C++ Finger::bone方法代码示例

//--------------------------------------------------------------
void LeapVisualizer::drawFinger (const Finger & finger,ofxLeapMotion & leap){
	
	if (finger.isValid()){
		
		// For every bone (i.e. phalange) in the finger,
		for (int b=0; b<4; b++) {
			
			// Get each bone;
			Bone::Type boneType = static_cast<Bone::Type>(b);
			Bone bone = finger.bone(boneType);
			if (bone.isValid()){
				
				// Don't consider zero-length bones, such as the Thumb's metacarpal.
				if (bone.length() > 0){
					drawBone (finger, bone,leap);
					
				} // end if boneLength
			} // end if bone isValid()
		} // end for each bone
		
		if (bDrawSimple){
			// Draw the fingertip, which is an extra point within the last phalange.
			ofSetColor(ofColor::white);
			ofPoint fingerTipPt = leap.getofPoint ( finger.tipPosition() );
			ofDrawSphere(fingerTipPt, finger.width() * 0.05);
		}
	}
}

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 testApp::recordFingerXML (const Finger & finger){
	
	if (bRecordingThisFrame){
		if (finger.isValid()){
			Finger::Type fingerType = finger.type();
			
			int fingerTagNum = XML.addTag("F");
			if( XML.pushTag("F", fingerTagNum) ){
				XML.setValue("TYPE", (int)fingerType, fingerTagNum);
				XML.setValue("WIDTH", finger.width(), fingerTagNum);
				
				// Add in the fingerTip point as its own point.
				ofPoint fingerTipPt = leap.getofPoint ( finger.tipPosition() );
				int tipTagNum = XML.addTag("T");
				XML.setValue("T:X", fingerTipPt.x, tipTagNum);
				XML.setValue("T:Y", fingerTipPt.y, tipTagNum);
				XML.setValue("T:Z", fingerTipPt.z, tipTagNum);
				
				// For every bone (i.e. phalange) in the finger,
				for (int b=0; b<4; b++) {
					
					// Get each bone;
					Bone::Type boneType = static_cast<Bone::Type>(b);
					Bone bone = finger.bone(boneType);
					if (bone.isValid()){
						
						// Don't consider zero-length bones, such as the Thumb's metacarpal.
						if (bone.length() > 0){
							recordBoneXML (finger, bone);
							
						} // end if boneLength
					} // end if bone isValid()
				} // end for each bone
				
				
				XML.popTag(); // pop F(INGER)
			}
		} //end if finger isValid()
	}
}

void LeapHands::onFrame(const Controller& controller) 
{
	//Game::Instance()->PrintFloat("Hand children: ", childrenMap.size());	
	std::map<string, BoneData> tempBoneData;
	HandList hands = controller.frame().hands();
	int handId = 0;

	hands[0].fingers()[(int) Finger::Type::TYPE_THUMB];

	for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
		// Get the first hand
		const Hand hand = *hl;
		// Get fingers
		const FingerList fingers = hand.fingers();
		int fingerId = 0;
		bool firstFinger = true;
		Finger previousFinger;

		stringstream ass;
		ass << "Arm: 0 Hand: " << handId;
		tempBoneData[ass.str()] = BoneData(ass.str(), LeapToGlVec3(hand.arm().wristPosition()), LeapToGlVec3(hand.arm().elbowPosition()), true);
		ass.clear();

		glm::vec3 thumbBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_THUMB].bone(Bone::Type::TYPE_DISTAL).nextJoint());
		glm::vec3 indexBone = LeapToGlVec3(hand.fingers()[Finger::Type::TYPE_INDEX].bone(Bone::Type::TYPE_DISTAL).nextJoint());
		pinchDist = glm::length(thumbBone - indexBone);
		if (pinchDist < 5.0f)
		{
			pinch = true;
		}
		else
		{
			pinch = false;
		}

		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);
				stringstream ss;
				ss << "Hand: " << handId << " Finger: " << fingerId << " Bone: " << b;
				tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(bone.prevJoint()), LeapToGlVec3(bone.nextJoint()), true);


			}
			// Draw some other bits of the hand
			if (!firstFinger)
			{
				for (int b = 0; b < 2; ++b)
				{
					stringstream ss;
					ss << "Hand: " << handId << "Finger: " << (fingerId - 1) << "Finger: " << (fingerId) << " Bone: " << b;
					Bone startBone = previousFinger.bone(static_cast<Bone::Type>(b));
					Bone endBone = finger.bone(static_cast<Bone::Type>(b));
					if ((b == 1) && (fingerId == 1))
					{
						tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.nextJoint()), LeapToGlVec3(endBone.prevJoint()), false);
					}
					else
					{
						tempBoneData[ss.str()] = BoneData(ss.str(), LeapToGlVec3(startBone.prevJoint()), LeapToGlVec3(endBone.prevJoint()), false);
					}
				}
			}

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

				switch (gesture.type())
				{
					case Gesture::TYPE_CIRCLE:
					{
						CircleGesture circle = gesture;
						if (gesture.durationSeconds() > 1)
						{
							if (circle.pointable().direction().angleTo(circle.normal()) <= PI / 2) {
								
								spawn = vehicle;
							}
							else {
								spawn = model;
							}
						}
					}
				}
			}

			previousFinger = finger;
			firstFinger = false;
			++fingerId;
		}
		++handId;
	}	
	EnterCriticalSection(&criticalSection);
	trackedHands = handId;
//.........这里部分代码省略.........

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.........

//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 SampleListener::onFrame(const Controller& controller)
{
    bool thand, index = false;

    // Get the most recent frame and report some basic information
    const Frame frame = controller.frame();

    // Receive Hand List
    HandList hands = frame.hands();

    // For all hands
    for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl)
    {
        // Get the first hand
        const Hand hand         = *hl;

        // Only for right hand
        if( hand.isRight() )
        {
            // Get fingers
            const FingerList fingers = hand.fingers();
            // For all fingers in the list
            for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl)
            {
                      Bone      bone;
                const Finger    finger = *fl;

                // If thamb or Index finger
                if( finger.type() == Finger::TYPE_THUMB )
                {
                    // Receive nided bone
                    bone        = finger.bone(Bone::TYPE_DISTAL);
                    m_vThand    = bone.center();

                    thand = true;
                }
                else if( finger.type() == Finger::TYPE_INDEX )
                {
                    // Receive nided bone
                    bone        = finger.bone(Bone::TYPE_DISTAL);
                    m_vIndex    = bone.center();

                    index = true;
                }
            }
        }
    }

    bool newState;
    if( !thand || !index )
    {
        newState = false;
    }
    else
    {
        float distance = m_vThand.distanceTo(m_vIndex);
        qDebug () << "Distance: " << distance;

        if( distance < 40 )
        {
            newState = true;
        }
        else
        {
            newState = false;
        }
    }

    if( newState != m_bLastState )
    {
        Q_EMIT releySignal( newState );
        m_bLastState = newState;
    }
}

void LeapHander::frame(pugi::xml_node &frameNode){
	Leap::Frame currentFrame = m_sampleListener.frame();
	m_lock.lock();
	frameNode.append_attribute("id").set_value(currentFrame.id());
	pugi::xml_node handList = frameNode.append_child("hands");
	HandList hands = currentFrame.hands();
	
	for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
		// Get the first hand
		const Hand hand = *hl;
		pugi::xml_node handNode = handList.append_child("hand");
		handNode.append_attribute("id").set_value(hand.id());
		std::string handType;
		if (hand.isLeft()) {
			handType = "Left";
		}
		else {
			handType = "Right";
		}
		handNode.append_attribute("type").set_value(handType.c_str());
		
		pugi::xml_node positionNode = handNode.append_child("position");
		positionToXml(positionNode, hand.palmPosition());
		
		/*pugi::xml_node normalNode = handNode.append_child("normal");
		positionToXml(normalNode, hand.palmNormal());

		pugi::xml_node directionNode = handNode.append_child("direction");
		positionToXml(directionNode, hand.direction());

		pugi::xml_node rotationNode = handNode.append_child("basis");
		rotationToXml(rotationNode, hand.basis());*/
		//// Get fingers
		pugi::xml_node fingerList = handNode.append_child("fingers");
		const FingerList fingers = hand.fingers();
		for (FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl) {
			const Finger finger = *fl;
			pugi::xml_node fingerNode = fingerList.append_child("finger");
			fingerNode.append_attribute("id").set_value(finger.id());
			fingerNode.append_attribute("name").set_value(fingerNames[finger.type()].c_str());
			pugi::xml_node boneList = fingerNode.append_child("bones");
			

			// Get finger bones
			for (int b = 0; b < 4; ++b) {
				Bone::Type boneType = static_cast<Bone::Type>(b);
				Bone bone = finger.bone(boneType);
				pugi::xml_node boneNode = boneList.append_child("bone");
				boneNode.append_attribute("length").set_value(bone.length());
				boneNode.append_attribute("name").set_value(boneNames[boneType].c_str());

				pugi::xml_node prevJoint = boneNode.append_child("prevJoint");
				positionToXml(prevJoint, bone.prevJoint());

				pugi::xml_node nextJoint = boneNode.append_child("nextJoint");
				positionToXml(nextJoint, bone.nextJoint());

				/*pugi::xml_node rotation = boneNode.append_child("basis");
				rotationToXml(rotation, bone.basis());*/
			}
		}
	}
	m_lock.unlock();
}

void LeapBrowser::drawHands()
{
	Frame frame = leap_controller.frame();

	math::vector trans = leap_transform.translation;
	math::quater rot_quat = leap_transform.rotation;
	math::vector rot_vect = math::ln( rot_quat );
	
	double angle = rot_vect.length() * 2.0;
	math::vector axis = ( angle != 0 ? rot_vect / angle : rot_vect );

	glMatrixMode( GL_MODELVIEW );
	glPushMatrix();
	glTranslatef( trans.x(), trans.y(), trans.z() );
	if( angle != 0 )
	{
		glRotatef( angle * 180.0 / M_PI, axis.x(), axis.y(), axis.z() );
	}

	HandList hands = frame.hands();
	for( HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl )
	{
		const Hand hand = *hl;

		float joint_radius = 5.0f;
		float bone_radius = 4.5f;

		Vector prev_palm_start(0,0,0);
		Vector prev_palm_end(0,0,0);

		int f = 0;
		const FingerList fingers = hand.fingers();
		for( FingerList::const_iterator fl = fingers.begin(); fl != fingers.end(); ++fl, ++f )
		{
			const Finger finger = *fl;

			Vector curr_palm_start(0,0,0);
			Vector curr_palm_end(0,0,0);

			for( int b=0; b < 4; b++ )
			{
				Bone::Type bone_type = static_cast<Bone::Type>( b );
				Bone bone = finger.bone( bone_type );

				Vector start = bone.prevJoint();
				Vector end = bone.nextJoint();

				math::position p0( start.x, start.y, start.z );
				math::position p1( end.x, end.y, end.z );

				if( is_tracking_pose == true && finger.type() == Finger::Type::TYPE_INDEX && b==3 )
				{
					drawing_tool.setColor( 1, 0, 0, 1 );
				}
				else
				{
					drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
				}
				drawing_tool.drawSphere( p1, joint_radius );
				
				drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
				drawing_tool.drawSphere( p0, joint_radius );
				drawing_tool.drawCylinder( p0, p1, bone_radius );

				//
				if( b == 0 && fl != fingers.begin() || b == 1 && fl == fingers.begin() )
				{
					curr_palm_start = start;
					curr_palm_end = end;
				}
			}

			if( f > 1 )	//fl != fingers.begin() )
			{
				drawing_tool.setColor( 0.5, 0.7, 0.5, 1 );
				drawing_tool.applyColor();

				glBegin( GL_QUADS );
				glVertex3f( prev_palm_start.x, prev_palm_start.y, prev_palm_start.z );
				glVertex3f( prev_palm_end.x, prev_palm_end.y, prev_palm_end.z );
				glVertex3f( curr_palm_end.x, curr_palm_end.y, curr_palm_end.z );
				glVertex3f( curr_palm_start.x, curr_palm_start.y, curr_palm_start.z );
				glEnd();
			}

			prev_palm_start = curr_palm_start;
			prev_palm_end = curr_palm_end;
		}
	}

	glPopMatrix();
}