def __init__(self):
super(ObjectController, self).__init__()
self.nb_hands = MixedFilter(
[NoiseFilter(10, 0.3, 10),
LowpassFilter(0.5)])
self.grab = GrabLogic()
self.scale = ScaleLogic()
class ObjectController(Leap.Listener):
def __init__(self):
super(ObjectController, self).__init__()
self.nb_hands = MixedFilter([
NoiseFilter(10, 0.3, 10),
LowpassFilter(0.5)])
self.grab = GrabLogic()
self.scale = ScaleLogic()
def on_init(self, controller):
pass
def on_exit(self, controller):
pass
def on_frame(self, controller):
frame = controller.frame()
self.nb_hands.add_value(len(frame.hands))
# 1 hand for grab, 2 for scale
if self.nb_hands.around(1, 0.1):
self.grab.frame(frame)
elif self.nb_hands.around(2, 0.1):
self.scale.frame(frame)
else:
self.grab.reset()
self.scale.reset()
class ObjectController(Leap.Listener):
def __init__(self):
super(ObjectController, self).__init__()
self.nb_hands = MixedFilter(
[NoiseFilter(10, 0.3, 10),
LowpassFilter(0.5)])
self.grab = GrabLogic()
self.scale = ScaleLogic()
def on_init(self, controller):
pass
def on_exit(self, controller):
pass
def on_frame(self, controller):
frame = controller.frame()
self.nb_hands.add_value(len(frame.hands))
# 1 hand for grab, 2 for scale
if self.nb_hands.around(1, 0.1):
self.grab.frame(frame)
elif self.nb_hands.around(2, 0.1):
self.scale.frame(frame)
else:
self.grab.reset()
self.scale.reset()
def __init__(self):
self.is_activated = False
self.two_hands_grabbing = gestures.TwoHandsGrabbing()
self.magnitude = MixedFilter([
#NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)
])
self.magnitude_origin = 0
def __init__(self):
self.grabbing_hands = {}
self.first_hand_closed = MixedFilter([
#NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
])
self.second_hand_closed = MixedFilter([
#NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
])
def __init__(self):
self.grabbing_hands = {}
self.first_hand_closed = MixedFilter(
[
# NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
]
)
self.second_hand_closed = MixedFilter(
[
# NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
]
)
class ClosingHand(object):
def __init__(self):
self.nb_fingers = MixedFilter([NoiseFilter(100, 0.3, 10), LowpassFilter(0.9)])
def frame(self, hand):
fingers = hand.fingers
self.nb_fingers.add_value(len(fingers))
def reset(self):
self.nb_fingers.empty()
def is_done(self):
if self.nb_fingers.around(3.0, 0.5) and self.nb_fingers.derivative < -0.012:
return True
return False
def __init__(self):
self.is_activated = False
self.two_hands_grabbing = gestures.TwoHandsGrabbing()
self.magnitude = MixedFilter([
#NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.magnitude_origin = 0
def __init__(self):
super(ObjectController, self).__init__()
self.nb_hands = MixedFilter([
NoiseFilter(10, 0.3, 10),
LowpassFilter(0.5)])
self.grab = GrabLogic()
self.scale = ScaleLogic()
class ClosingHand(object):
def __init__(self):
self.nb_fingers = MixedFilter(
[NoiseFilter(100, 0.3, 10),
LowpassFilter(0.9)])
def frame(self, hand):
fingers = hand.fingers
self.nb_fingers.add_value(len(fingers))
def reset(self):
self.nb_fingers.empty()
def is_done(self):
if self.nb_fingers.around(3.0, 0.5) \
and self.nb_fingers.derivative < -0.012:
return True
return False
class ScaleLogic(object):
def __init__(self):
self.is_activated = False
self.two_hands_grabbing = gestures.TwoHandsGrabbing()
self.magnitude = MixedFilter([
#NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)
])
self.magnitude_origin = 0
def frame(self, frame):
first_hand, second_hand = frame.hands[0], frame.hands[1]
self.two_hands_grabbing.frame((first_hand, second_hand))
if not self.is_activated:
if self.two_hands_grabbing.just_grabbed():
self.start(first_hand, second_hand)
else:
if self.two_hands_grabbing.just_lost():
self.stop()
else:
self.run(first_hand, second_hand)
def start(self, first_hand, second_hand):
self.is_activated = True
send_command('object_scale_origin')
dis = first_hand.stabilized_palm_position - second_hand.stabilized_palm_position
self.magnitude_origin = dis.magnitude
def stop(self):
self.is_activated = False
self.two_hands_grabbing.reset()
def run(self, first_hand, second_hand):
dis = first_hand.stabilized_palm_position - second_hand.stabilized_palm_position
self.magnitude.add_value(dis.magnitude)
mag = self.magnitude.value / self.magnitude_origin
send_command('object_scale', {'sx': mag, 'sy': mag, 'sz': mag})
def reset(self):
if self.is_activated:
self.stop()
self.magnitude.empty()
class ScaleLogic(object):
def __init__(self):
self.is_activated = False
self.two_hands_grabbing = gestures.TwoHandsGrabbing()
self.magnitude = MixedFilter([
#NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.magnitude_origin = 0
def frame(self, frame):
first_hand, second_hand = frame.hands[0], frame.hands[1]
self.two_hands_grabbing.frame((first_hand, second_hand))
if not self.is_activated:
if self.two_hands_grabbing.just_grabbed():
self.start(first_hand, second_hand)
else:
if self.two_hands_grabbing.just_lost():
self.stop()
else:
self.run(first_hand, second_hand)
def start(self, first_hand, second_hand):
self.is_activated = True
send_command('object_scale_origin')
dis = first_hand.stabilized_palm_position - second_hand.stabilized_palm_position
self.magnitude_origin = dis.magnitude
def stop(self):
self.is_activated = False
self.two_hands_grabbing.reset()
def run(self, first_hand, second_hand):
dis = first_hand.stabilized_palm_position - second_hand.stabilized_palm_position
self.magnitude.add_value(dis.magnitude)
mag = self.magnitude.value / self.magnitude_origin
send_command('object_scale', { 'sx': mag, 'sy': mag, 'sz': mag })
def reset(self):
if self.is_activated:
self.stop()
self.magnitude.empty()
def __init__(self):
self.grabbing_hand = gestures.GrabbingHand()
self.is_activated = False
# hand location
self.loc_x_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_y_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_z_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_x_origin = 0
self.loc_y_origin = 0
self.loc_z_origin = 0
# hand rotation
self.rot_x_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05) ])
self.rot_y_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05) ])
self.rot_z_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05) ])
self.rot_x_origin = 0
self.rot_y_origin = 0
self.rot_z_origin = 0
class TwoHandsGrabbing(object):
def __init__(self):
self.grabbing_hands = {}
self.first_hand_closed = MixedFilter(
[
# NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
]
)
self.second_hand_closed = MixedFilter(
[
# NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
]
)
def frame(self, hands):
first_hand, second_hand = hands
# make sure hands are setup
if any(hand.id not in self.grabbing_hands for hand in hands):
self.grabbing_hands = {hand.id: GrabbingHand() for hand in hands}
# do frames
self.grabbing_hands[first_hand.id].frame(first_hand)
self.grabbing_hands[second_hand.id].frame(second_hand)
# start scaling
self.first_hand_closed.add_value(int(self.grabbing_hands[first_hand.id].just_closed()))
self.second_hand_closed.add_value(int(self.grabbing_hands[second_hand.id].just_closed()))
def reset(self):
self.first_hand_closed.empty()
self.second_hand_closed.empty()
self.grabbing_hands = {}
def just_grabbed(self):
both_closed = self.first_hand_closed.value + self.second_hand_closed.value
return abs(both_closed - 1.7) < 0.3
def just_lost(self):
return any(gh.just_opened() for gh in self.grabbing_hands.itervalues())
class TwoHandsGrabbing(object):
def __init__(self):
self.grabbing_hands = {}
self.first_hand_closed = MixedFilter([
#NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
])
self.second_hand_closed = MixedFilter([
#NoiseFilter(2, 100, 20),
LowpassFilter(0.1)
])
def frame(self, hands):
first_hand, second_hand = hands
# make sure hands are setup
if any(hand.id not in self.grabbing_hands for hand in hands):
self.grabbing_hands = {hand.id: GrabbingHand() for hand in hands}
# do frames
self.grabbing_hands[first_hand.id].frame(first_hand)
self.grabbing_hands[second_hand.id].frame(second_hand)
# start scaling
self.first_hand_closed.add_value(
int(self.grabbing_hands[first_hand.id].just_closed()))
self.second_hand_closed.add_value(
int(self.grabbing_hands[second_hand.id].just_closed()))
def reset(self):
self.first_hand_closed.empty()
self.second_hand_closed.empty()
self.grabbing_hands = {}
def just_grabbed(self):
both_closed = self.first_hand_closed.value + self.second_hand_closed.value
return abs(both_closed - 1.7) < .3
def just_lost(self):
return any(gh.just_opened() for gh in self.grabbing_hands.itervalues())
def __init__(self):
self.nb_fingers = MixedFilter([NoiseFilter(100, 0.3, 10), LowpassFilter(0.9)])
class GrabLogic(object):
def __init__(self):
self.grabbing_hand = gestures.GrabbingHand()
self.is_activated = False
# hand location
self.loc_x_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_y_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_z_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_x_origin = 0
self.loc_y_origin = 0
self.loc_z_origin = 0
# hand rotation
self.rot_x_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05) ])
self.rot_y_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05) ])
self.rot_z_hand = MixedFilter([
NoiseFilter(1000, 100, 20),
LowpassFilter(0.05) ])
self.rot_x_origin = 0
self.rot_y_origin = 0
self.rot_z_origin = 0
def frame(self, frame):
hand = frame.hands[0]
self.grabbing_hand.frame(hand)
if not self.is_activated and self.grabbing_hand.just_closed():
self.start(hand)
if self.is_activated and self.grabbing_hand.just_opened():
self.stop()
if self.is_activated:
self.run(hand)
def reset(self):
self.grabbing_hand.reset()
if self.is_activated:
self.stop()
def start(self, hand):
self.is_activated = True
# move origin
pos = hand.stabilized_palm_position
self.loc_x_origin = pos.x
self.loc_y_origin = pos.y
self.loc_z_origin = pos.z
send_command('object_move_origin', {})
# rotate origin
self.rot_x_origin = hand.direction.pitch
self.rot_y_origin = hand.direction.yaw
self.rot_z_origin = hand.direction.roll
send_command('object_rotate_origin', {})
def stop(self):
self.is_activated = False
self.loc_x_hand.empty()
self.loc_y_hand.empty()
self.loc_z_hand.empty()
self.rot_x_hand.empty()
self.rot_y_hand.empty()
self.rot_z_hand.empty()
send_command('object_move_end', {})
send_command('object_rotate_end', {})
def run(self, hand):
pos = hand.stabilized_palm_position
self.loc_x_hand.add_value(pos.x)
self.loc_y_hand.add_value(pos.y)
self.loc_z_hand.add_value(pos.z)
self.rot_x_hand.add_value(hand.direction.pitch)
self.rot_y_hand.add_value(hand.direction.yaw)
self.rot_z_hand.add_value(hand.direction.roll)
# send motion
dx = self.loc_x_hand.value - self.loc_x_origin
dy = self.loc_y_hand.value - self.loc_y_origin
dz = self.loc_z_hand.value - self.loc_z_origin
send_command('object_move', { 'loc_x': dx, 'loc_y': dy, 'loc_z': dz})
# send rotation
rx = self.rot_x_hand.value - self.rot_x_origin
ry = self.rot_y_hand.value - self.rot_y_origin
rz = self.rot_z_hand.value - self.rot_z_origin
send_command('object_rotate', { 'rot_x': rx, 'rot_y': ry, 'rot_z': rz})
def __init__(self):
self.grabbing_hand = gestures.GrabbingHand()
self.is_activated = False
# hand location
self.loc_x_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_y_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_z_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_x_origin = 0
self.loc_y_origin = 0
self.loc_z_origin = 0
# hand rotation
self.rot_x_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.rot_y_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.rot_z_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.rot_x_origin = 0
self.rot_y_origin = 0
self.rot_z_origin = 0
class GrabLogic(object):
def __init__(self):
self.grabbing_hand = gestures.GrabbingHand()
self.is_activated = False
# hand location
self.loc_x_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_y_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_z_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.loc_x_origin = 0
self.loc_y_origin = 0
self.loc_z_origin = 0
# hand rotation
self.rot_x_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.rot_y_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.rot_z_hand = MixedFilter(
[NoiseFilter(1000, 100, 20),
LowpassFilter(0.05)])
self.rot_x_origin = 0
self.rot_y_origin = 0
self.rot_z_origin = 0
def frame(self, frame):
hand = frame.hands[0]
self.grabbing_hand.frame(hand)
if not self.is_activated and self.grabbing_hand.just_closed():
self.start(hand)
if self.is_activated and self.grabbing_hand.just_opened():
self.stop()
if self.is_activated:
self.run(hand)
def reset(self):
self.grabbing_hand.reset()
if self.is_activated:
self.stop()
def start(self, hand):
self.is_activated = True
# move origin
pos = hand.stabilized_palm_position
self.loc_x_origin = pos.x
self.loc_y_origin = pos.y
self.loc_z_origin = pos.z
send_command('object_move_origin', {})
# rotate origin
self.rot_x_origin = hand.direction.pitch
self.rot_y_origin = hand.direction.yaw
self.rot_z_origin = hand.direction.roll
send_command('object_rotate_origin', {})
def stop(self):
self.is_activated = False
self.loc_x_hand.empty()
self.loc_y_hand.empty()
self.loc_z_hand.empty()
self.rot_x_hand.empty()
self.rot_y_hand.empty()
self.rot_z_hand.empty()
send_command('object_move_end', {})
send_command('object_rotate_end', {})
def run(self, hand):
pos = hand.stabilized_palm_position
self.loc_x_hand.add_value(pos.x)
self.loc_y_hand.add_value(pos.y)
self.loc_z_hand.add_value(pos.z)
self.rot_x_hand.add_value(hand.direction.pitch)
self.rot_y_hand.add_value(hand.direction.yaw)
self.rot_z_hand.add_value(hand.direction.roll)
# send motion
dx = self.loc_x_hand.value - self.loc_x_origin
dy = self.loc_y_hand.value - self.loc_y_origin
dz = self.loc_z_hand.value - self.loc_z_origin
send_command('object_move', {'loc_x': dx, 'loc_y': dy, 'loc_z': dz})
# send rotation
rx = self.rot_x_hand.value - self.rot_x_origin
ry = self.rot_y_hand.value - self.rot_y_origin
rz = self.rot_z_hand.value - self.rot_z_origin
send_command('object_rotate', {'rot_x': rx, 'rot_y': ry, 'rot_z': rz})
def __init__(self):
self.nb_fingers = MixedFilter(
[NoiseFilter(100, 0.3, 10),
LowpassFilter(0.9)])
