public void ToProtoBuf(MocapFrame frame, out Model.Gen.MocapFrame output)
{
// create mapping from MocapFrame to Gen.MocapFrame
output = new Model.Gen.MocapFrame()
{
AdapterType = frame.AdapterType,
ElapsedMillis = frame.ElapsedMillis,
Gesture = frame.Gesture ?? "", // set default value otherwise serialization breaks
Latency = frame.Latency,
SourceId = frame.SourceId
};
foreach (var body in frame.Bodies)
{
var protoBody = new Model.Gen.MocapFrame.Types.Body()
{
BodyType = body.GetBodyTypeProto(),
Rotation = body.Rotation.ToProto(),
SideType = body.GetSideTypeProto(),
Centroid = body.Centroid.ToProto(),
Name = body.Name ?? string.Empty
};
foreach (var point in body.Points)
{
var protoPoint = new Model.Gen.MocapFrame.Types.Body.Types.Point()
{
Name = point.Name ?? "",
State = point.State ?? "",
Position = point.Position.ToProto()
};
protoBody.Points.Add(protoPoint);
}
output.Bodies.Add(protoBody);
}
}
/**
* Method to handle frame events
*/
public void OnFrame(object sender, FrameEventArgs args)
{
// Get the most recent frame and report some basic information
Frame frame = args.frame;
Logger.Debug("Frame available - frame id: {0}, hands: {1}", frame.Id, frame.Hands.Count);
// Create Mocap Frame to send to server later
VinteR.Model.MocapFrame mocapFrame = new VinteR.Model.MocapFrame(adapter.Config.Name, adapter.Config.AdapterType);
foreach (Leap.Hand hand in frame.Hands)
{
Logger.Debug("Hand id: {0}, fingers: {1}", hand.Id, hand.Fingers.Count);
// Get the Arm bone
// Arm arm = hand.Arm;
// Logger.Debug("Arm direction: {0}, wrist position: {1}, elbow position: {2}", arm.Direction, arm.WristPosition, arm.ElbowPosition);
// Get fingers and bones
IList <Model.LeapMotion.Finger> fingers = new List <Model.LeapMotion.Finger>();
foreach (Leap.Finger finger in hand.Fingers)
{
Model.LeapMotion.Finger modelFinger = new Model.LeapMotion.Finger(getFingerType(finger.Type.ToString()));
IList <Model.LeapMotion.FingerBone> fingerBones = new List <Model.LeapMotion.FingerBone>();
Logger.Debug("Finger {0}: length: {1}mm, width: {2}mm, fingertipPosition: {3}", finger.Type.ToString(), finger.Length, finger.Width, finger.TipPosition);
// Get finger bones
Bone bone;
for (int b = 0; b < 4; b++)
{
bone = finger.Bone((Bone.BoneType)b);
Model.LeapMotion.FingerBone modelBone = new Model.LeapMotion.FingerBone(getFingerBoneType(bone.Type.ToString()));
modelBone.LocalStartPosition = new System.Numerics.Vector3(bone.PrevJoint.x, bone.PrevJoint.y, bone.PrevJoint.z);
modelBone.LocalEndPosition = new System.Numerics.Vector3(bone.NextJoint.x, bone.NextJoint.y, bone.NextJoint.z);
fingerBones.Add(modelBone);
Logger.Debug("Finger Bone: {0}, start: {1}, end: {2}", bone.Type.ToString(), bone.PrevJoint, bone.NextJoint);
}
modelFinger.Bones = fingerBones;
fingers.Add(modelFinger);
}
// Get the hand's normal vector and direction
Vector normal = hand.PalmNormal;
Vector direction = hand.Direction;
float pitch = direction.Pitch * 180.0f / (float)Math.PI;
float roll = normal.Roll * 180.0f / (float)Math.PI;
float yaw = direction.Yaw * 180.0f / (float)Math.PI;
// Create Model hand
Model.LeapMotion.Hand modelHand = new Model.LeapMotion.Hand();
modelHand.LocalRotation = System.Numerics.Quaternion.CreateFromYawPitchRoll(yaw, pitch, roll);
modelHand.LocalPosition = new System.Numerics.Vector3(direction.x, direction.y, direction.z);
modelHand.Side = getHandSideType(hand);
modelHand.Fingers = fingers;
modelHand.Name = hand.IsLeft ? NameHandLeft : NameHandRight;
// Create hand body to add to mocapFrame
VinteR.Model.Body modelBody = modelHand;
mocapFrame.AddBody(ref modelBody);
}
adapter.OnFrameAvailable(mocapFrame);
}
