def on_frame(self, controller):
# Get the most recent frame and report some basic information
frame = controller.frame()
global connection
try:
# x = str(len(frame.hands)) + "\n"
# connection.sendall(x.encode('ascii'))
for hand in frame.hands:
handType = "Left Hand" if hand.is_left else "Right Hand"
normal = hand.palm_normal
direction = hand.direction
pitch = direction.pitch * Leap.RAD_TO_DEG # Rotation around x-axis
roll = normal.roll * Leap.RAD_TO_DEG # Rotation around z-axis
yaw = direction.yaw * Leap.RAD_TO_DEG # Rotation around y-axis(Perpendicular to the plane)
if pitch > 35:
connection.sendall((handType + ",Back\n").encode('ascii'))
elif pitch < -35:
connection.sendall((handType + ",Front\n").encode('ascii'))
for tool in frame.tools:
connection.sendall(("Tool\n").encode('ascii'))
for gesture in frame.gestures():
# swipe gesture
if gesture.type == Leap.Gesture.TYPE_SWIPE:
swipe = Leap.SwipeGesture(gesture)
swipe_id = swipe.id
swipe_state = self.state_names[gesture.state]
swipe_position = swipe.position
swipe_direction = swipe.direction
swipe_speed = swipe.speed
if swipe_direction.x > 0:
connection.sendall(("Swipe Right\n").encode('ascii'))
else:
connection.sendall(("Swipe Left\n").encode('ascii'))
# screen tab gesture
elif gesture.type == Leap.Gesture.TYPE_SCREEN_TAP:
screentap = Leap.ScreenTapGesture(gesture)
screentap_id = gesture.id
screentap_state = self.state_names[gesture.state]
screentap_position = screentap.position
screentap_direction = screentap.direction
connection.sendall(("Screentab\n").encode('ascii'))
# keytab Gesture
elif gesture.type == Leap.Gesture.TYPE_KEY_TAP:
keytap = Leap.KeyTapGesture(gesture)
keytap_id = gesture.id
keytap_state = self.state_names[gesture.state]
keytap_position = keytap.position
keytap_direction = keytap.direction
connection.sendall(("Keytab\n").encode('ascii'))
except socket.error:
create_connection()
def on_frame(self, controller):
# Get the most recent frame and report some basic information
frame = controller.frame()
# print ("Frame id: %d, timestamp: %d, hands: %d, fingers: %d" % (
# frame.id, frame.timestamp, len(frame.hands), len(frame.fingers)))
# Get gesture
for gesture in frame.gestures():
if gesture.type is Leap.Gesture.TYPE_SCREEN_TAP:
screen_tap = Leap.ScreenTapGesture(gesture)
# Get hands
for hand in frame.hands:
handType = "Left hand" if hand.is_left else "Right hand"
# print (" %s, id %d, position: %s" % (
# handType, hand.id, hand.palm_position))
# Get the hand's normal vector and direction
normal = hand.palm_normal
direction = hand.direction
# Calculate the hand's pitch, roll, and yaw angles
# print (" pitch: %f degrees, roll: %f degrees, yaw: %f degrees" % (
# direction.pitch * Leap.RAD_TO_DEG,
# normal.roll * Leap.RAD_TO_DEG,
# direction.yaw * Leap.RAD_TO_DEG))
# Get arm bone
arm = hand.arm
print (" Arm direction: %s, wrist position: %s, elbow position: %s" % (
arm.direction,
arm.wrist_position,
arm.elbow_position))
# Get fingers
for finger in hand.fingers:
# print (" %s finger, id: %d, length: %fmm, width: %fmm" % (
# self.finger_names[finger.type],
# finger.id,
# finger.length,
# finger.width))
# Get bones
for b in range(0, 4):
bone = finger.bone(b)
# print (" Bone: %s, start: %s, end: %s, direction: %s" % (
# self.bone_names[bone.type],
# bone.prev_joint,
# bone.next_joint,
# bone.direction))
if not frame.hands.is_empty:
print ("")
def main():
controller = Leap.Controller()
while (not (controller.is_connected)):
continue
print "connected"
enable_swipe(controller)
enable_screentap(controller)
lastFrameID = -1
previousTapID = -1
previousTapreached = False
while (True):
# frame = controller.frame()
# if(frame.is_valid):
# print frame.id
# for gesture in frame.gestures():
# if(gesture.type is Leap.Gesture.TYPE_SWIPE):
# swipe = Leap.SwipeGesture(gesture)
# print " SWIPE "
thisFrame = controller.frame()
maxHistory = 60
for i in range(maxHistory):
frame = controller.frame(i)
if (frame.id == lastFrameID): break
if (not frame.is_valid): break
if (frame.is_valid):
for gesture in frame.gestures():
# if((i== 0) and (gesture.type is Leap.Gesture.TYPE_SWIPE)):
# swipe = Leap.SwipeGesture(gesture)
# print " SWIPE "
if (gesture.is_valid and
(gesture.type is Leap.Gesture.TYPE_SCREEN_TAP)):
if (gesture.id != previousTapID):
screenTap = Leap.ScreenTapGesture(gesture)
tapper = screenTap.pointable
if (tapper.is_finger):
finger = Leap.Finger(tapper)
if (finger.is_valid and finger.type == 1):
previousTapID = gesture.id
print "SCREEN_TAP"
selectTile(screenTap)
else:
previousTapreached = True
if (previousTapreached): break
lastFrameID = thisFrame.id
return None
def on_frame(self, controller):
""" Get the most recent frame and report some basic information """
finger_angles = [
'ThumbIndexAngle', 'IndexMidAngle', 'MidRingAngle',
'RingPinkyAngle'
]
bone_angles = ['MetaProxAngle', 'ProxInterAngle', 'InterDistAngle']
bone_direc = [
'MetaDirection', 'ProxDirection', 'InterDirection', 'DistDirection'
]
bone_len = ['MetaLength', 'ProxLength', 'InterLength', 'DistLength']
bone_prevJoint = [
'MetaPrevJoint', 'ProxPrevJoint', 'InterPrevJoint', 'DistPrevJoint'
]
bone_nextJoint = [
'MetaNextJoint', 'ProxNextJoint', 'InterNextJoint', 'DistNextJoint'
]
frame = controller.frame()
mydict = defaultdict(list)
hand_num = len(frame.hands)
for hand in frame.hands:
arm = hand.arm
mydict['ArmDirection'].append(str(arm.direction)[1:-1])
mydict['ElbowPosition'].append(str(arm.elbow_position)[1:-1])
mydict['ArmWidth'].append(str(arm.width))
mydict['WristPosition'].append(str(arm.wrist_position)[1:-1])
displacement = arm.wrist_position - arm.elbow_position
mydict['ArmLength'].append(str(displacement.magnitude))
mydict['HandID'].append(str(hand.id))
mydict['HandConfid'].append(str(hand.confidence))
mydict['GrabStrength'].append(str(hand.grab_strength))
mydict['PalmNormal'].append(str(hand.palm_normal)[1:-1])
mydict['PalmYaw'].append(str(hand.direction.yaw))
mydict['PalmRoll'].append(str(hand.direction.roll))
mydict['PalmPitch'].append(str(hand.direction.pitch))
mydict['PalmPosition'].append(str(hand.palm_position)[1:-1])
mydict['HandDirection'].append(str(hand.direction)[1:-1])
mydict['PalmVelocity'].append(str(hand.palm_velocity)[1:-1])
mydict['PinchStrength'].append(str(hand.pinch_strength))
mydict['SphereCenter'].append(str(hand.sphere_center)[1:-1])
mydict['SphereRadius'].append(str(hand.sphere_radius))
mydict['PalmWidth'].append(str(hand.palm_width))
if hand.is_left:
mydict['HandType'].append('Left hand')
else:
mydict['HandType'].append('Right hand')
# Get fingers
# finger_num = 5 * hand_num
prox_direc = []
for finger in hand.fingers:
prox_direc.append(finger.bone(1).direction)
mydict['FingerType'].append(self.finger_names[finger.type])
mydict['FingerLength'].append(str(finger.length))
mydict['FingerWidth'].append(str(finger.width))
mydict['TipDirection'].append(str(finger.direction)[1:-1])
mydict['TipPosition'].append(str(finger.tip_position)[1:-1])
for ix, (d, l, p, n) in enumerate(
zip(bone_direc, bone_len, bone_prevJoint,
bone_nextJoint)):
mydict[d].append(str(finger.bone(ix).direction)[1:-1])
mydict[l].append(str(finger.bone(ix).length))
mydict[p].append(str(finger.bone(ix).prev_joint)[1:-1])
mydict[n].append(str(finger.bone(ix).next_joint)[1:-1])
for ix, name in enumerate(bone_angles):
angle = finger.bone(ix).direction.angle_to(
finger.bone(ix + 1).direction)
mydict[name].append(str(angle * 180 / Leap.PI))
for index, angle in enumerate(finger_angles):
mydict[angle].append(
str(prox_direc[index].angle_to(prox_direc[index + 1]) *
180 / Leap.PI))
# Get tools
tool_num = len(frame.tools)
for tool in frame.tools:
mydict['ToolPosition'].append(str(tool.tip_position)[1:-1])
mydict['ToolDirection'].append(str(tool.direction)[1:-1])
# Get gestures
gesture_num = len(frame.gestures())
for gesture in frame.gestures():
mydict['GestureState'].append(str(self.state_names[gesture.state]))
mydict['GestureDuration'].append(str(gesture.duration))
if gesture.type == Leap.Gesture.TYPE_CIRCLE:
#circle = Leap.CircleGesture(gesture)
mydict['GestureType'].append('circle')
#circle has no position attribute
mydict['GesturePosition'].append(str([-1.0, -1.0, -1.0])[1:-1])
if gesture.type == Leap.Gesture.TYPE_SWIPE:
mydict['GestureType'].append('swip')
swipe = Leap.SwipeGesture(gesture)
mydict['GesturePosition'].append(str(swipe.position)[1:-1])
if gesture.type == Leap.Gesture.TYPE_KEY_TAP:
mydict['GestureType'].append('key tap')
keytap = Leap.KeyTapGesture(gesture)
mydict['GesturePosition'].append(str(keytap.position)[1:-1])
if gesture.type == Leap.Gesture.TYPE_SCREEN_TAP:
mydict['GestureType'].append('screen tap')
screentap = Leap.ScreenTapGesture(gesture)
mydict['GesturePosition'].append(str(screentap.position)[1:-1])
# insert field length for multi-field values
for _, value in mydict.iteritems():
value.insert(0, str(len(value)))
# add sing field values
mydict['GestureNum'].append(str(gesture_num))
mydict["LeapTime"].append(str(int(time.time() * 1000)))
mydict['FrameID'].append(str(frame.id))
mydict['HandNum'].append(str(hand_num))
mydict['ToolNum'].append(str(tool_num))
self.vsocket.send_message(mydict)
print 'frame rate: ', frame.current_frames_per_second
mydict.clear()
def on_frame(self, controller):
frame = controller.frame()
for gesture in frame.gestures():
if gesture.type is Leap.Gesture.TYPE_SCREEN_TAP:
screen_tap = Leap.ScreenTapGesture(gesture)
if not frame.hands.is_empty:
hand = frame.hands[0]
wp = hand.arm.wrist_position
# print("wp",wp[0],wp[1],wp[2])
s6, s5, s4, alfa, beta = self.CovToServoAngel(wp[0], wp[1], wp[2])
self.alfa = 180 * alfa / math.pi
self.beta = 180 * beta / math.pi
a = []
for finger in hand.fingers:
for b in range(0, 4):
bone = finger.bone(b)
a.append(finger)
index_point = (a[1].bone(0).next_joint[0],
a[1].bone(0).next_joint[1],
a[1].bone(0).next_joint[2])
pinky_point = (a[4].bone(0).next_joint[0],
a[4].bone(0).next_joint[1],
a[4].bone(0).next_joint[2])
index_pinky = (index_point[0] - pinky_point[0],
index_point[1] - pinky_point[1],
index_point[2] - pinky_point[2])
vector = (index_pinky[0] / 57, index_pinky[1] / 57,
index_pinky[2] / 57)
thumb_tip = (a[0].bone(3).next_joint[0] / 10,
a[0].bone(3).next_joint[1] / 10,
a[0].bone(3).next_joint[2] / 10)
index_tip = (a[1].bone(3).next_joint[0] / 10,
a[1].bone(3).next_joint[1] / 10,
a[1].bone(3).next_joint[2] / 10)
distance = math.pow((thumb_tip[0] - index_tip[0]), 2) + math.pow(
(thumb_tip[1] - index_tip[1]), 2) + math.pow(
(thumb_tip[1] - index_tip[1]), 2)
v_y = vector[1]
if vector[2] < 0: #下降
cita3 = 180 - alfa - beta - 90 * vector[1]
else: #上升
cita3 = (90 * v_y) - alfa - beta
if cita3 < 120 and cita3 > -120:
engine_3 = round(500 - 4.15 * cita3)
elif (cita3 < -120):
engine_3 = 1000
else:
engine_3 = 0
if vector[1] > 0:
cita2 = 90 * vector[0]
else:
cita2 = -180 - 90 * vector[0]
if cita2 < 120 and cita2 > -120:
engine_2 = round(500 + 4.15 * cita2)
elif cita2 < -120:
engine_2 = 1000
else:
engine_2 = 0
if distance < 8:
engine_1 = 10
else:
engine_1 = 500
#print("cita3,cita2,alfa,beta:",cita3,cita2,alfa,beta)
self.putData(engine_1, engine_2, engine_3, s4, s5, s6)
else:
self.putData(500, 500, 700, 600, 200, 500)
def startNewGame(controller):
global currentState
global tileList
im = Image.open("flanders.gif")
#im = blacken15(im)
# print "here haha"
generateTileList(im)
# print "here"
imO = makeImage()
sendImage(imO)
time.sleep(5)
randIndex = random.randint(0, len(sLists)-1)
(currentState, blankInd) = sLists[randIndex]
#get the start game thing
#print (currentState, blankInd)
scIm = makeImage()
#scIm.show()
#scrambled image
scIm.save("scIm.gif")
### HOPEFULLY IM HAS NOT CHANGED NOW
sendImage(scIm)
#get gestures
lastFrameID = -1
previousTapID = -1
previousTapreached = False
while(True):
#Get new frame
thisFrame = controller.frame()
#print 'f'
maxHistory = 60
for i in range (maxHistory):
frame = controller.frame(i)
if (frame.id == lastFrameID): break
if (not frame.is_valid): break
if (frame.is_valid):
for gesture in frame.gestures():
if((i == 0) and (gesture.type is Leap.Gesture.TYPE_SWIPE)):
swipe = Leap.SwipeGesture(gesture)
#print " SWIPE "
resetGame(controller)
break
return None
###RESET
if(gesture.is_valid and (gesture.type is Leap.Gesture.TYPE_SCREEN_TAP)):
if (gesture.id != previousTapID):
screenTap = Leap.ScreenTapGesture(gesture)
previousTapID = gesture.id
print "SCREEN_TAP"
#handleTap(screenTap, blankInd)
break
else:
previousTapreached = True
if (previousTapreached): break
lastFrameID = thisFrame.id
return None
def on_frame(self, controller):
frame = controller.frame(
) # atribuindo a variavel frame o retorno de informações dos ultimos qudros captadas pelo leap motion
#frame_penultimo_gesto = controller.frame(1) # atribuindo a variavel frame_penultimo_gesto o retorno de informações do penultimo gesto
for hand in frame.hands:
for gesture in frame.gestures():
#cada gesto tem seu ID criado
if gesture.type == Leap.Gesture.TYPE_CIRCLE:
circle = CircleGesture(gesture)
#instanciando o objeto da classe gesto circulo
# aqui o movimento circular é o de rotacionar o dedo na frente do computador
if circle.pointable.direction.angle_to(
circle.normal) <= Leap.PI / 2:
clockwiseness = "clockwise" # indica que o circulo esta em sentido horario
else:
clockwiseness = "counter-clockwise" #indica que o circulo esta em sentido anti
#swept angle vai dizer o qual longe vc foi no circulo desde a ultimo circulo identificado
swept_angle = 0
if circle.state != Leap.Gesture.STATE_START:
previous = CircleGesture(
controller.frame(1).gesture(circle.id)
) #criando um novo frame ao escrever frame(1)
swept_angle = (circle.progress -
previous.progress) * 2 * Leap.PI
# imprime no console o tamanho do circulo que voê gesticula e o sentido horario ou anti-horario
caneta.pensize(2)
caneta.circle(circle.radius)
print "Radius: " + str(circle.radius) + " " + clockwiseness
if gesture.type == Leap.Gesture.TYPE_SWIPE:
#instanciando o objeto da classe gesto swipe
swipe = SwipeGesture(gesture)
#instnciando o objet da classe gesto da direção do swipe
swipeDir = swipe.direction
#criações das condições dos prints de acordo com as cordenadas estabelecidas pelo leap
if (
swipeDir.x > 0
and math.fabs(swipeDir.x) > math.fabs(swipeDir.y)
): #se a posição da mão nas cordenas do leap for x>0, o seja mão indo para a direita
print 'Swiped right' #(parte do and):também precisa priorisara leitura do movimento em x para facilitar a leitura do leap
caneta.seth(0)
caneta.ht()
caneta.fd(10)
elif (
swipeDir.x < 0
and math.fabs(swipeDir.x) > math.fabs(swipeDir.y)
): #se a posiçao da mão nas coodernadas do Leap x<0, ou seja, mão indo para esquerda
print 'Swiped left' #(parte do and):também precisa priorisara leitura do movimento em x para facilitar a leitura do leap
caneta.seth(180)
caneta.ht()
caneta.fd(10)
elif (
swipeDir.y > 0
and math.fabs(swipeDir.x) < math.fabs(swipeDir.y)
): #se a posiçao da mão nas coodernadas do Leap y>0, ou seja, mão indo para cima
print 'Swiped up' #(parte do and):também precisa priorisara leitura do movimento em y para facilitar a leitura do leap
caneta.seth(90)
caneta.ht()
caneta.fd(10)
elif (
swipeDir.y < 0
and math.fabs(swipeDir.x) < math.fabs(swipeDir.y)
): #se a posiçao da mão nas coodernadas do Leap x<0, ou seja, mão indo para baixo
print 'Swiped down' #(parte do and):também precisa priorisara leitura do movimento em y para facilitar a leitura do leap
caneta.seth(270)
caneta.ht()
caneta.fd(10)
if gesture.type == Leap.Gesture.TYPE_KEY_TAP: #gesto de pinça
key_tap = Leap.KeyTapGesture(gesture)
tap_point = key_tap.position
tapper = key_tap.pointable
caneta.pd()
print('caneta down')
if gesture.type == Leap.Gesture.TYPE_SCREEN_TAP: #gesto de touch na tela
screen_tap = Leap.ScreenTapGesture(gesture)
caneta.pu()
print('caneta up')
def on_frame(self, controller):
global swipeLeft
global swipeRight
global fistTimer
global turnDir
global swipeDir
global swipeFinger
global tapFinger
global screenTapFinger
global pinch
global grab
global fingerCount
# Get the most recent frame and report some basic information
frame = controller.frame()
turns = 0
#Configurating Gesture Settings
controller.config.set("Gesture.Swipe.MinLength", 220)
controller.config.set("Gesture.Swipe.MinVelocity", 100)
controller.config.save()
controller.config.set("Gesture.KeyTap.MinDownVelocity", 40.0)
controller.config.set("Gesture.KeyTap.HistorySeconds", .3)
controller.config.set("Gesture.KeyTap.MinDistance", 1.0)
controller.config.save()
controller.config.set("Gesture.ScreenTap.MinForwardVelocity", 20.0)
controller.config.set("Gesture.ScreenTap.HistorySeconds", .5)
controller.config.set("Gesture.ScreenTap.MinDistance", 1.0)
controller.config.save()
for gesture in frame.gestures():
#Circle Gesture
if gesture.type == Leap.Gesture.TYPE_CIRCLE:
circle = CircleGesture(gesture)
if (circle.pointable.direction.angle_to(circle.normal) <=
Leap.PI / 2):
turnDir = "CW"
turns += circle.progress
if (turns > 2.5):
pyautogui.hotkey('volumeup')
#sleep(.1)
else:
turnDir = "CCW"
turns -= circle.progress
if (turns < -2.5):
pyautogui.hotkey('volumedown')
#sleep(.1)
print(turnDir + " " + str(turns)) ######SWAP WITH FUCNTION
#Swipe Gesture
if gesture.type is Leap.Gesture.TYPE_SWIPE:
swipe = Leap.SwipeGesture(gesture)
swipeDir = swipe.direction
swipeFinger = swipe.pointable
if (swipeDir[0] < 0):
pyautogui.moveTo(980, 540, 0)
pyautogui.click()
pyautogui.hotkey('left')
pyautogui.hotkey('alt', 'tab')
sleep(1.2)
elif (swipeDir[0] > 0):
pyautogui.moveTo(980, 540, 0)
pyautogui.click()
pyautogui.hotkey('right')
pyautogui.hotkey('alt', 'tab')
sleep(1.2)
print("Swipe " + str(swipeFinger) + " " + str(swipeDir[0])
) ######SWAP WITH FUCNTION
#Key-Tap Gesture
if gesture.type is Leap.Gesture.TYPE_KEY_TAP:
tap = Leap.KeyTapGesture(gesture)
tapFinger = tap.pointable
tapDir = tap.direction
print("Tap " + str(tapDir)) ######SWAP WITH FUCNTION
#Screen-Tap Gesture
if gesture.type is Leap.Gesture.TYPE_SCREEN_TAP:
screenTap = Leap.ScreenTapGesture(gesture)
screenTapFinger = screenTap.pointable
print("ScreenTap " + str(screenTapFinger)
) ######SWAP WITH FUCNTION
for hand in frame.hands:
#Identifies the hand
handType = "Left" if hand.is_left else "Right"
grab = hand.grab_strength
pinch = hand.pinch_strength
#print(handType + " p:" + str(pinch) + " g:"+ str(grab)) ######SWAP WITH FUCNTION
if grab == 1:
if (fistTimer > 2):
pyautogui.hotkey('volumemute')
print("g" + str(grab))
sleep(1.2)
fistTimer = 0
else:
fistTimer += 1
'''elif pinch > 0.99:
