public SGInstance(Frame frame)
{
Hands = new List <SGInstanceSingleHand>();
foreach (var leapHand in frame.Hands)
{
var hand = new SGInstanceSingleHand(leapHand);
if (leapHand.IsLeft)
{
LeftHand = hand;
}
else
{
RightHand = hand;
}
Hands.Add(hand);
}
FeatureVector = buildFeatureVector();
Features = new Dictionary <FeatureName, Feature>();
foreach (var feature in FeatureVector)
{
Features.Add(feature.Name, feature);
}
HandConfiguration = getHandConfiguration(Hands);
}
// Diagram of hand: https://blog.leapmotion.com/wp-content/uploads/2014/05/boneapi1.png
public void DrawHand(SGInstanceSingleHand hand, bool showArms, float opacity = 1)
{
// Draw wrist position
DrawSphere(hand.WristPos_World, Constants.WristSphereRadius, _boneColors[Constants.BoneNames.Wrist], opacity);
// Draw palm position
DrawSphere(hand.PalmPosition, Constants.PalmSphereRadius, _boneColors[Constants.BoneNames.Palm], opacity);
foreach (var fjp in hand.FingerJointPositions_World)
{
var finger = fjp.Value;
var fingerType = fjp.Key;
Vec3 mcp = finger[Finger.FingerJoint.JOINT_MCP];
Vec3 pip = finger[Finger.FingerJoint.JOINT_PIP];
Vec3 dip = finger[Finger.FingerJoint.JOINT_DIP];
Vec3 tip = finger[Finger.FingerJoint.JOINT_TIP];
DrawSphere(mcp, Constants.FingerTipRadius, Colors.White, opacity);
DrawSphere(pip, Constants.FingerTipRadius, Colors.White, opacity);
DrawSphere(dip, Constants.FingerTipRadius, Colors.White, opacity);
DrawSphere(tip, Constants.FingerTipRadius, Colors.White, opacity);
// Draw finger bones
string boneColorKey = HelperMethods.GetBoneColorKey(fingerType, Bone.BoneType.TYPE_DISTAL);
DrawCylinder(Constants.FingerTipRadius, tip, dip, _boneColors[boneColorKey], opacity);
boneColorKey = HelperMethods.GetBoneColorKey(fingerType, Bone.BoneType.TYPE_INTERMEDIATE);
DrawCylinder(Constants.FingerTipRadius, dip, pip, _boneColors[boneColorKey], opacity);
boneColorKey = HelperMethods.GetBoneColorKey(fingerType, Bone.BoneType.TYPE_PROXIMAL);
DrawCylinder(Constants.FingerTipRadius, pip, mcp, _boneColors[boneColorKey], opacity);
}
// Draw hand bones
Vec3 indexMCP = hand.FingerJointPositions_World[Leap.Finger.FingerType.TYPE_INDEX][Finger.FingerJoint.JOINT_MCP];
Vec3 middleMCP = hand.FingerJointPositions_World[Leap.Finger.FingerType.TYPE_MIDDLE][Finger.FingerJoint.JOINT_MCP];
Vec3 ringMCP = hand.FingerJointPositions_World[Leap.Finger.FingerType.TYPE_RING][Finger.FingerJoint.JOINT_MCP];
Vec3 pinkyMCP = hand.FingerJointPositions_World[Leap.Finger.FingerType.TYPE_PINKY][Finger.FingerJoint.JOINT_MCP];
DrawCylinder(Constants.FingerTipRadius, hand.IndexBasePos_World, indexMCP, _boneColors[Constants.BoneNames.Index_Metacarpal], opacity);
DrawCylinder(Constants.FingerTipRadius, hand.MiddleBasePos_World, middleMCP, _boneColors[Constants.BoneNames.Middle_Metacarpal], opacity);
DrawCylinder(Constants.FingerTipRadius, hand.RingBasePos_World, ringMCP, _boneColors[Constants.BoneNames.Ring_Metacarpal], opacity);
DrawCylinder(Constants.FingerTipRadius, hand.PinkyBasePos_World, pinkyMCP, _boneColors[Constants.BoneNames.Pinky_Metacarpal], opacity);
// Draw base of hand
DrawCylinder(Constants.FingerTipRadius, hand.PinkyBasePos_World, hand.ThumbBasePos_World, _boneColors[Constants.BoneNames.BaseOfHand], opacity);
if (showArms)
{
// Draw elbow
DrawSphere(hand.ElbowPos_World, Constants.WristSphereRadius, _boneColors[Constants.BoneNames.Elbow], opacity);
// Draw center of forearm
DrawSphere(hand.ForearmCenter_World, Constants.WristSphereRadius, _boneColors[Constants.BoneNames.ForearmCenter], opacity);
float forearmWidth = hand.PinkyBasePos_World.DistanceTo(hand.ThumbBasePos_World);
// Draw two cylinders for arms (Ulna - pinky side, Radius - thumb side)
Vec3 ulnaBase = hand.WristPos_World + ((forearmWidth / 2) * hand.ArmX);
Vec3 ulnaTop = hand.ElbowPos_World + ((forearmWidth / 2) * hand.ArmX);
DrawSphere(ulnaBase, Constants.FingerTipRadius * 1.2, Colors.CadetBlue, opacity);
DrawSphere(ulnaTop, Constants.FingerTipRadius * 1.2, Colors.CadetBlue, opacity);
DrawCylinder(Constants.FingerTipRadius, ulnaBase, ulnaTop, _boneColors[Constants.BoneNames.Arm], opacity);
Vec3 radiusBase = hand.WristPos_World - ((forearmWidth / 2) * hand.ArmX);
Vec3 radiusTop = hand.ElbowPos_World - ((forearmWidth / 2) * hand.ArmX);
DrawSphere(radiusBase, Constants.FingerTipRadius * 1.2, Colors.CadetBlue, opacity);
DrawSphere(radiusTop, Constants.FingerTipRadius * 1.2, Colors.CadetBlue, opacity);
DrawCylinder(Constants.FingerTipRadius, radiusBase, radiusTop, _boneColors[Constants.BoneNames.Arm], opacity);
// Connect the forearm bones at top and bottom
DrawCylinder(Constants.FingerTipRadius, ulnaBase, radiusBase, _boneColors[Constants.BoneNames.Arm], opacity);
DrawCylinder(Constants.FingerTipRadius, ulnaTop, radiusTop, _boneColors[Constants.BoneNames.Arm], opacity);
}
}