C++ Hand::direction方法代码示例

void ScrollListener::onFrame(const Controller& controller) {
    const Frame frame = controller.frame();
    if(!frame.hands().empty()){
        const Hand hand = frame.hands()[0];
        float pitch = hand.direction().pitch()*RAD_TO_DEG;
//        float roll = hand.palmNormal().roll()*RAD_TO_DEG;
//        float yaw = hand.palmNormal().yaw()*RAD_TO_DEG + 180;
        emit window->getXSlider()->valueChanged(pitch*52);
//        emit window->getYSlider()->valueChanged(roll*52);
//        emit window->getZSlider()->valueChanged(yaw*16);
    }

}

void MyListener::onFrame(const Controller& controller) 
{
    const Frame frame = controller.frame();
    const GestureList gestures = frame.gestures();
    HandList hands = frame.hands();
    
    for (HandList::const_iterator hl = hands.begin(); hl != hands.end(); ++hl) {
        const Hand hand = *hl;
        // Smoothing and stabilization is performed in order to make this 
        // value more suitable for interaction with 2D content. The stabilized 
        // position lags behind the palm position by a variable amount, 
        // depending primarily on the speed of movement.
        Vector position = hand.stabilizedPalmPosition();

        if (m_positionChanged)
            m_positionChanged(position[0], position[1], position[2], 
                              frame.fingers().extended().count(), 
                              hand.direction(),
                              hand.palmVelocity());

        if (m_pinch)
            m_pinch(hand.pinchStrength());

        if (m_grab)
            m_grab(hand.grabStrength());
    }

    for (int g = 0; g < gestures.count(); ++g) {
        Gesture gesture = gestures[g];
        switch (gesture.type()) {
        case Gesture::TYPE_KEY_TAP:
        case Gesture::TYPE_SCREEN_TAP:
            if (m_tapped)
                m_tapped();
            break;
        case Gesture::TYPE_SWIPE:
            break;
        }
    }
}

void LeapMotion_Listener::onFrame(const Controller& controller) {

	boolean debug = false;
	//std::cin.get();

	const float min_roll_left = 15.0f, max_roll_left = std::numeric_limits<float>::max();
	const float min_roll_right = std::numeric_limits<float>::lowest(), max_roll_right = -15.0f;
	
	const float min_pitch_up = 25.0f, max_pitch_up = std::numeric_limits<float>::max();
	const float min_pitch_down = std::numeric_limits<float>::lowest(), max_pitch_down = -5.0f;

	const float min_y_down = 0.0f, max_y_down = 70.0f;
	const float min_y_up = 190.0f, max_y_up = std::numeric_limits<float>::max();

	const float min_x_left = std::numeric_limits<float>::lowest(), max_x_left = -90.0f;
	const float min_x_right = 90.0f, max_x_right = std::numeric_limits<float>::max();

	//const float min_yaw_left_finger = std::numeric_limits<float>::lowest(), max_yaw_left_finger = -45.0f;
	//const float min_yaw_right_finger = 10.0f, max_yaw_right_finger = std::numeric_limits<float>::max();

	
	// Get the most recent frame and report some basic information
	const Frame frame = controller.frame();
	
	if (!frame.hands().isEmpty()) 
	{
		const Hand hand = frame.hands()[0];
		const Leap::Vector normal = hand.palmNormal();
		const Leap::Vector direction = hand.direction();
	
		const float pitch = direction.pitch() * RAD_TO_DEG;
		const float roll = normal.roll() * RAD_TO_DEG;
		const float yaw = direction.yaw() * RAD_TO_DEG;

		const float y_palm = hand.palmPosition().y;
		const float x_palm = hand.palmPosition().x;

		float x_drone = 0.0f, y_drone = 0.0f, z_drone = 0.0f, turn_drone = 0.0f;

		if(y_palm>min_y_down && y_palm<max_y_down)
			y_drone = -1.0f;
		else if(y_palm>min_y_up && y_palm<max_y_up)
			y_drone = 1.0f;

		if(x_palm>min_x_left && x_palm<max_x_left)
			turn_drone = -1.0f;
		else if(x_palm>min_x_right && x_palm<max_x_right)
			turn_drone = 1.0f;

		if(pitch>min_pitch_up && pitch<max_pitch_up)
			z_drone = 1.0f;
		else if(pitch>min_pitch_down && pitch<max_pitch_down)
			z_drone = -1.0f;

		if(roll>min_roll_right && roll< max_roll_right)
			x_drone = 1.0f;
		else if(roll>min_roll_left && roll< max_roll_left)
			x_drone = -1.0f;

		/*if(roll>min_yaw_left_finger && roll<max_yaw_left_finger)
			std::cout<<"turn_left";
		else if(roll>min_yaw_right_finger && roll<max_yaw_right_finger)
			std::cout<<"turn_right";
			*/

		if(x_drone != 0.0f || y_drone != 0.0f || z_drone != 0.0f || turn_drone != 0.0f)
		{
			int _speed_drone = 10;
			At_Command _command; 


			if(x_drone !=0.0f &&  z_drone != 0.0f)
			{
				float margin = 0.25f;
				(x_drone < 0)? x_drone += margin : x_drone -= margin;
				(z_drone < 0)? z_drone += margin : z_drone -= margin;
			}

			if(y_drone != 0.0f)
				_command = At_Command(0, y_drone, 0, 0, Point(_speed_drone, 100), _input_type);
			
			else if(turn_drone != 0.0f)
				_command = At_Command(0, 0, 0, turn_drone, Point(_speed_drone, 100),  _input_type);

			else
				_command = At_Command(x_drone, y_drone, z_drone, turn_drone, Point(_speed_drone, 100),  _input_type);

			_multiple_Input_Devices->prepare_to_send(_command);

			if(debug)
			{
				if(x_drone < 0.0f)
					cout<<"Go_Left ";
				else if(x_drone > 0.0f)
					cout<<"Go_Right ";

				if(y_drone > 0.0f)
					cout<<"UP ";
				else if(y_drone < 0.0f)
					cout<<"DOWN ";
//.........这里部分代码省略.........

void Window::paintGL()
{
  // Clear
   glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
   //LeapMotion
   bool drawflag = true;
   bool drawflag2 = true;
   if( m_controller.isConnected()) //controller is a Controller object
   {
       Frame frame = m_controller.frame(); //The latest frame
       if (!frame.hands().isEmpty())
       {
           Leap::HandList hands = frame.hands();
           Hand firstHand = hands[0];

           Leap::Vector handCenter = firstHand.palmPosition();
           m_transform.setToIdentity();
           //m_transform.rotate(180,QVector3D(0,0,-1));
           m_transform.translate(QVector3D(-handCenter.x,handCenter.y,handCenter.z));
           float yaw = firstHand.direction().yaw();
           m_transform.rotate(-(yaw/3.14)*180,QVector3D(0,-1,0));
           float roll = firstHand.palmNormal().roll();
           m_transform.rotate((roll/3.14)*180,QVector3D(0,0,-1));
           //Frame previous = controller.frame(1); //The previous frame

           if (firstHand.grabStrength()>0.5) {
               drawflag = false;

           }


           Hand secondHand = hands[1];


           Leap::Vector handCenter2 = secondHand.palmPosition();
           m_righthandtransform.setToIdentity();
           //m_transform.rotate(180,QVector3D(0,0,-1));
           m_righthandtransform.translate(QVector3D(-handCenter2.x,handCenter2.y,handCenter2.z));
           float yaw2 = secondHand.direction().yaw();
           m_righthandtransform.rotate(-(yaw2/3.14)*180,QVector3D(0,-1,0));
           float roll2 = secondHand.palmNormal().roll();
           m_righthandtransform.rotate((roll2/3.14)*180,QVector3D(0,0,-1));
           //Frame previous = controller.frame(1); //The previous frame

           if (secondHand.grabStrength()>0.5) {
               drawflag2 = false;


           }
       }
       else
       {
           m_transform.rotate(2,QVector3D(1,1,0));
           m_transform.rotate(2,QVector3D(0,1,0));
           m_transform.setTranslation(QVector3D(40,150,0));
           //m_transform.setScale(QVector3D(5,5,5));
           m_righthandtransform.rotate(2,QVector3D(0,1,0));
           m_righthandtransform.setTranslation(QVector3D(-30,150,0));
          //m_righthandtransform.setScale(QVector3D(250,250,250));
       }

   }
   else
   {
        m_transform.setTranslation(QVector3D(0,150,0));
   }
   //create dynamic enviroment mapping
   calcuSSBB(m_transform.getMatrix(),m_modelview,m_projection);
   //opencv
   Mat opencv_image = cvQueryFrame(capture);
   Mat dest;
   cvtColor(opencv_image, dest,CV_BGR2RGB);
   QImage image((uchar*)dest.data, dest.cols, dest.rows,QImage::Format_RGB888);


  //m_backTexture->bind(0);
   //m_backTexture->setData(image,QOpenGLTexture::DontGenerateMipMaps);

   //glActiveTexture(GL_TEXTURE0);
    //generate FBO



    // bind a framebuffer object
    glBindFramebuffer(GL_DRAW_FRAMEBUFFER, m_backfbo);
    //glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
    // Set Drawing buffers
    GLuint attachments[1] = {GL_COLOR_ATTACHMENT0};
    glDrawBuffers(1,  attachments);
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glViewport(0,0,1280,720);
    //glViewport(0,0,1280*2,720*2);
    m_backTexture->bind();
    m_backTexture->load(image);
    m_backprogram->bind();
    m_backprogram->setUniformValue("ourTexture", 0);
    m_backprogram->setUniformValue(u_worldToCameraFloor, m_camera.getMatrix());
    m_backprogram->setUniformValue(u_cameraToViewFloor, m_backgroundProjection);
    if(m_back!= NULL)
    {
//.........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.........

void SampleListener::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()
            << ", fingers: " << frame.fingers().count()
            << ", tools: " << frame.tools().count()
            << ", gestures: " << frame.gestures().count() << std::endl;

  if (!frame.hands().isEmpty()) {
    // Get the first hand
    const Hand hand = frame.hands()[0];

    // Check if the hand has any fingers
    const FingerList fingers = hand.fingers();
    if (!fingers.isEmpty()) {
      // Calculate the hand's average finger tip position
//      Vector avgPos;
      for (int i = 0; i < fingers.count(); ++i) {
        avgPos += fingers[i].tipPosition();
      }
      avgPos /= (float)fingers.count();
      std::cout << "Hand has " << fingers.count()
                << " fingers, average finger tip position" << avgPos << std::endl;
    }

    // Get the hand's sphere radius and palm position
    std::cout << "Hand sphere radius: " << hand.sphereRadius()
              << " mm, 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 << "Hand pitch: " << direction.pitch() * RAD_TO_DEG << " degrees, "
              << "roll: " << normal.roll() * RAD_TO_DEG << " degrees, "
              << "yaw: " << direction.yaw() * RAD_TO_DEG << " degrees" << 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/4) {
          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 << "Circle id: " << gesture.id()
                  << ", state: " << 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 << "Swipe id: " << gesture.id()
          << ", state: " << gesture.state()
          << ", direction: " << swipe.direction()
          << ", speed: " << swipe.speed() << std::endl;
        break;
      }
      case Gesture::TYPE_KEY_TAP:
      {
        KeyTapGesture tap = gesture;
        std::cout << "Key Tap id: " << gesture.id()
          << ", state: " << gesture.state()
          << ", position: " << tap.position()
          << ", direction: " << tap.direction()<< std::endl;
        break;
      }
      case Gesture::TYPE_SCREEN_TAP:
      {
        ScreenTapGesture screentap = gesture;
        std::cout << "Screen Tap id: " << gesture.id()
        << ", state: " << gesture.state()
        << ", position: " << screentap.position()
        << ", direction: " << screentap.direction()<< std::endl;
        break;
      }
      default:
//.........这里部分代码省略.........

    void m_bang()
    {

        Frame frame;
        t_atom generalInfo[6];
        int num_hands, num_tools, num_gestures;
        frame = dispatcher.frame;
        num_hands = frame.hands().count();
        num_tools = frame.tools().count();
        num_gestures = frame.gestures().count();
        
        if(general_flag){
            SETFLOAT(&generalInfo[0], (float)frame.id());
            SETFLOAT(&generalInfo[1], (float)frame.timestamp());
            SETFLOAT(&generalInfo[2], (float)num_hands);
            SETFLOAT(&generalInfo[3], (float)frame.fingers().count());
            SETFLOAT(&generalInfo[4], (float)frame.tools().count());
            SETFLOAT(&generalInfo[5], (float)frame.gestures().count());
            ToOutList(0, 6, generalInfo);        
        }
        // tools
        for(int i = 0; i<num_tools; i++){
            Tool tool;
            tool = frame.tools()[i];

            t_atom toolInfo[5];
            if(tools_position_flag) {
                SETFLOAT(&toolInfo[0], i);
                SETSYMBOL(&toolInfo[1], gensym("direction"));
                SETFLOAT(&toolInfo[2], tool.direction().x);
                SETFLOAT(&toolInfo[3], tool.direction().y);
                SETFLOAT(&toolInfo[4], tool.direction().z);
                ToOutAnything(1, gensym("tool"), 5, toolInfo);
            }
            if(tools_position_flag) {
                SETFLOAT(&toolInfo[0], i);
                SETSYMBOL(&toolInfo[1], gensym("position"));
                SETFLOAT(&toolInfo[2], tool.tipPosition().x);
                SETFLOAT(&toolInfo[3], tool.tipPosition().y);
                SETFLOAT(&toolInfo[4], tool.tipPosition().z);
                ToOutAnything(1, gensym("tool"), 5, toolInfo);
            }
            if(tools_velocity_flag){
                SETFLOAT(&toolInfo[0], i);
                SETSYMBOL(&toolInfo[1], gensym("velocity"));
                SETFLOAT(&toolInfo[2], tool.tipVelocity().x);
                SETFLOAT(&toolInfo[3], tool.tipVelocity().y);
                SETFLOAT(&toolInfo[4], tool.tipVelocity().z);
                ToOutAnything(1, gensym("tool"), 5, toolInfo);
            }
            if(tools_size_flag){
                SETFLOAT(&toolInfo[0], i); 
                SETSYMBOL(&toolInfo[1], gensym("size"));
                SETFLOAT(&toolInfo[2], tool.width());
                SETFLOAT(&toolInfo[3], tool.length());
                ToOutAnything(1, gensym("tool"), 4, toolInfo);
            }
        }
        // hands and fingers
        for(int i = 0; i<num_hands; i++){
            Hand hand;
            hand = frame.hands()[i];
            int num_fingers = hand.fingers().count();
            int num_tools = hand.tools().count();
            t_atom handInfo[5];

            if(hands_direction_flag){
                // direction
                SETFLOAT(&handInfo[0], i);
                SETSYMBOL(&handInfo[1], gensym("direction"));
                SETFLOAT(&handInfo[2], hand.direction().x);
                SETFLOAT(&handInfo[3], hand.direction().y);
                SETFLOAT(&handInfo[4], hand.direction().z);
                ToOutAnything(1, gensym("hand"), 5, handInfo);
            }
            if(hands_palm_position_flag){
                // position
                SETFLOAT(&handInfo[0], i);
                SETSYMBOL(&handInfo[1], gensym("palm_position"));
                SETFLOAT(&handInfo[2], hand.palmPosition().x);
                SETFLOAT(&handInfo[3], hand.palmPosition().y);
                SETFLOAT(&handInfo[4], hand.palmPosition().z);
                ToOutAnything(1, gensym("hand"), 5, handInfo);
            }
            if(hands_palm_velocity_flag){
                // velocity
                SETFLOAT(&handInfo[0], i);
                SETSYMBOL(&handInfo[1], gensym("palm_velocity"));
                SETFLOAT(&handInfo[2], hand.palmVelocity().x);
                SETFLOAT(&handInfo[3], hand.palmVelocity().y);
                SETFLOAT(&handInfo[4], hand.palmVelocity().z);
                ToOutAnything(1, gensym("hand"), 5, handInfo);
            }
            if(hands_palm_normal_flag){
                // normal
                SETFLOAT(&handInfo[0], i);
                SETSYMBOL(&handInfo[1], gensym("palm_normal"));
                SETFLOAT(&handInfo[2], hand.palmNormal().x);
                SETFLOAT(&handInfo[3], hand.palmNormal().y);
                SETFLOAT(&handInfo[4], hand.palmNormal().z);
//.........这里部分代码省略.........

 void update(double p, double q, LeapHandMessage &message, const Hand &hand)
 {
   average(p,q,message.at,(1/25.4),hand.palmPosition());
   average(p,q,message.point,1,hand.direction());
   average(p,q,message.down,1,hand.palmNormal());
 }

    FREObject LNLeapDevice::getFrame() {
        
        Frame frame = controller->frame();
        
        // TODO: Only continue with valid Frame?
        
        FREObject freCurrentFrame;
        FRENewObject( (const uint8_t*) "com.leapmotion.leap.Frame", 0, NULL, &freCurrentFrame, NULL);
        
        FREObject freFrameId;
        FRENewObjectFromInt32((int32_t) frame.id(), &freFrameId);
        FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "id", freFrameId, NULL);
        
        const Vector frameTranslation = frame.translation(lastFrame);
        FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "translationVector", createVector3(frameTranslation.x, frameTranslation.y, frameTranslation.z), NULL);
        
        const Matrix frameRotation = frame.rotationMatrix(lastFrame);
        FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "rotation", createMatrix(
                     createVector3(frameRotation.xBasis[0], frameRotation.xBasis[1], frameRotation.xBasis[2]),
                     createVector3(frameRotation.yBasis[0], frameRotation.yBasis[1], frameRotation.yBasis[2]),
                     createVector3(frameRotation.zBasis[0], frameRotation.zBasis[1], frameRotation.zBasis[2]),
                     createVector3(frameRotation.origin[0], frameRotation.origin[1], frameRotation.origin[2])
        ), NULL);
        
        FREObject freFrameScaleFactor;
        FRENewObjectFromDouble(frame.scaleFactor(lastFrame), &freFrameScaleFactor);
        FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "scaleFactorNumber", freFrameScaleFactor, NULL);
        
        FREObject freTimestamp;
        FRENewObjectFromInt32((int32_t) frame.timestamp(), &freTimestamp);
        FRESetObjectProperty(freCurrentFrame, (const uint8_t*) "timestamp", freTimestamp, NULL);
        
        std::map<int, FREObject> freHandsMap;
        if (!frame.hands().empty()) {
            
            FREObject freHands;
            FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "hands", &freHands, NULL);
            
            for(int i = 0; i < frame.hands().count(); i++) {
                const Hand hand = frame.hands()[i];
                
                FREObject freHand;
                FRENewObject( (const uint8_t*) "com.leapmotion.leap.Hand", 0, NULL, &freHand, NULL);
                FRESetObjectProperty(freHand, (const uint8_t*) "frame", freCurrentFrame, NULL);
                FRESetObjectProperty(freHand, (const uint8_t*) "direction", createVector3(hand.direction()[0], hand.direction()[1], hand.direction()[2]), NULL);
                
                FREObject freHandId;
                FRENewObjectFromInt32(hand.id(), &freHandId);
                FRESetObjectProperty(freHand, (const uint8_t*) "id", freHandId, NULL);
                FRESetObjectProperty(freHand, (const uint8_t*) "palmNormal", createVector3(hand.palmNormal()[0], hand.palmNormal()[1], hand.palmNormal()[2]), NULL);
                FRESetObjectProperty(freHand, (const uint8_t*) "palmPosition", createVector3(hand.palmPosition()[0], hand.palmPosition()[1], hand.palmPosition()[2]), NULL);
                FRESetObjectProperty(freHand, (const uint8_t*) "palmVelocity", createVector3(hand.palmVelocity()[0], hand.palmVelocity()[1], hand.palmVelocity()[2]), NULL);
                
                const Matrix rotation = hand.rotationMatrix(lastFrame);
                FRESetObjectProperty(freHand, (const uint8_t*) "rotation", createMatrix(
                                     createVector3(rotation.xBasis[0], rotation.xBasis[1], rotation.xBasis[2]),
                                     createVector3(rotation.yBasis[0], rotation.yBasis[1], rotation.yBasis[2]),
                                     createVector3(rotation.zBasis[0], rotation.zBasis[1], rotation.zBasis[2]),
                                     createVector3(rotation.origin[0], rotation.origin[1], rotation.origin[2])
                ), NULL);
                
                FREObject freScaleFactor;
                FRENewObjectFromDouble(hand.scaleFactor(lastFrame), &freScaleFactor);
                FRESetObjectProperty(freHand, (const uint8_t*) "scaleFactorNumber", freScaleFactor, NULL);
                
                FRESetObjectProperty(freHand, (const uint8_t*) "sphereCenter", createVector3(hand.sphereCenter()[0], hand.sphereCenter()[1], hand.sphereCenter()[2]), NULL);
                
                FREObject freSphereRadius;
                FRENewObjectFromDouble(hand.sphereRadius(), &freSphereRadius);
                FRESetObjectProperty(freHand, (const uint8_t*) "sphereRadius", freSphereRadius, NULL);
                
                const Vector translation = hand.translation(lastFrame);
                FRESetObjectProperty(freHand, (const uint8_t*) "translationVector", createVector3(translation.x, translation.y, translation.z), NULL);
                
                FRESetArrayElementAt(freHands, i, freHand);
                
                freHandsMap[hand.id()] = freHand;
            }
        }
        
        std::map<int, FREObject> frePointablesMap;
        if(!frame.pointables().empty()) {
            
            FREObject frePointables;
            FREGetObjectProperty(freCurrentFrame, (const uint8_t*) "pointables", &frePointables, NULL);
            
            for(int i = 0; i < frame.pointables().count(); i++) {
                const Pointable pointable = frame.pointables()[i];
                
                FREObject frePointable;
                if(pointable.isTool()) {
                    FRENewObject( (const uint8_t*) "com.leapmotion.leap.Tool", 0, NULL, &frePointable, NULL);
                } else {
                    FRENewObject( (const uint8_t*) "com.leapmotion.leap.Finger", 0, NULL, &frePointable, NULL);
                }
                
                FRESetObjectProperty(frePointable, (const uint8_t*) "frame", freCurrentFrame, NULL);
                
                FREObject frePointableId;
                FRENewObjectFromInt32(pointable.id(), &frePointableId);
//.........这里部分代码省略.........

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");
//.........这里部分代码省略.........