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Sample.py
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################################################################################
# Copyright (C) 2012-2013 Leap Motion, Inc. All rights reserved. #
# Leap Motion proprietary and confidential. Not for distribution. #
# Use subject to the terms of the Leap Motion SDK Agreement available at #
# https://developer.leapmotion.com/sdk_agreement, or another agreement #
# between Leap Motion and you, your company or other organization. #
################################################################################
import Leap, sys, thread, time
from Leap import CircleGesture, KeyTapGesture, ScreenTapGesture, SwipeGesture
from std_msgs.msg import String
from std_msgs.msg import Header
from sensor_msgs.msg import Image
import rospy
import threading
pub = rospy.Publisher('dataLeap', Image, queue_size= 1) # next create custom message
class SampleListener(Leap.Listener):
finger_names = ['Thumb', 'Index', 'Middle', 'Ring', 'Pinky']
bone_names = ['Metacarpal', 'Proximal', 'Intermediate', 'Distal']
state_names = ['STATE_INVALID', 'STATE_START', 'STATE_UPDATE', 'STATE_END']
def on_init(self, controller):
print "Initialized"
def on_connect(self, controller):
print "Connected"
# Enable gestures
controller.enable_gesture(Leap.Gesture.TYPE_CIRCLE);
controller.enable_gesture(Leap.Gesture.TYPE_KEY_TAP);
controller.enable_gesture(Leap.Gesture.TYPE_SCREEN_TAP);
controller.enable_gesture(Leap.Gesture.TYPE_SWIPE);
def on_disconnect(self, controller):
# Note: not dispatched when running in a debugger.
print "Disconnected"
def on_exit(self, controller):
print "Exited"
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, tools: %d, gestures: %d" % (
frame.id, frame.timestamp, len(frame.hands), len(frame.fingers), len(frame.tools), len(frame.gestures()))
myStr = str(frame.id) + "|" + str(frame.timestamp) + "|" + str(len(frame.hands)) + "|" + str(len(frame.fingers)) + "|" + str(len(frame.tools)) + "|" + str(len(frame.gestures())) + "|"
# header = Header()
# header.stamp = rospy.Time.now()
# header.frame_id = myStr
# pub.publish(header)
# image = Image()
# image.header.stamp = rospy.Time.now()
# image.header.frame_id = myStr
# pub.publish(image)
# pub.publish(String(myStr))
# 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)
myStr += str(handType) + "|" + str(hand.id) + "|" + str(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)
myStr += str(direction.pitch * Leap.RAD_TO_DEG) + "|" + str(normal.roll * Leap.RAD_TO_DEG) + "|" + str(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)
myStr += str(arm.direction) + "|" + str(arm.wrist_position) + "|" + str(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)
myStr += str(self.finger_names[finger.type]) + "|" + str(finger.id) + "|" + str(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)
myStr += str(self.bone_names[bone.type]) + "|" + str(bone.prev_joint) + "|" + str(bone.next_joint) + "|" + str(bone.direction) + "|"
# Get tools
for tool in frame.tools:
print " Tool id: %d, position: %s, direction: %s" % (
tool.id, tool.tip_position, tool.direction)
myStr += str(tool.id) + "|" + str(tool.tip_position) + "|" + str(tool.direction) + "|"
# Get gestures
for gesture in frame.gestures():
if gesture.type == Leap.Gesture.TYPE_CIRCLE:
circle = CircleGesture(gesture)
# Determine clock direction using the angle between the pointable and the circle normal
if circle.pointable.direction.angle_to(circle.normal) <= Leap.PI/2:
clockwiseness = "clockwise"
else:
clockwiseness = "counterclockwise"
# Calculate the angle swept since the last frame
swept_angle = 0
if circle.state != Leap.Gesture.STATE_START:
previous_update = CircleGesture(controller.frame(1).gesture(circle.id))
swept_angle = (circle.progress - previous_update.progress) * 2 * Leap.PI
print " Circle id: %d, %s, progress: %f, radius: %f, angle: %f degrees, %s" % (
gesture.id, self.state_names[gesture.state],
circle.progress, circle.radius, swept_angle * Leap.RAD_TO_DEG, clockwiseness)
myStr += str(gesture.id) + "|" + str(self.state_names[gesture.state]) + "|" + str(circle.progress) + "|" + str(circle.radius) + "|" + str(swept_angle * Leap.RAD_TO_DEG) + "|" + str(clockwiseness) + "|"
if gesture.type == Leap.Gesture.TYPE_SWIPE:
swipe = SwipeGesture(gesture)
print " Swipe id: %d, state: %s, position: %s, direction: %s, speed: %f" % (
gesture.id, self.state_names[gesture.state],
swipe.position, swipe.direction, swipe.speed)
myStr += str(gesture.id) + "|" + str(self.state_names[gesture.state]) + "|" + str(swipe.position) + "|" + str(swipe.direction) + "|" + str(swipe.speed) + "|"
if gesture.type == Leap.Gesture.TYPE_KEY_TAP:
keytap = KeyTapGesture(gesture)
print " Key Tap id: %d, %s, position: %s, direction: %s" % (
gesture.id, self.state_names[gesture.state],
keytap.position, keytap.direction )
myStr += str(gesture.id) + "|" + str(self.state_names[gesture.state]) + "|" + str(keytap.position) + "|" + str(keytap.direction) + "|"
if gesture.type == Leap.Gesture.TYPE_SCREEN_TAP:
screentap = ScreenTapGesture(gesture)
print " Screen Tap id: %d, %s, position: %s, direction: %s" % (
gesture.id, self.state_names[gesture.state],
screentap.position, screentap.direction )
myStr += str(gesture.id) + "|" + str(self.state_names[gesture.state]) + "|" + str(screentap.position) + "|" + str(screentap.direction) + "|"
if not (frame.hands.is_empty and frame.gestures().is_empty):
print ""
myStr += " "
# threading.Timer(0.0049, self.on_frame(controller)).start()
image = Image()
image.header.stamp = rospy.Time.now()
image.header.frame_id = myStr
pub.publish(image)
def state_string(self, state):
if state == Leap.Gesture.STATE_START:
return "STATE_START"
if state == Leap.Gesture.STATE_UPDATE:
return "STATE_UPDATE"
if state == Leap.Gesture.STATE_STOP:
return "STATE_STOP"
if state == Leap.Gesture.STATE_INVALID:
return "STATE_INVALID"
def main():
# Create a sample listener and controller
listener = SampleListener()
controller = Leap.Controller()
# Have the sample listener receive events from the controller
controller.add_listener(listener)
# Keep this process running until Enter is pressed
print "Press Enter to quit..."
try:
sys.stdin.readline()
except KeyboardInterrupt:
pass
finally:
# Remove the sample listener when done
controller.remove_listener(listener)
if __name__ == "__main__":
rospy.init_node("leap")
main()