C++ Bone::direction方法代码示例

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;
}

void LeapListener::onFrame(const Controller & controller) {
    // Get the most recent frame and report some basic information
    const 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;

    HandList hands = frame.hands();
    for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
        // Get the first hand
        const 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 Vector normal = hand.palmNormal();
        const Vector direction = hand.direction();

        // Calculate the hand's pitch, roll, and yaw angles
        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
        const FingerList fingers = hand.fingers();
        for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
            const 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) {
                Bone::Type boneType = static_cast<Bone::Type>(b);
                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 ToolList tools = frame.tools();
    for (ToolList::const_iterator tl = tools.begin(); tl != tools.end(); ++tl) {
        const Tool tool = *tl;
        std::cout << std::string(2, ' ') <<  "Tool, id: " << tool.id()
        << ", position: " << tool.tipPosition()
        << ", direction: " << tool.direction() << std::endl;
    }

    // Get gestures
    const GestureList gestures = frame.gestures();
    for (int g = 0; g < gestures.count(); ++g) {
        Gesture gesture = gestures[g];

        switch (gesture.type()) {
            case Gesture::TYPE_CIRCLE: {
                CircleGesture circle = gesture;
                std::string clockwiseness;

                if (circle.pointable().direction().angleTo(circle.normal()) <= PI/2) {
                    clockwiseness = "clockwise";
                } else {
                    clockwiseness = "counterclockwise";
                }

                // Calculate angle swept since last frame
                float sweptAngle = 0;
                if (circle.state() != Gesture::STATE_START) {
                    CircleGesture previousUpdate = CircleGesture(controller.frame(1).gesture(circle.id()));
                    sweptAngle = (circle.progress() - previousUpdate.progress()) * 2 * PI;
                }
                std::cout << std::string(2, ' ')
                << "Circle id: " << gesture.id()
                << ", state: " << stateNames[gesture.state()]
                << ", progress: " << circle.progress()
                << ", radius: " << circle.radius()
                << ", angle " << sweptAngle * RAD_TO_DEG
                <<  ", " << clockwiseness << std::endl;
                break;
            }
            case Gesture::TYPE_SWIPE: {
                SwipeGesture swipe = gesture;
                std::cout << std::string(2, ' ')
                << "Swipe id: " << gesture.id()
                << ", state: " << stateNames[gesture.state()]
                << ", direction: " << swipe.direction()
                << ", speed: " << swipe.speed() << std::endl;
//.........这里部分代码省略.........