C++ Hand::isValid方法代码示例

void eleap::eleap_t::impl_t::onFrame(const Leap::Controller& controller)
{
    const Leap::Frame frame = controller.frame();
    if (frame.isValid())
    {
        // send the known hands in this frame, this will handle hands coming and going
        const Leap::HandList hands = frame.hands();
        {
            unsigned long long time_encoded = (0&0xffffffff)<<8 | (DATA_KNOWN_HANDS&0xff);

            float *f;
            unsigned char *dp;
            piw::data_nb_t d = ctx_.allocate_host(time_encoded,INT32_MAX,INT32_MIN,0,BCTVTYPE_INT,sizeof(int32_t),&dp,hands.count(),&f);
            memset(f,0,hands.count()*sizeof(int32_t));
            *dp = 0;

            for(int i = 0; i < hands.count(); ++i)
            {
                const Leap::Hand hand = hands[i];
                if(hand.isValid() && hand.fingers().count() > 1)
                {
                    ((int32_t *)f)[i] = hand.id();
                }
            }
            enqueue_fast(d,1);
        }
        
        // handle the actual data for the detected hands
        for(int i = 0; i < hands.count(); ++i)
        {
            const Leap::Hand hand = hands[i];
            if(hand.isValid() && hand.fingers().count() > 1)
            {
                unsigned long long time_encoded = (hand.id()&0xffffffff)<<8 | (DATA_PALM_POSITION&0xff);

                const Leap::Vector palm_pos = hand.palmPosition();

                float *f;
                unsigned char *dp;
                piw::data_nb_t d = ctx_.allocate_host(time_encoded,600,-600,0,BCTVTYPE_FLOAT,sizeof(float),&dp,3,&f);
                memset(f,0,3*sizeof(float));
                *dp = 0;

                f[0] = piw::normalise(600,-600,0,palm_pos.x);
                f[1] = piw::normalise(600,-600,0,palm_pos.y);
                f[2] = piw::normalise(600,-600,0,palm_pos.z);

                enqueue_fast(d,1);
            }
        }
    }
}

void LeapListener::onFrame(const Controller& controller) {
	const Frame frame = controller.frame();
	static int64_t lastFrameID = 0;

	if(frame.id() < lastFrameID+10)
		return;

	Leap::HandList hands = frame.hands();
	Leap::Hand hand = hands[0];

	if(hand.isValid()) {
		float pitch = hand.direction().pitch();
		float yaw = hand.direction().yaw();
		float roll = hand.palmNormal().roll();
		float height = hand.palmPosition().y;

		std::cout << "Pitch: " << RAD_TO_DEG*pitch << " Yaw: " << RAD_TO_DEG*yaw << " Roll: " << RAD_TO_DEG*roll << " Height: " << height << " Frame: " << frame.id() << std::endl;

// 		switch(gest.type()) {
// 			case Gesture::TYPE_CIRCLE:
// 				std::cout << "Takeoff" << std::endl;
// 				if (jakopter_takeoff() < 0)
// 					return;
// 				break;
// 			case Gesture::TYPE_SWIPE:
// 				std::cout << "Land" << std::endl;
// 				if (jakopter_land() < 0)
// 					return;
// 				break;
// 			default:
// 				break;
// 		}

		char c = 's';

		if (height > 300)
			c = 'u';
		else if(height < 75)
			c = 'k';
		else if (height < 150)
			c = 'd';


		if (roll > 0.7)
			c = 'l';
		else if (roll < -0.7)
			c = 'r';

		if (pitch > 0.7)
			c = 'b';
		else if (pitch < -0.7)
			c = 'f';

		FILE *cmd = fopen(CMDFILENAME,"w");
		fprintf(cmd, "%c\n", c);
		fclose(cmd);
	}

	lastFrameID = frame.id();
}

		/**
		  Returns
		  1 if abs(xvel) <= 1/2 abs(yvel)
		  0 otherwise
		*/
		virtual int evaluate(const Leap::Frame &frame,
				const std::string& nodeid) {
			Leap::Hand h = frame.hand(0);
			if (h.isValid()) {
				Leap::Vector vel = h.palmVelocity();
				return (abs(vel.x) <= 0.5 * abs(vel.y))
						? 1 : 0;
			} else
				return 0;
		}

    virtual void onFrame        (const Leap::Controller&)
    {
        const Leap::Frame frame(m_Controller.frame(0));
        const Leap::Hand hand(frame.hands().rightmost());
        if (!hand.isValid())
        {
            m_LastNormalizedPos.reset();
            return;
        }

        const Leap::Vector pos(hand.palmPosition());
        m_LastNormalizedPos = frame.interactionBox().normalizePoint(pos);
    }

void LeapListener::onFrame(const Controller& controller) {
    const Frame frame = controller.frame();
    Leap::HandList hands = frame.hands();
    Leap::Hand hand = hands[0];

    if(hand.isValid()){
        leapData.pitch = hand.direction().pitch();
        leapData.yaw = hand.direction().yaw();
        leapData.roll = hand.palmNormal().roll();
        leapData.height = hand.palmPosition().y;


        std::cout << "Frame id: " << frame.id()
              << ", timestamp: " << frame.timestamp()
              << ", height: " << leapData.height
              << ", pitch: " << RAD_TO_DEG * leapData.pitch
              << ", yaw: " << RAD_TO_DEG * leapData.yaw
              << ", roll: " << RAD_TO_DEG * leapData.roll << std::endl;
    }
}

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();
//.........这里部分代码省略.........