public void onFrame(Controller controller) {
Frame currFrame = controller.frame();
Frame prevFrame = controller.frame(1);
// get orientation of palm to decide orientation of robotic arm
Double currOrt = getPalmOrientation(currFrame);
Double prevOrt = getPalmOrientation(prevFrame);
// track index finger and thumb to determine arm grip movement
Double currGripDist = getGripDistance(currFrame);
Double prevGripDist = getGripDistance(prevFrame);
// check for gripper locking
gripperLocked = checkGripperLock(currFrame);
// use the command interface to send updated position of
// arm and gripper
if (frameCount == MAX_FRAME_COUNT) {
// Update arm position
if (currOrt > 0 && prevOrt > 0) {
Double delta = currOrt - prevOrt;
if (Math.abs(delta) > 0.01) {
Integer pos = (int) (ARM_RATIO * (currOrt - LEAP_PALM_LOW)) + ARM_LOW;
if (pos >= ARM_LOW && pos <= ARM_HIGH) {
commander.sendXbee(pos);
System.out.println("Sending to arm: " + pos);
}
} else {
// User is not moving palm, check for movement between
// forefinger and thumb
if (currGripDist > 0 && prevGripDist > 0 && !gripperLocked) {
Double dGrip = currGripDist - prevGripDist;
if (Math.abs(dGrip) > 0.1) {
Integer pos = (int) (GRIP_RATIO * (currGripDist - LEAP_GRIP_LOW)) + GRIP_LOW;
int mid = (GRIP_LOW + GRIP_HIGH) / 2;
pos = mid - (pos - mid);
if (pos >= GRIP_LOW && pos <= GRIP_HIGH) {
commander.sendXbee(pos);
System.out.println("Sending to gripper: " + pos);
}
}
}
}
}
frameCount = 0; // reset frame counter
} else {
frameCount++;
}
}
public PacienteFrame(Paciente paciente) {
super(
paciente.getNombre()
+ " "
+ paciente.getApellido1()
+ " "
+ paciente.getApellido2()
+ " (Paciente)");
this.paciente = paciente;
this.crearAcciones();
this.setSize(800, 600);
this.setMinimumSize(new Dimension(800, 600));
this.setLocation(50, 25);
this.setJMenuBar(crearBarraMenu());
this.getContentPane().add(crearToolBar(), BorderLayout.NORTH);
this.getContentPane().add(crearPanelVentana(), BorderLayout.CENTER);
this.setDefaultCloseOperation(EXIT_ON_CLOSE);
this.setVisible(true);
gestor = new GestorMano();
gestor.addObserver(this);
leapListener = new LeapMotionListener(gestor);
controlador = new Controller();
controlador.addListener(leapListener);
}
/**
* Create a new board
*
* @param c
*/
public Board(Game c) {
// add leap motion controller
leapAdapter = new SensorAdapter(c);
sensorListener = new SensorListener(leapAdapter);
shootListener = new ShootListener(leapAdapter);
leapController = new Controller();
leapController.addListener(sensorListener);
leapController.addListener(shootListener);
addKeyListener(new KeyboardAdapter(c, this));
this.menu = new Menu(this, c);
setFocusable(true);
setDoubleBuffered(true);
this.c = c;
c.setPlayer(ItemFactory.createPlayer());
c.setBackground(ItemFactory.createBackground());
}
public static void recog(ArrayList<UserGesture> gestureList, Controller controller)
throws IOException, InterruptedException, AWTException {
System.out.println("started recog");
long[] timer = new long[gestureList.size()];
int[] matched = new int[gestureList.size()];
int[] matched_attributes = new int[100];
String[] gestureStatus = new String[100];
while (MapperGUI.statusRecognizing == true) {
Thread.sleep(5);
frame = controller.frame();
currentHand = frame.hands().get(0);
for (int gestureIterator = 0; gestureIterator < gestureList.size(); gestureIterator++) {
if (frame.hands().isEmpty()) break;
if (matched[gestureIterator] == 0) {
System.out.println("NEW STARTFRAME");
// if((startFrame.get(gestureIterator)))startFrame.remove(gestureIterator);
startFrame.add(gestureIterator, frame);
timer[gestureIterator] = System.currentTimeMillis();
}
// System.out.println("timer start"+timer);
// for (int nodeIterator = matched[gestureIterator] + 1; nodeIterator < gestureList
// .get(gestureIterator).NodeList.size();) {
if (matched[gestureIterator] == gestureList.get(gestureIterator).NodeList.size() - 1) {
Robot.execute(gestureIterator);
// System.out.println("RECOGNITION SUCCESS for gesture number "+ gestureIterator + " ,
// action goes here");
if (Recorderv2.gestureList.get(Recorderv2.gestureCount - 1).cont == true) {
matched[gestureIterator] = matched[gestureIterator] - 1;
timer[gestureIterator] = System.currentTimeMillis();
matched_attributes[gestureIterator] = 0;
} else {
matched[gestureIterator] = 0;
timer[gestureIterator] = 0;
matched_attributes[gestureIterator] = 0;
}
break;
}
currentNode =
Recorderv2.gestureList.get(gestureIterator).NodeList.get(matched[gestureIterator]);
if (System.currentTimeMillis() < (timer[gestureIterator] + 200)) {
if (gestureList.get(gestureIterator).attributes.contains("XY")) {
if ((currentHand.palmPosition().getX()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getX())
< currentNode.hand0_x_denorm + deviationX
&& (currentHand.palmPosition().getX()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getX())
> currentNode.hand0_x_denorm - deviationX
&& (currentHand.palmPosition().getY()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getY())
< currentNode.hand0_y_denorm + deviationY
&& (currentHand.palmPosition().getY()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getY())
> currentNode.hand0_y_denorm - deviationY) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (gestureList.get(gestureIterator).attributes.contains("XZ")) {
if ((currentHand.palmPosition().getX()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getX())
< currentNode.hand0_x_denorm + deviationX
&& (currentHand.palmPosition().getX()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getX())
> currentNode.hand0_x_denorm - deviationX
&& (currentHand.palmPosition().getZ()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getZ())
< currentNode.hand0_z_denorm + deviationZ
&& (currentHand.palmPosition().getZ()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getZ())
> currentNode.hand0_z_denorm - deviationZ) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (gestureList.get(gestureIterator).attributes.contains("frontmost_finger_XY")) {
if ((currentHand.fingers().frontmost().tipPosition().getX()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getX())
< currentNode.hand0_frontmost_x + deviationX
&& (currentHand.fingers().frontmost().tipPosition().getX()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getX())
> currentNode.hand0_frontmost_x - deviationX
&& (currentHand.fingers().frontmost().tipPosition().getY()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getY())
< currentNode.hand0_frontmost_y + deviationY
&& (currentHand.fingers().frontmost().tipPosition().getY()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getY())
> currentNode.hand0_frontmost_y - deviationY) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (gestureList.get(gestureIterator).attributes.contains("frontmost_finger_XZ")) {
if ((currentHand.fingers().frontmost().tipPosition().getX()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getX())
< currentNode.hand0_frontmost_x + deviationX
&& (currentHand.fingers().frontmost().tipPosition().getX()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getX())
> currentNode.hand0_frontmost_x - deviationX
&& (currentHand.fingers().frontmost().tipPosition().getZ()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getZ())
< currentNode.hand0_frontmost_z + deviationZ
&& (currentHand.fingers().frontmost().tipPosition().getZ()
- startFrame
.get(gestureIterator)
.hands()
.get(0)
.fingers()
.frontmost()
.tipPosition()
.getZ())
> currentNode.hand0_frontmost_z - deviationZ) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (gestureList.get(gestureIterator).attributes.contains("roll")) {
if ((currentHand.palmNormal().roll()
- startFrame.get(gestureIterator).hands().get(0).palmNormal().roll())
< currentNode.hand0_roll + deviationRoll
&& (currentHand.palmNormal().roll()
- startFrame.get(gestureIterator).hands().get(0).palmNormal().roll())
> currentNode.hand0_roll - deviationRoll) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (gestureList.get(gestureIterator).attributes.contains("yaw")) {
if ((currentHand.palmNormal().yaw()
- startFrame.get(gestureIterator).hands().get(0).palmNormal().yaw())
< currentNode.hand0_yaw + deviationYaw
&& (currentHand.palmNormal().yaw()
- startFrame.get(gestureIterator).hands().get(0).palmNormal().yaw())
> currentNode.hand0_yaw - deviationYaw) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (gestureList.get(gestureIterator).attributes.contains("pitch")) {
if ((currentHand.palmNormal().pitch()
- startFrame.get(gestureIterator).hands().get(0).palmNormal().pitch())
< currentNode.hand0_pitch + deviationPitch
&& (currentHand.palmNormal().pitch()
- startFrame.get(gestureIterator).hands().get(0).palmNormal().pitch())
> currentNode.hand0_pitch - deviationPitch) {
// System.out.println(frame.hands().get(0).palmPosition().normalized());
matched_attributes[gestureIterator] = matched_attributes[gestureIterator] + 1;
}
}
if (matched_attributes[gestureIterator]
== Recorderv2.gestureList.get(gestureIterator).attributes.size()
&& matched_attributes[gestureIterator] != 0) {
matched[gestureIterator] = matched[gestureIterator] + 1;
timer[gestureIterator] = System.currentTimeMillis() + 200;
matched_attributes[gestureIterator] = 0;
System.out.println(
"matched node number "
+ matched[gestureIterator]
+ " of gesture "
+ gestureIterator
+ " with "
+ gestureList
.get(gestureIterator)
.NodeList
.get(matched[gestureIterator])
.hand0_x_denorm
+ "with "
+ (frame.hands().get(0).palmPosition().getX()
- startFrame.get(gestureIterator).hands().get(0).palmPosition().getX()));
} else {
matched_attributes[gestureIterator] = 0;
}
} else {
matched_attributes[gestureIterator] = 0;
matched[gestureIterator] = 0;
timer[gestureIterator] = 0;
}
// }
}
if (MapperGUI.statusRecognizing == false) break;
}
System.out.println("stopped recog");
// MapperGUI.runningRecognizing = false;
return;
}
public void onFrame(Controller controller) {
currentFrame = controller.frame();
boolean handsFlipped = false;
for (int i = 0; i < 2; i++) {
currentHand = currentFrame.hands().get(i);
if (currentHand.isValid()) {
for (int n = 0; n < 2; n++) {
if (currentHand.id() == handIds[n] && n != i) handsFlipped = true;
}
int num = i;
if (handsFlipped) num = ((num == 0) ? 1 : 0);
hands[num] = currentHand;
handIds[num] = currentHand.id();
if (!currentHand.tools().empty()) {
tools[num] = currentHand.tools().get(0);
}
FingerList fings = currentHand.fingers();
if (fings.count() >= 3) handOpen[num] = true;
else handOpen[num] = false;
for (int f = 0; f < 5; f++) {
if (f < fings.count()) {
Finger finger = fings.get(f);
fingers[f + (5 * num)] = finger;
} else fingers[f + (5 * num)] = new Finger();
}
} else {
int num = i;
if (handsFlipped) num = ((num == 0) ? 1 : 0);
hands[num] = new Hand();
handOpen[num] = false;
}
}
if (isConnected) {
data = new StringBuilder();
for (int i = 0; i < hands.length; i++) {
if (OS.contains("Linux")) {
data.append(HAND_NAMES[i] + "-x " + Math.round(hands[i].palmPosition().getX()) + "\n");
data.append(
HAND_NAMES[i]
+ "-y "
+ Math.round((hands[i].palmPosition().getY() - 220) * 1.6)
+ "\n");
data.append(HAND_NAMES[i] + "-z " + Math.round(hands[i].palmPosition().getZ()) + "\n");
} else {
data.append(
HAND_NAMES[i] + "-x " + Math.round(hands[i].stabilizedPalmPosition().getX()) + "\n");
data.append(
HAND_NAMES[i]
+ "-y "
+ Math.round((hands[i].stabilizedPalmPosition().getY() - 220) * 1.6)
+ "\n");
data.append(
HAND_NAMES[i] + "-z " + Math.round(hands[i].stabilizedPalmPosition().getZ()) + "\n");
}
data.append(HAND_NAMES[i] + "-visible " + hands[i].isValid() + "\n");
data.append(HAND_NAMES[i] + "-open " + handOpen[i] + "\n");
}
for (int i = 0; i < fingers.length; i++) {
data.append(
FINGER_NAMES[i] + "-x " + Math.round(fingers[i].stabilizedTipPosition().getX()) + "\n");
data.append(
FINGER_NAMES[i]
+ "-y "
+ Math.round((fingers[i].stabilizedTipPosition().getY() - 220) * 1.6)
+ "\n");
data.append(
FINGER_NAMES[i] + "-z " + Math.round(fingers[i].stabilizedTipPosition().getZ()) + "\n");
data.append(FINGER_NAMES[i] + "-visible " + fingers[i].isValid() + "\n");
}
for (int i = 0; i < tools.length; i++) {
data.append(
TOOL_NAMES[i] + "-x " + Math.round(tools[i].stabilizedTipPosition().getX()) + "\n");
data.append(
TOOL_NAMES[i]
+ "-y "
+ Math.round((tools[i].stabilizedTipPosition().getY() - 220) * 1.6)
+ "\n");
data.append(
TOOL_NAMES[i] + "-z " + Math.round(tools[i].stabilizedTipPosition().getZ()) + "\n");
data.append(TOOL_NAMES[i] + "-visible " + tools[i].isValid() + "\n");
}
}
}