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();
}
// 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
}
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));
}
// This mode tries to detect simple hand motion and either triggers an avatar gesture or
// sends a chat message into SL in response. It is very rough, hard-coded for detecting
// a hand wave (a SL gesture) or the wiggling-thumb gun trigger (a chat message sent to a
// special version of the popgun).
void LLLMImpl::modeGestureDetection1(Leap::HandList & hands)
{
static S32 trigger_direction = -1;
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();
static S32 last_num_fingers = 0;
if (num_fingers == 1)
{ // One finger ... possibly reset the
Leap::Finger finger = finger_list[0];
Leap::Vector finger_dir = finger.direction();
// Negative Z is into the screen - check that it's the largest component
S32 abs_z_dir = llabs(finger_dir.z);
if (finger_dir.z < -0.5 &&
abs_z_dir > llabs(finger_dir.x) &&
abs_z_dir > llabs(finger_dir.y))
{
Leap::Vector finger_pos = finger.tipPosition();
Leap::Vector finger_vel = finger.tipVelocity();
LL_INFOS("LeapMotion") << "finger direction is " << finger_dir.x << ", " << finger_dir.y << ", " << finger_dir.z
<< ", position " << finger_pos.x << ", " << finger_pos.y << ", " << finger_pos.z
<< ", velocity " << finger_vel.x << ", " << finger_vel.y << ", " << finger_vel.z
<< LL_ENDL;
}
if (trigger_direction != -1)
{
LL_INFOS("LeapMotion") << "Reset trigger_direction - one finger" << LL_ENDL;
trigger_direction = -1;
}
}
else if (num_fingers == 2)
{
Leap::Finger barrel_finger = finger_list[0];
Leap::Vector barrel_finger_dir = barrel_finger.direction();
// Negative Z is into the screen - check that it's the largest component
F32 abs_z_dir = llabs(barrel_finger_dir.z);
if (barrel_finger_dir.z < -0.5f &&
abs_z_dir > llabs(barrel_finger_dir.x) &&
abs_z_dir > llabs(barrel_finger_dir.y))
{
Leap::Finger thumb_finger = finger_list[1];
Leap::Vector thumb_finger_dir = thumb_finger.direction();
Leap::Vector thumb_finger_pos = thumb_finger.tipPosition();
Leap::Vector thumb_finger_vel = thumb_finger.tipVelocity();
if ((thumb_finger_dir.x < barrel_finger_dir.x) )
{ // Trigger gunfire
if (trigger_direction < 0 && // Haven't fired
thumb_finger_vel.x > 50.f && // Moving into screen
thumb_finger_vel.z < -50.f &&
mChatMsgTimer.checkExpirationAndReset(LLLEAP_CHAT_MSG_INTERVAL))
{
// Chat message looks like "/2343 LM2 gunfire"
std::string gesture_chat_msg("/2343 LM2 gunfire");
//LLNearbyChatBar::sendChatFromViewer(gesture_chat_msg, CHAT_TYPE_SHOUT, FALSE);
trigger_direction = 1;
LL_INFOS("LeapMotion") << "Sent gunfire chat" << LL_ENDL;
}
else if (trigger_direction > 0 && // Have fired, need to pull thumb back
thumb_finger_vel.x < -50.f &&
thumb_finger_vel.z > 50.f) // Moving out of screen
{
trigger_direction = -1;
LL_INFOS("LeapMotion") << "Reset trigger_direction" << LL_ENDL;
}
}
}
else if (trigger_direction != -1)
{
LL_INFOS("LeapMotion") << "Reset trigger_direction - hand pos" << LL_ENDL;
trigger_direction = -1;
}
}
else if (num_fingers == 5 &&
num_fingers == last_num_fingers)
{
if (mGestureTimer.checkExpirationAndReset(LLLEAP_GESTURE_INTERVAL))
{
// figure out a gesture to trigger
std::string gestureString("/overhere");
LLGestureMgr::instance().triggerAndReviseString( gestureString );
}
}
last_num_fingers = num_fingers;
}
}
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();
}
