TYPE_KEY_TAP:
{
if(firstHand.isLeft())
leapActions->onKeyTap(gesture);
break;
}
case Gesture::TYPE_SCREEN_TAP:
{
leapActions->onScreenTap(gesture);
break;
}
default:
qDebug() << "Unknown gesture type.";
break;
}
}*/
}
//metodo en bucle que actualiza la informacion de frecuencia, volumen y handsGl
void leapMotion::onFrame(const Controller& controller) {
const Frame frame = controller.frame();
int j = 0;
float mejor = 1000;
float mejorVol = 1000;
int nada=-1000;
Vector vNada = Vector(nada,nada,nada);
Matrix mNada = Matrix(vNada,vNada,vNada);
HandList hands = frame.hands();
numManos = hands.count();
for(int i=0; i<numManos; i++){
palma[i] = hands[i].palmPosition();
//anchuraPalmas[i] = hands[i].palmWidth();
direccionMano[i] = hands[i].basis();
float distVol=palma[i].y;
if((palma[i].x/50)<-4 && (palma[i].x/50)>-7 && distVol<=mejorVol) mejorVol=distVol;
//if(distVol<=mejorVol) mejorVol=distVol;
for (int f = 0; f < hands[i].fingers().count(); f++) {
Finger finger = hands[i].fingers()[f];
for (int b = 0; b < 4; b++) {
Bone bone = finger.bone(static_cast<Leap::Bone::Type>(b));
handsGl[i*20+f*4+b]=bone.nextJoint();
float dist=sqrt(pow(4.125-(handsGl[i*20+f*4+b].x/50),2)+pow((-0.75)-(handsGl[i*20+f*4+b].z/50),2));
if(dist<=mejor) mejor=dist;
centroHuesos[i*20+f*4+b]=bone.nextJoint();
direccionHuesos[i*20+f*4+b]=bone.basis();
longitudHuesos[i*20+f*4+b]=bone.length();
anchuraHuesos[i*20+f*4+b]=bone.width()/2;
}
}
}
for(int i=numManos*20;i<40;i++) handsGl[i] = vNada;
for(int i=numManos; i<2; i++) palma[i] = vNada;
//for(int i=numManos; i<2; i++) anchuraPalmas[i] = 0;
for(int i=numManos; i<2; i++) direccionMano[i] = mNada;
for(int i=numManos*20; i<40; i++) direccionHuesos[i] = mNada;
for(int i=numManos*20; i<40; i++) centroHuesos[i] = vNada;
for(int i=numManos*20; i<40; i++) longitudHuesos[i] = 0;
for(int i=numManos*20; i<40; i++) anchuraHuesos[i] = 0;
if(mejor<=0.1) freq=7902.13; //se supone que al tocar la antena del theremin, se produce una frecuencia de sonido muy alta
else if(mejor<=5){
freq=4000*(1-mejor/5);
}
else freq=0;
if(mejorVol>=250 && mejorVol<=350) volumen=1*((mejorVol-250)/100);
else if(mejorVol<250) volumen=0;
else volumen=1;
}
void LeapListener::onFrame(const Controller &controller){
const Frame frame = controller.frame();
HandList hands = frame.hands();
std::vector<HandModel> myhands;
BoneModel mybone;
HandModel myhand;
//printf("frame: %d\n", frame.id());
float scale = 0.025;
float disp = 3.5f;
bool record = true;
for (int i = 0; i < hands.count(); i++){
FingerList fingers = hands[i].fingers();
myhand.bones.clear();
myhand.references.clear();
Vector handPosition = hands[i].palmPosition();
handPosition *= scale;
handPosition.y -= disp;
Vector wrist = hands[i].wristPosition();
wrist *= scale;
wrist.y -= disp;
myhand.palmPosition = handPosition;
myhand.palmNormal = hands[i].palmNormal();
myhand.direction = hands[i].direction();
for (int j = 0; j < fingers.count(); j++){
Bone bone;
Bone::Type boneType;
Vector currentPosition = fingers[j].tipPosition();
currentPosition *= scale;
currentPosition.y -= disp;
Vector lastPosition = m_lastFrame.finger(fingers[j].id()).tipPosition();
lastPosition *= scale;
lastPosition.y -= disp;
Vector diff = currentPosition - lastPosition;
//printf("%f, %f, %f\n", abs(diff.x), abs(diff.y), abs(diff.z));
//if (abs(diff.x) > 0.2 || abs(diff.y) > 0.2 || abs(diff.z) > 0.2) record = false;
if (abs(diff.x) < 0.0001 || abs(diff.y) < 0.0001 || abs(diff.z) < 0.0001) record = false;
for (int k = 0; k < 4; k++){
boneType = static_cast<Bone::Type>(k);
bone = fingers[j].bone(boneType);
if (fingers[j].type() == Finger::Type::TYPE_THUMB && k == 0) continue;
Vector prevPos = bone.prevJoint();
prevPos *= scale;
prevPos.y -= disp;
Vector nextPos = bone.nextJoint();
nextPos *= scale;
nextPos.y -= disp;
mybone.direction = nextPos - prevPos;
mybone.position = (prevPos + nextPos) / 2;
mybone.prevJoint = prevPos;
mybone.nextJoint = nextPos;
mybone.length = bone.length() * scale;
if (boneType == Bone::Type::TYPE_PROXIMAL){
if (fingers[j].type() == Finger::Type::TYPE_THUMB){
myhand.thumb = prevPos;
//myhand.references.push_back(nextPos);
}
else{
myhand.references.push_back(prevPos);
}
}
myhand.bones.push_back(mybone);
}
}
myhand.base = myhand.references[3] - myhand.references[0];
Vector disp = myhand.base.normalized() * 0.3f;
myhand.references[3] += disp;
myhand.references[0] -= disp;
//for (int i = 1; i < 5; i++){
// printf("%f\n", myhand.references[i - 1].distanceTo(myhand.references[i]));
//}
myhands.push_back(myhand);
}
if (record){
m_hands.clear();
for (int i = 0; i < myhands.size(); i++){
m_hands.push_back(myhands[i]);
}
}
m_lastFrame = frame;
}
void LeapInput::onFrame(const Controller& controller)
{
Frame frame = controller.frame();
HandList hands = frame.hands();
this->hands = hands.count();
if(hands.count() == 2)
{
Hand leftHand = hands.leftmost();
Hand rightHand = hands.rightmost();
leftHandY = leftHand.palmPosition().y;
rightHandY = rightHand.palmPosition().y;
leftFingers = leftHand.fingers().count();
rightFingers = rightHand.fingers().count();
float threshold = tanf(5* 3.141592f / 180.0f);
float maxTan = tanf(45 * 3.141592f / 180.0f);
if(leftHand.palmPosition().x != rightHand.palmPosition().x){
float tanValue = fabs((leftHand.palmPosition().y - rightHand.palmPosition().y) / (leftHand.palmPosition().x - rightHand.palmPosition().x));
if(tanValue > threshold){
curve = tanValue / maxTan;
if(curve > 1)
curve = 1;
}else
curve = 0;
}else
curve = 0;
}
else
{
leftHandY = rightHandY = 0;
}
boost = false;
GestureList gestureList = frame.gestures();
for(GestureList::const_iterator i = gestureList.begin(); i != gestureList.end(); ++i)
{
Gesture gesture = *i;
if(gesture.state() != Gesture::State::STATE_INVALID)
{
switch(gesture.type())
{
case Gesture::Type::TYPE_SCREEN_TAP:
boost = true;
break;
}
}
}
back = false;
if(hands.count() == 2 && leftFingers == 1 && rightFingers == 1 &&
hands.leftmost().fingers()[0].direction().z > 0 &&
hands.rightmost().fingers()[0].direction().z > 0)
{
back = true;
}
//accelGesture = brakeGesture = false;
//GestureList gestureList = frame.gestures();
//for(GestureList::const_iterator i = gestureList.begin(); i != gestureList.end(); ++i)
//{
// Gesture gesture = *i;
// if(gesture.state() != Gesture::State::STATE_INVALID)
// {
// if(typeid(gesture) == typeid(MyGesture))
// {
// accelGesture = true;
// }
//
// }
//}
}
void QTVS_Leap::HandLogic()
{
//TODO: Fix this
if (hands.count() == 1)
{
int iHandToFingerShift = hand.isLeft() ? 5 : 0;
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QHideEvent());
iHandToFingerShift = hand.isLeft() ? 0 : 5;
if(ui.checkBox_ShowFingers->isChecked())
{
for (int iFingerCounter = iHandToFingerShift;
iFingerCounter <= iHandToFingerShift + 4;
iFingerCounter ++)
QCoreApplication::postEvent(fingerTraces.at(iFingerCounter), new QShowEvent());
}
}
else if (hands.isEmpty())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QHideEvent());
// QCoreApplication::postEvent(thumbTrace, new QHideEvent());
// QCoreApplication::postEvent(indexTrace, new QHideEvent());
// QCoreApplication::postEvent(middleTrace, new QHideEvent());
// QCoreApplication::postEvent(ringTrace, new QHideEvent());
// QCoreApplication::postEvent(pinkieTrace, new QHideEvent());
}
else
{
if(ui.checkBox_ShowFingers->isChecked())
{
foreach (FingerTraceWindow * fTrace, fingerTraces)
QCoreApplication::postEvent(fTrace, new QShowEvent());
}
// QCoreApplication::postEvent(thumbTrace, new QShowEvent());
// QCoreApplication::postEvent(indexTrace, new QShowEvent());
// QCoreApplication::postEvent(middleTrace, new QShowEvent());
// QCoreApplication::postEvent(ringTrace, new QShowEvent());
// QCoreApplication::postEvent(pinkieTrace, new QShowEvent());
}
for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
// Get the first hand
hand = *hl;
//TODO: Perhaps move this to gestures?
if (ui.checkBox_Crunch->isChecked())
{
if (hands.count() == 2)
{
// we check if one hand's dragging and the other's closed
if (hand.isLeft())
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Right.left != -1)
{
debugDisplayString = QString::number(hand.grabStrength());
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
SendMessage(debugWindowHWND_Right, WM_SYSCOMMAND, SC_CLOSE, 0);
// DestroyWindow();
}
}
}
else
{
// if this hand is left, and the other hand (right) is dragging something..
if (debugWindowDrag_Left.left != -1)
{
//pretty much closed
if (hand.grabStrength() >= 0.7)
{
// DestroyWindow(debugWindowHWND_Left);
SendMessage(debugWindowHWND_Left, WM_SYSCOMMAND, SC_CLOSE, 0);
}
}
}
}
}
// 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 Vector normal = hand.palmNormal();
const Vector direction = hand.direction();
// Calculate the hand's pitch, roll, and yaw angles
// debugDisplayString = QString(", palm position: " + QString(hand.palmPosition().toString().data() ));
// debugDisplayString = QString::number(hand.palmPosition().x); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().y)); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(hand.palmPosition().z));
// debugDisplayString.append("\n");
// debugDisplayString.append("roll:" + QString::number(normal.roll()));
///--------------------------------------------------
if (debug_extendedFingerCounter != 0 && ui.checkBox_palmMouse->isChecked())
HandCursorPosition(hand.stabilizedPalmPosition());
if (ui.checkBox_HandRollDrag->isChecked())
{
if (bDebug_HandRollDrag)
{
if (normal.roll() > 0.7)
{
bDebug_HandRollDrag = false;
if (debug_extendedFingerCounter != 0)
MouseKeyboardEmulation::MouseLeftClickDown();
}
}
}
if (!bDebug_HandRollDrag)
{
if (normal.roll() < 0.5)
{
bDebug_HandRollDrag = true;
MouseKeyboardEmulation::MouseLeftClickUp();
}
}
///-----------------------------------------------
debug_extendedFingerCounter = 0;
foreach (Finger finger, fingers)
{
if (finger.isExtended())
debug_extendedFingerCounter++;
}
// Fist Scrolling
if (debug_extendedFingerCounter == 0 && ui.checkBox_palmScroll->isChecked())
{
if (fFistPositionY == 0)
fFistPositionY = hand.palmPosition().y;
if (hand.palmPosition().y > fFistPositionY + 10)
{
float fDifference = hand.palmPosition().y - fFistPositionY + 10;
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(fDifference);
}
else if (hand.palmPosition().y < fFistPositionY - 10)
{
float fDifference = abs(hand.palmPosition().y - fFistPositionY - 10);
fDifference /= 10;
MouseKeyboardEmulation::MouseWheelUp(-1 * fDifference);
}
// debugDisplayString = QString::number(ThumbMiddleDifference_X); //20
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(abs(middleFinger.stabilizedTipPosition().y - indexFinger.stabilizedTipPosition().y))); // 5
// debugDisplayString.append("\n");
// debugDisplayString.append(QString::number(debug_extendedFingerCounter));
//works
// if(direction.pitch() * RAD_TO_DEG > 30)
// MouseKeyboardEmulation::MouseWheelUp((direction.pitch() * RAD_TO_DEG)/10);
// if(direction.pitch() * RAD_TO_DEG < 30)
// MouseKeyboardEmulation::MouseWheelDown(5);
}
else
{
if (fFistPositionY != 0)
fFistPositionY = 0;
}
// std::cout << std::string(2, ' ') << "pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
// << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
// << "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << std::endl;
// Get the Arm bone
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
fingers = hand.fingers();
FingerLogic(hand.isLeft() ? handLeft : handRight);
}
}