public void LeapController_FrameReady(object sender, Leap.FrameEventArgs e)
{
try
{
var handRight = e.frame.RightHand();
if (handRight != null)
{
}
var handLeft = e.frame.LeftHand();
if (handLeft != null)
{
// move forward, backward
var direction = handLeft.Direction.Normalized;
var cross = direction.Cross(Leap.Vector.Forward);
var angle = direction.AngleTo(Leap.Vector.Forward) * 180.0f / Math.PI * (cross.y > 0 ? 1 : -1) - 10.0f;
//this.leapPitchLabel.Text = angle.ToString("0.00");
//this.leapYawLabel.Text = cross.y.ToString("0.00");
//this.leapRollLabel.Text = cross.z.ToString("0.00");
}
var isDetectedLeft = (handLeft != null);
var isDetectedRight = (handRight != null);
this.handLeftDetectionLabel.Invoke(new MethodInvoker(delegate()
{
this.handLeftDetectionLabel.Text = isDetectedLeft ? "인식중입니다." : "인식되지 않은 상태입니다.";
}));
this.handLeftDetectionProgressbar.Invoke(new MethodInvoker(delegate()
{
this.handLeftDetectionProgressbar.Value = isDetectedLeft ? 15 : 0;
this.handLeftDetectionProgressbar.animated = isDetectedLeft;
}));
this.handRightDetectionLabel.Invoke(new MethodInvoker(delegate()
{
this.handRightDetectionLabel.Text = isDetectedRight ? "인식중입니다." : "인식되지 않은 상태입니다.";
}));
this.handRightDetectionProgressbar.Invoke(new MethodInvoker(delegate()
{
this.handRightDetectionProgressbar.Value = isDetectedRight ? 15 : 0;
this.handRightDetectionProgressbar.animated = isDetectedRight;
}));
}
catch (Exception)
{ }
}
public void LeapController_FrameReady(object sender, Leap.FrameEventArgs e)
{
try
{
var frame = e.frame;
var isLeftActive = (frame.LeftHand() != null);
var isRightActive = (frame.RightHand() != null);
this.leapLeftDetectingLabel.Invoke(new MethodInvoker(delegate()
{
this.leapLeftDetectingLabel.Text = isLeftActive ? "왼손 인식중" : "왼손 인식 안됨";
}));
this.leapRightDetectingLabel.Invoke(new MethodInvoker(delegate()
{
this.leapRightDetectingLabel.Text = isRightActive ? "오른손 인식중" : "오른손 인식 안됨";
}));
}
catch (Exception)
{
}
}
private void LeapController_FrameReady(object sender, Leap.FrameEventArgs e)
{
if (this.Patrol.Reader.IsEnabled())
{
return;
}
if (this.AutoFlight.IsFlying)
{
return;
}
var handRight = e.frame.RightHand();
if (handRight != null)
{
// move left, right
var angle_rotated = handRight.PalmNormal.AngleTo(Leap.Vector.Down) * (180 / Math.PI);
var cross_rotated = handRight.PalmNormal.Cross(Leap.Vector.Down);
if (angle_rotated > MainForm.LEAPMOTION_MINIMUM_MOVE_SIDE_ANGLE)
{
var percent = (angle_rotated - MainForm.LEAPMOTION_MINIMUM_MOVE_SIDE_ANGLE) / (90.0f - MainForm.LEAPMOTION_MINIMUM_MOVE_SIDE_ANGLE);
this._pcmd.roll = (int)(percent * this.defaultView.sideExpandedBar.droneTab.GetDroneSpeed() * (cross_rotated.z > 0 ? 1 : -1));
}
else
{
this._pcmd.roll = 0;
}
// move up, down
if (handRight.PalmPosition.y > MainForm.LEAPMOTION_MINIMUM_UP_POSITION)
{
this._pcmd.gaz = 25;
}
else if (handRight.PalmPosition.y < MainForm.LEAPMOTION_MINIMUM_DOWN_POSITION)
{
this._pcmd.gaz = -25;
}
else
{
this._pcmd.gaz = 0;
}
// move forward, backward
var direction = (handRight.PalmPosition - Leap.Vector.Zero).Normalized;
var angle_forward = direction.AngleTo(Leap.Vector.Up) * (180 / Math.PI);
var cross_forward = direction.Cross(Leap.Vector.Up);
var calibrated_angle = MainForm.LEAPMOTION_CALIBRATION_FORWARD_VALUE + angle_forward * (cross_forward.x > 0 ? 1 : -1);
if (Math.Abs(calibrated_angle) > MainForm.LEAPMOTION_MINIMUM_FORWARD_ANGLE)
{
this._pcmd.pitch = 5 * (calibrated_angle > 0 ? 1 : -1);
}
else
{
this._pcmd.pitch = 0;
}
}
else
{
this._pcmd.roll = 0;
this._pcmd.gaz = 0;
this._pcmd.pitch = 0;
}
var handLeft = e.frame.LeftHand();
if (handLeft != null)
{
// rotate left, right
var direction = handLeft.Direction.Normalized;
var cross = direction.Cross(Leap.Vector.Forward);
var angle = direction.AngleTo(Leap.Vector.Forward) * 180.0f / Math.PI * (cross.y < 0 ? 1 : -1) + MainForm.LEAPMOTION_CALIBRATION_ROTATION_VALUE;
if (Math.Abs(angle) > MainForm.LEAPMOTION_MINIMUM_ROTATION_ANGLE)
{
angle = Math.Max(60, Math.Abs(angle)) * (angle > 0 ? 1 : -1);
var percent = (Math.Abs(angle) - MainForm.LEAPMOTION_MINIMUM_ROTATION_ANGLE) / (60.0f - MainForm.LEAPMOTION_MINIMUM_ROTATION_ANGLE);
this._pcmd.yaw = (int)(percent * this.defaultView.sideExpandedBar.droneTab.GetDroneSpeed()) * (angle > 0.0f ? 1 : -1);
}
else
{
this._pcmd.yaw = 0;
}
}
else
{
this._pcmd.yaw = 0;
}
if (this._pcmd.pitch == 0 && this._pcmd.roll == 0)
{
this._pcmd.flag = 0;
this._pcmd.pitch = 0;
this._pcmd.roll = 0;
}
else
{
this._pcmd.flag = 1;
this._pcmd.yaw = 0;
this._pcmd.gaz = 0;
}
this.defaultView.sideExpandedBar.droneTab.updatePcmdUI(this._pcmd);
}
