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Merge pull request #1469 from birarda/kill-leap

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remove leap integration
This commit is contained in:
ZappoMan 2014-01-09 19:40:58 -08:00
commit 88232f320c
7 changed files with 0 additions and 492 deletions
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52
cmake/modules/FindLeap.cmake
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@ -1,52 +0,0 @@
# - Try to find the Leap library
#
# You must provide a LEAP_ROOT_DIR which contains Lib and Include directories
#
# Once done this will define
#
# LEAP_FOUND - system found Leap
# LEAP_INCLUDE_DIRS - the Leap include directory
# LEAP_LIBRARIES - Link this to use Leap
#
# Created on 6/21/2013 by Eric Johnston,
# adapted from FindLibOVR.cmake by Stephen Birarda
# Copyright (c) 2013 High Fidelity
#
if (LEAP_LIBRARIES AND LEAP_INCLUDE_DIRS)
# in cache already
set(LEAP_FOUND TRUE)
else (LEAP_LIBRARIES AND LEAP_INCLUDE_DIRS)
find_path(LEAP_INCLUDE_DIRS Leap.h ${LEAP_ROOT_DIR}/include)
if (LEAP_INCLUDE_DIRS)
### If we found the real header, get the library as well.
if (APPLE)
find_library(LEAP_LIBRARIES libLeap.dylib ${LEAP_ROOT_DIR}/lib/libc++/)
elseif (WIN32)
find_library(LEAP_LIBRARIES libLeap.dylib ${LEAP_ROOT_DIR}/lib/libc++/)
endif ()
else ()
### If we didn't find the real header, just use the stub header, and no library.
find_path(LEAP_INCLUDE_DIRS Leap.h ${LEAP_ROOT_DIR}/stubs/include)
endif ()
# If we're using the Leap stubs, there's only a header, no lib.
if (LEAP_LIBRARIES AND LEAP_INCLUDE_DIRS)
set(LEAP_FOUND TRUE)
endif (LEAP_LIBRARIES AND LEAP_INCLUDE_DIRS)
if (LEAP_FOUND)
if (NOT Leap_FIND_QUIETLY)
message(STATUS "Found Leap: ${LEAP_LIBRARIES}")
endif (NOT Leap_FIND_QUIETLY)
else (LEAP_FOUND)
if (Leap_FIND_REQUIRED)
message(FATAL_ERROR "Could not find Leap")
endif (Leap_FIND_REQUIRED)
endif (LEAP_FOUND)
# show the LEAP_INCLUDE_DIRS and LEAP_LIBRARIES variables only in the advanced view
mark_as_advanced(LEAP_INCLUDE_DIRS LEAP_LIBRARIES)
endif (LEAP_LIBRARIES AND LEAP_INCLUDE_DIRS)

7
interface/CMakeLists.txt
View file

@ -11,7 +11,6 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../cmake
set(FACESHIFT_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/faceshift)
set(LIBOVR_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/LibOVR)
set(LIBVPX_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/LibVPX)
set(LEAP_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/Leap)
set(MOTIONDRIVER_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/MotionDriver)
set(OPENCV_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/OpenCV)
set(SIXENSE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external/Sixense)
@ -104,7 +103,6 @@ find_package(Faceshift)
find_package(GLM REQUIRED)
find_package(LibOVR)
find_package(LibVPX)
find_package(Leap)
find_package(MotionDriver)
find_package(OpenCV)
find_package(OpenNI)
@ -195,11 +193,6 @@ if (APPLE)
${QuartzCore}
${UVCCAMERACONTROL_LIBRARIES}
)
if (LEAP_FOUND)
target_link_libraries(${TARGET_NAME} ${LEAP_LIBRARIES})
endif(LEAP_FOUND)
else (APPLE)
find_package(OpenGL REQUIRED)
find_package(GLUT REQUIRED)

11
interface/external/Leap/readme.txt vendored
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@ -1,11 +0,0 @@
Instructions for adding the Leap driver to Interface
Eric Johnston, July 10, 2013
NOTE: Without doing step 2, you will crash at program start time.
1. Copy the Leap sdk folders (lib, include, etc.) into the interface/external/Leap folder. There should be a folder already there called "stub", and this read me.txt should be there as well.
2. IMPORTANT: Copy the file interface/external/Leap/lib/libc++/libLeap.dylib to /usr/lib
3. Delete your build directory, run cmake and build, and you should be all set.

13
interface/external/Leap/stubs/include/Leap.h vendored
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@ -1,13 +0,0 @@
// This is an empty stub, used as a placeholder for the real Leap.h
// The entire containing Leap folder should be replaced by the one
// from the Leap SDK.
#define LEAP_STUBS // We're using the stubbed-out Leap header
namespace Leap {
class Frame {};
class Controller {};
class Listener {};
}

13
interface/src/Application.cpp
View file

@ -55,7 +55,6 @@
#include "Menu.h"
#include "Swatch.h"
#include "Util.h"
#include "devices/LeapManager.h"
#include "devices/OculusManager.h"
#include "devices/TV3DManager.h"
#include "renderer/ProgramObject.h"
@ -1418,7 +1417,6 @@ void Application::terminate() {
// Close serial port
// close(serial_fd);
LeapManager::terminate();
Menu::getInstance()->saveSettings();
_rearMirrorTools->saveSettings(_settings);
_settings->sync();
@ -1883,8 +1881,6 @@ void Application::init() {
Qt::QueuedConnection);
}
LeapManager::initialize();
gettimeofday(&_timerStart, NULL);
gettimeofday(&_lastTimeUpdated, NULL);
@ -2364,9 +2360,6 @@ void Application::updateHandAndTouch(float deltaTime) {
void Application::updateLeap(float deltaTime) {
bool showWarnings = Menu::getInstance()->isOptionChecked(MenuOption::PipelineWarnings);
PerformanceWarning warn(showWarnings, "Application::updateLeap()");
LeapManager::enableFakeFingers(Menu::getInstance()->isOptionChecked(MenuOption::SimulateLeapHand));
LeapManager::nextFrame();
}
void Application::updateSixense(float deltaTime) {
@ -3657,11 +3650,6 @@ void Application::displayStats() {
statsVerticalOffset += PELS_PER_LINE;
drawtext(10, statsVerticalOffset, 0.10f, 0, 1.0, 0, (char*)voxelStats.str().c_str());
// Leap data
statsVerticalOffset += PELS_PER_LINE;
drawtext(10, statsVerticalOffset, 0.10f, 0, 1.0, 0, (char*)LeapManager::statusString().c_str());
if (_perfStatsOn) {
// Get the PerfStats group details. We need to allocate and array of char* long enough to hold 1+groups
char** perfStatLinesArray = new char*[PerfStat::getGroupCount()+1];
@ -4133,7 +4121,6 @@ void Application::resetSensors() {
}
_webcam.reset();
_faceshift.reset();
LeapManager::reset();
if (OculusManager::isConnected()) {
OculusManager::reset();

352
interface/src/devices/LeapManager.cpp
View file

@ -1,352 +0,0 @@
//
// LeapManager.cpp
// hifi
//
// Created by Eric Johnston on 6/26/13.
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
//
#include <dlfcn.h> // needed for RTLD_LAZY
#include <sstream>
#include <Leap.h>
#include "Application.h"
#include "LeapManager.h"
#include "Menu.h"
// Uncomment the next line to use Leap-smoothed stabilized (slower) data.
//#define USE_STABILIZED_DATA
bool LeapManager::_libraryExists = false;
bool LeapManager::_doFakeFingers = false;
Leap::Controller* LeapManager::_controller = NULL;
HifiLeapListener* LeapManager::_listener = NULL;
glm::vec3 LeapManager::_baseDrivePosition(0.0f, 150.0f, 0.0f); // experimentally derived
class HifiLeapListener : public Leap::Listener {
public:
HifiLeapListener() {}
virtual ~HifiLeapListener() {}
Leap::Frame lastFrame;
virtual void onFrame(const Leap::Controller& controller) {
#ifndef LEAP_STUBS
lastFrame = controller.frame();
#endif
}
};
void LeapManager::initialize() {
#ifndef LEAP_STUBS
if (dlopen("/usr/lib/libLeap.dylib", RTLD_LAZY)) {
_libraryExists = true;
_controller = new Leap::Controller();
_listener = new HifiLeapListener();
}
#endif
}
static PalmData* getRightmostPalm() {
PalmData* rightmostPalm = NULL;
Hand& hand = Application::getInstance()->getAvatar()->getHand();
for (int i = 0; i < hand.getNumPalms(); i++) {
PalmData* palm = &hand.getPalms()[i];
if (palm->isActive() && (rightmostPalm == NULL || palm->getRawPosition().x > rightmostPalm->getRawPosition().x)) {
rightmostPalm = palm;
}
}
return rightmostPalm;
}
void LeapManager::reset() {
PalmData* rightmostPalm = getRightmostPalm();
if (rightmostPalm != NULL) {
_baseDrivePosition = rightmostPalm->getRawPosition();
}
}
void LeapManager::terminate() {
delete _listener;
delete _controller;
_listener = NULL;
_controller = NULL;
}
void LeapManager::nextFrame() {
// Apply the frame data directly to the avatar.
MyAvatar* avatar = Application::getInstance()->getAvatar();
Hand& hand = avatar->getHand();
// If we actually get valid Leap data, this will be set to true;
bool gotRealData = false;
if (controllersExist()) {
_listener->onFrame(*_controller);
}
#ifndef LEAP_STUBS
if (controllersExist()) {
gotRealData = true;
// First, see which palms and fingers are still valid.
Leap::Frame& frame = _listener->lastFrame;
// Note that this is O(n^2) at worst, but n is very small.
// After this many frames of no data, assume the digit is lost.
const int assumeLostAfterFrameCount = 10;
// Increment our frame data counters
for (size_t i = 0; i < hand.getNumPalms(); ++i) {
PalmData& palm = hand.getPalms()[i];
palm.incrementFramesWithoutData();
if (palm.getFramesWithoutData() > assumeLostAfterFrameCount) {
palm.setActive(false);
}
for (size_t f = 0; f < palm.getNumFingers(); ++f) {
FingerData& finger = palm.getFingers()[f];
finger.incrementFramesWithoutData();
if (finger.getFramesWithoutData() > assumeLostAfterFrameCount) {
finger.setActive(false);
}
}
}
size_t numLeapHands = frame.hands().count();
std::vector<PalmData*> palmAssignment(numLeapHands);
// Look for matches
for (size_t index = 0; index < numLeapHands; ++index) {
PalmData* takeoverCandidate = NULL;
palmAssignment[index] = NULL;
Leap::Hand leapHand = frame.hands()[index];
int id = leapHand.id();
if (leapHand.isValid()) {
for (size_t i = 0; i < hand.getNumPalms() && palmAssignment[index] == NULL; ++i) {
PalmData& palm = hand.getPalms()[i];
if (palm.getLeapID() == id) {
// Found hand with the same ID. We're set!
palmAssignment[index] = &palm;
palm.resetFramesWithoutData();
}
else if (palm.getFramesWithoutData() > assumeLostAfterFrameCount) {
takeoverCandidate = &palm;
}
}
if (palmAssignment[index] == NULL) {
palmAssignment[index] = takeoverCandidate;
}
if (palmAssignment[index] == NULL) {
palmAssignment[index] = &hand.addNewPalm();
}
}
}
// Apply the assignments
for (size_t index = 0; index < numLeapHands; ++index) {
if (palmAssignment[index]) {
Leap::Hand leapHand = frame.hands()[index];
PalmData& palm = *(palmAssignment[index]);
palm.resetFramesWithoutData();
palm.setLeapID(leapHand.id());
palm.setActive(true);
const Leap::Vector pos = leapHand.palmPosition();
const Leap::Vector normal = leapHand.palmNormal();
palm.setRawPosition(glm::vec3(pos.x, pos.y, pos.z));
palm.setRawNormal(glm::vec3(normal.x, normal.y, normal.z));
}
}
// Look for fingers per palm
for (size_t i = 0; i < hand.getNumPalms(); ++i) {
PalmData& palm = hand.getPalms()[i];
if (palm.isActive()) {
Leap::Hand leapHand = frame.hand(palm.getLeapID());
if (leapHand.isValid()) {
int numLeapFingers = leapHand.fingers().count();
std::vector<FingerData*> fingerAssignment(numLeapFingers);
// Look for matches
for (size_t index = 0; index < numLeapFingers; ++index) {
FingerData* takeoverCandidate = NULL;
fingerAssignment[index] = NULL;
Leap::Finger leapFinger = leapHand.fingers()[index];
int id = leapFinger.id();
if (leapFinger.isValid()) {
for (size_t f = 0; f < palm.getNumFingers() && fingerAssignment[index] == NULL; ++f) {
FingerData& finger = palm.getFingers()[f];
if (finger.getLeapID() == id) {
// Found hand with the same ID. We're set!
fingerAssignment[index] = &finger;
}
else if (finger.getFramesWithoutData() > assumeLostAfterFrameCount) {
takeoverCandidate = &finger;
}
}
// If we didn't find a match, but we found an unused finger, us it.
if (fingerAssignment[index] == NULL) {
fingerAssignment[index] = takeoverCandidate;
}
}
}
// Apply the assignments
for (size_t index = 0; index < numLeapFingers; ++index) {
if (fingerAssignment[index]) {
Leap::Finger leapFinger = leapHand.fingers()[index];
FingerData& finger = *(fingerAssignment[index]);
finger.resetFramesWithoutData();
finger.setLeapID(leapFinger.id());
finger.setActive(true);
#ifdef USE_STABILIZED_DATA
const Leap::Vector tip = leapFinger.stabilizedTipPosition();
#else
const Leap::Vector tip = leapFinger.tipPosition();
#endif
const Leap::Vector root = tip - leapFinger.direction() * leapFinger.length();
finger.setRawTipPosition(glm::vec3(tip.x, tip.y, tip.z));
finger.setRawRootPosition(glm::vec3(root.x, root.y, root.z));
}
}
}
}
}
}
#endif
if (!gotRealData) {
if (_doFakeFingers) {
// There's no real Leap data and we need to fake it.
for (size_t i = 0; i < hand.getNumPalms(); ++i) {
static const glm::vec3 fakeHandOffsets[] = {
glm::vec3( -250.0f, 50.0f, 50.0f),
glm::vec3( 250.0f, 50.0f, 50.0f)
};
static const glm::vec3 fakeHandFingerMirrors[] = {
glm::vec3( -1.0f, 1.0f, 1.0f),
glm::vec3( 1.0f, 1.0f, 1.0f)
};
static const glm::vec3 fakeFingerPositions[] = {
glm::vec3( -60.0f, 0.0f, -40.0f),
glm::vec3( -20.0f, 0.0f, -60.0f),
glm::vec3( 20.0f, 0.0f, -60.0f),
glm::vec3( 60.0f, 0.0f, -40.0f),
glm::vec3( -50.0f, 0.0f, 30.0f)
};
PalmData& palm = hand.getPalms()[i];
palm.setActive(true);
// Simulated data
palm.setRawPosition(glm::vec3( 0.0f, 0.0f, 0.0f) + fakeHandOffsets[i]);
palm.setRawNormal(glm::vec3(0.0f, -1.0f, 0.0f));
for (size_t f = 0; f < palm.getNumFingers(); ++f) {
FingerData& finger = palm.getFingers()[f];
finger.setActive(true);
const float tipScale = 1.5f;
const float rootScale = 0.75f;
glm::vec3 fingerPos = fakeFingerPositions[f] * fakeHandFingerMirrors[i];
finger.setRawTipPosition(fingerPos * tipScale + fakeHandOffsets[i]);
finger.setRawRootPosition(fingerPos * rootScale + fakeHandOffsets[i]);
}
}
}
else {
// Just deactivate everything.
for (size_t i = 0; i < hand.getNumPalms(); ++i) {
PalmData& palm = hand.getPalms()[i];
palm.setActive(false);
for (size_t f = 0; f < palm.getNumFingers(); ++f) {
FingerData& finger = palm.getFingers()[f];
finger.setActive(false);
}
}
}
}
hand.updateFingerTrails();
// if Leap drive is enabled, drive avatar based on Leap input
if (!(Menu::getInstance()->isOptionChecked(MenuOption::LeapDrive) && gotRealData)) {
return;
}
glm::vec3 relativePosition;
glm::vec3 eulerAngles;
PalmData* rightmostPalm = getRightmostPalm();
if (rightmostPalm != NULL) {
relativePosition = rightmostPalm->getRawPosition() - _baseDrivePosition;
glm::vec3 directionSum;
int activeFingerCount = 0;
for (int i = 0; i < rightmostPalm->getNumFingers(); i++) {
FingerData& finger = rightmostPalm->getFingers()[i];
glm::vec3 fingerVector = finger.getTipRawPosition() - rightmostPalm->getRawPosition();
if (finger.isActive() && glm::length(fingerVector) > EPSILON) {
directionSum += glm::normalize(fingerVector);
activeFingerCount++;
}
}
const int MIN_DIRECTION_FINGER_COUNT = 3;
glm::vec3 right;
if (activeFingerCount >= MIN_DIRECTION_FINGER_COUNT) {
right = glm::normalize(glm::cross(glm::normalize(directionSum), -rightmostPalm->getRawNormal()));
} else {
right = glm::normalize(glm::cross(IDENTITY_FRONT, -rightmostPalm->getRawNormal()));
}
eulerAngles = safeEulerAngles(glm::quat_cast(glm::mat3(right, -rightmostPalm->getRawNormal(),
glm::cross(right, -rightmostPalm->getRawNormal()))));
}
const float LINEAR_DRIVE_SCALE = 0.01f;
const float LINEAR_DEAD_ZONE = 0.25f;
avatar->setDriveKeys(FWD, glm::clamp(-relativePosition.z * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(BACK, glm::clamp(relativePosition.z * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(LEFT, glm::clamp(-relativePosition.x * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(RIGHT, glm::clamp(relativePosition.x * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(UP, glm::clamp(relativePosition.y * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(DOWN, glm::clamp(-relativePosition.y * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
const float ANGULAR_DRIVE_SCALE = 0.05f;
const float ANGULAR_DEAD_ZONE = 0.75f;
avatar->setDriveKeys(ROT_LEFT, glm::clamp(glm::max(eulerAngles.y, eulerAngles.z) * ANGULAR_DRIVE_SCALE -
ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(ROT_RIGHT, glm::clamp(glm::max(-eulerAngles.y, -eulerAngles.z) * ANGULAR_DRIVE_SCALE -
ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(ROT_UP, glm::clamp(eulerAngles.x * ANGULAR_DRIVE_SCALE - ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(ROT_DOWN, glm::clamp(-eulerAngles.x * ANGULAR_DRIVE_SCALE - ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
}
void LeapManager::enableFakeFingers(bool enable) {
_doFakeFingers = enable;
}
bool LeapManager::controllersExist() {
#ifdef LEAP_STUBS
return false;
#else
return _listener && _controller && _controller->devices().count() > 0;
#endif
}
std::string LeapManager::statusString() {
std::stringstream leapString;
#ifndef LEAP_STUBS
if (!_libraryExists)
leapString << "Leap library at /usr/lib/libLeap.dylib does not exist.";
else if (!_controller || !_listener || !_controller->devices().count())
leapString << "Leap controller is not attached.";
else {
leapString << "Leap pointables: " << _listener->lastFrame.pointables().count();
if (_listener->lastFrame.pointables().count() > 0) {
Leap::Vector pos = _listener->lastFrame.pointables()[0].tipPosition();
leapString << " pos: " << pos.x << " " << pos.y << " " << pos.z;
}
}
#endif
return leapString.str();
}

44
interface/src/devices/LeapManager.h
View file

@ -1,44 +0,0 @@
//
// LeapManager.h
// hifi
//
// Created by Eric Johnston on 6/26/13.
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
//
#ifndef __hifi__LeapManager__
#define __hifi__LeapManager__
#include <vector>
#include <glm/glm.hpp>
#include <string>
class Avatar;
class HifiLeapListener;
namespace Leap {
class Controller;
}
class LeapManager {
public:
static void nextFrame(); // called once per frame to get new Leap data
static bool controllersExist(); // Returns true if there's at least one active Leap plugged in
static void enableFakeFingers(bool enable); // put fake data in if there's no Leap plugged in
static const std::vector<glm::vec3>& getFingerTips();
static const std::vector<glm::vec3>& getFingerRoots();
static const std::vector<glm::vec3>& getHandPositions();
static const std::vector<glm::vec3>& getHandNormals();
static std::string statusString();
static void initialize();
static void reset();
static void terminate();
private:
static bool _libraryExists; // The library is present, so we won't crash if we call it.
static bool _doFakeFingers;
static Leap::Controller* _controller;
static HifiLeapListener* _listener;
static glm::vec3 _baseDrivePosition;
};
#endif /* defined(__hifi__LeapManager__) */