472 lines
13 KiB
C++
472 lines
13 KiB
C++
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/******************************************************************************
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* Copyright (C) Ultraleap, Inc. 2011-2021. *
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* *
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* Use subject to the terms of the Apache License 2.0 available at *
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* http://www.apache.org/licenses/LICENSE-2.0, or another agreement *
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* between Ultraleap and you, your company or other organization. *
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******************************************************************************/
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#include "UltraleapTrackingData.h"
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#include "LeapC.h"
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#include "LeapUtility.h"
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#define MAX_DIGITS 5 // almost all humans have 5?
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#define MAX_DIGIT_BONES 4 // some bones don't have all bones, see Leap documentation
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FLeapHandData FLeapFrameData::HandForId(int32 HandId)
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{
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for (auto& Hand : Hands)
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{
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// if found return hand
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if (Hand.Id == HandId)
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{
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return Hand;
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}
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}
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// not found? return an empty hand
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FLeapHandData EmptyHand;
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return EmptyHand;
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}
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void FLeapFrameData::SetFromLeapFrame(
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struct _LEAP_TRACKING_EVENT* frame, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
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{
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if (frame == nullptr)
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{
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return;
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}
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// Copy basics
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NumberOfHandsVisible = frame->nHands;
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FrameRate = frame->framerate;
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TimeStamp = frame->info.timestamp;
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// Copy hand data
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if (Hands.Num() != NumberOfHandsVisible) // always clear the hand data if number of hands changed
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{
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Hands.Empty();
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}
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LeftHandVisible = false;
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RightHandVisible = false;
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for (int i = 0; i < NumberOfHandsVisible; i++)
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{
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// Expand as necessary to fit
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if (Hands.Num() <= i)
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{
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FLeapHandData HandData;
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Hands.Add(HandData);
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}
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const LEAP_HAND& LeapHand = frame->pHands[i];
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Hands[i].SetFromLeapHand((_LEAP_HAND*) &LeapHand, LeapMountTranslationOffset, LeapMountRotationOffset);
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if (Hands[i].HandType == EHandType::LEAP_HAND_LEFT)
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{
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LeftHandVisible = true;
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}
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else if (Hands[i].HandType == EHandType::LEAP_HAND_RIGHT)
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{
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RightHandVisible = true;
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}
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}
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FrameId = frame->tracking_frame_id;
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}
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void FLeapFrameData::SetInterpolationPartialFromLeapFrame(
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struct _LEAP_TRACKING_EVENT* frame, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
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{
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if (frame == nullptr)
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{
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return;
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}
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if (NumberOfHandsVisible != frame->nHands)
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{
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return;
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}
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for (int i = 0; i < NumberOfHandsVisible; i++)
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{
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const LEAP_HAND& LeapHand = frame->pHands[i];
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Hands[i].SetArmPartialsFromLeapHand(
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(_LEAP_HAND*) &LeapHand, LeapMountTranslationOffset, LeapMountRotationOffset);
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}
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TimeStamp = frame->info.timestamp;
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}
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void FLeapFrameData::ScaleFrame(float InScale)
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{
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for (auto& Hand : Hands)
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{
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Hand.ScaleHand(InScale);
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}
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}
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void FLeapFrameData::RotateFrame(const FRotator& InRotation)
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{
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for (auto& Hand : Hands)
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{
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Hand.RotateHand(InRotation);
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}
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}
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void FLeapFrameData::TranslateFrame(const FVector& InTranslation)
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{
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for (auto& Hand : Hands)
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{
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Hand.TranslateHand(InTranslation);
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}
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}
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void FLeapHandData::InitFromEmpty(const EHandType HandTypeIn, const int HandID)
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{
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static int FingerID = 0;
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Confidence = 1.0;
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GrabAngle = 100;
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GrabStrength = 0.5;
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PinchStrength = 0.5;
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Id = HandID;
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for (int i = 0; i < MAX_DIGITS; i++)
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{
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if (Digits.Num() <= i) // will only pay the cost of filling once
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{
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FLeapDigitData DigitData;
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DigitData.Bones.AddZeroed(4);
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DigitData.FingerId = ++FingerID;
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Digits.Add(DigitData);
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}
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}
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PinchDistance = 50;
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HandType = HandTypeIn;
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VisibleTime = 1;
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Flags = 0;
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}
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void FLeapHandData::UpdateFromDigits()
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{
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// The hand merger only sets the bone arrays
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// Set the high level digits and digit members here
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for (auto& Digit : Digits)
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{
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Digit.Metacarpal = Digit.Bones[0];
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Digit.Proximal = Digit.Bones[1];
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Digit.Intermediate = Digit.Bones[2];
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Digit.Distal = Digit.Bones[3];
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// this could be a merged state
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Digit.IsExtended = false;
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}
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Thumb = Digits[0];
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Index = Digits[1];
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Middle = Digits[2];
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Ring = Digits[3];
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Pinky = Digits[4];
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}
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void FLeapHandData::SetFromLeapHand(
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struct _LEAP_HAND* hand, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
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{
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if (!hand)
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{
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return;
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}
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Arm.SetFromLeapBone((_LEAP_BONE*) &hand->arm, LeapMountTranslationOffset, LeapMountRotationOffset);
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Confidence = hand->confidence;
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GrabAngle = hand->grab_angle;
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GrabStrength = hand->grab_strength;
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Id = hand->id;
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for (int i = 0; i < MAX_DIGITS; i++)
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{
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if (Digits.Num() <= i) // will only pay the cost of filling once
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{
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FLeapDigitData DigitData;
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Digits.Add(DigitData);
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}
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Digits[i].SetFromLeapDigit((_LEAP_DIGIT*) &hand->digits[i], LeapMountTranslationOffset, LeapMountRotationOffset);
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}
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Flags = hand->flags;
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Index.SetFromLeapDigit((_LEAP_DIGIT*) &hand->index, LeapMountTranslationOffset, LeapMountRotationOffset);
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Middle.SetFromLeapDigit((_LEAP_DIGIT*) &hand->middle, LeapMountTranslationOffset, LeapMountRotationOffset);
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Pinky.SetFromLeapDigit((_LEAP_DIGIT*) &hand->pinky, LeapMountTranslationOffset, LeapMountRotationOffset);
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Ring.SetFromLeapDigit((_LEAP_DIGIT*) &hand->ring, LeapMountTranslationOffset, LeapMountRotationOffset);
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Thumb.SetFromLeapDigit((_LEAP_DIGIT*) &hand->thumb, LeapMountTranslationOffset, LeapMountRotationOffset);
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PinchDistance = FLeapUtility::ScaleLeapFloatToUE(hand->pinch_distance);
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PinchStrength = hand->pinch_strength;
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HandType = (EHandType) hand->type;
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Palm.SetFromLeapPalm((_LEAP_PALM*) &hand->palm, LeapMountTranslationOffset, LeapMountRotationOffset);
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VisibleTime = ((double) hand->visible_time / 1000000.0); // convert to seconds
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}
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void FLeapHandData::SetArmPartialsFromLeapHand(struct _LEAP_HAND* hand, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
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{
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// Arm Partial
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Arm.NextJoint = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(hand->arm.next_joint,LeapMountTranslationOffset, LeapMountRotationOffset);
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Arm.PrevJoint = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
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hand->arm.prev_joint, LeapMountTranslationOffset, LeapMountRotationOffset);
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// Palm Partial
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Palm.Position = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
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hand->palm.position, LeapMountTranslationOffset, LeapMountRotationOffset);
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// Debug - Set Orientation
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// Palm.Direction = ConvertLeapVectorToFVector(hand->palm.direction);
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// Palm.Normal = ConvertLeapVectorToFVector(hand->palm.normal);
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// Palm.Orientation = FRotationMatrix::MakeFromXZ(Palm.Direction, -Palm.Normal).Rotator();
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}
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void FLeapHandData::ScaleHand(float InScale)
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{
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Arm.ScaleBone(InScale);
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Index.ScaleDigit(InScale);
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Middle.ScaleDigit(InScale);
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Pinky.ScaleDigit(InScale);
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Ring.ScaleDigit(InScale);
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Thumb.ScaleDigit(InScale);
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Palm.ScalePalm(InScale);
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}
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void FLeapHandData::RotateHand(const FRotator& InRotation)
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{
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Arm.RotateBone(InRotation);
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Index.RotateDigit(InRotation);
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Middle.RotateDigit(InRotation);
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Pinky.RotateDigit(InRotation);
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Ring.RotateDigit(InRotation);
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Thumb.RotateDigit(InRotation);
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Palm.RotatePalm(InRotation);
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for (auto& Digit : Digits)
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{
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Digit.RotateDigit(InRotation);
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}
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}
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void FLeapHandData::TranslateHand(const FVector& InTranslation)
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{
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Arm.TranslateBone(InTranslation);
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Index.TranslateDigit(InTranslation);
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Middle.TranslateDigit(InTranslation);
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Pinky.TranslateDigit(InTranslation);
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Ring.TranslateDigit(InTranslation);
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Thumb.TranslateDigit(InTranslation);
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Palm.TranslatePalm(InTranslation);
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for(auto& Digit : Digits)
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{
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Digit.TranslateDigit(InTranslation);
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}
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}
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void FLeapBoneData::SetFromLeapBone(
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struct _LEAP_BONE* bone, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
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{
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if (!bone)
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{
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return;
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}
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NextJoint = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
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bone->next_joint, LeapMountTranslationOffset, LeapMountRotationOffset);
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PrevJoint = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
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bone->prev_joint, LeapMountTranslationOffset, LeapMountRotationOffset);
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Rotation = FLeapUtility::ConvertToFQuatWithHMDOffsets(bone->rotation,LeapMountRotationOffset).Rotator();
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Width = FLeapUtility::ScaleLeapFloatToUE(bone->width);
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}
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void FLeapBoneData::ScaleBone(float InScale)
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{
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NextJoint *= InScale;
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PrevJoint *= InScale;
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}
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void FLeapBoneData::RotateBone(const FRotator& InRotation)
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{
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NextJoint = InRotation.RotateVector(NextJoint);
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PrevJoint = InRotation.RotateVector(PrevJoint);
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Rotation = FLeapUtility::CombineRotators(Rotation, InRotation);
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}
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void FLeapBoneData::TranslateBone(const FVector& InTranslation)
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{
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NextJoint += InTranslation;
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PrevJoint += InTranslation;
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}
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void FLeapDigitData::SetFromLeapDigit(
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struct _LEAP_DIGIT* digit, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
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{
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// set bone data
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for (int i = 0; i < MAX_DIGIT_BONES; i++)
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{
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if (Bones.Num() <= i) // will only pay the cost of filling once
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{
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FLeapBoneData BoneData;
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Bones.Add(BoneData);
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}
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Bones[i].SetFromLeapBone((_LEAP_BONE*) &digit->bones[i], LeapMountTranslationOffset, LeapMountRotationOffset);
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}
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Distal.SetFromLeapBone((_LEAP_BONE*) &digit->distal, LeapMountTranslationOffset, LeapMountRotationOffset);
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Intermediate.SetFromLeapBone((_LEAP_BONE*) &digit->intermediate, LeapMountTranslationOffset, LeapMountRotationOffset);
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Metacarpal.SetFromLeapBone((_LEAP_BONE*) &digit->metacarpal, LeapMountTranslationOffset, LeapMountRotationOffset);
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Proximal.SetFromLeapBone((_LEAP_BONE*) &digit->proximal, LeapMountTranslationOffset, LeapMountRotationOffset);
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FingerId = digit->finger_id;
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IsExtended = digit->is_extended == 1;
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}
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void FLeapDigitData::ScaleDigit(float InScale)
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{
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Distal.ScaleBone(InScale);
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Intermediate.ScaleBone(InScale);
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Metacarpal.ScaleBone(InScale);
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Proximal.ScaleBone(InScale);
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for (auto& Bone : Bones)
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{
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Bone.ScaleBone(InScale);
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}
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}
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void FLeapDigitData::RotateDigit(const FRotator& InRotation)
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{
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Distal.RotateBone(InRotation);
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Intermediate.RotateBone(InRotation);
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Metacarpal.RotateBone(InRotation);
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Proximal.RotateBone(InRotation);
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for (auto& Bone : Bones)
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{
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Bone.RotateBone(InRotation);
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}
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}
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void FLeapDigitData::TranslateDigit(const FVector& InTranslation)
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{
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Distal.TranslateBone(InTranslation);
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Intermediate.TranslateBone(InTranslation);
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Metacarpal.TranslateBone(InTranslation);
|
||
|
|
Proximal.TranslateBone(InTranslation);
|
||
|
|
|
||
|
|
for (auto& Bone : Bones)
|
||
|
|
{
|
||
|
|
Bone.TranslateBone(InTranslation);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void FLeapPalmData::SetFromLeapPalm(
|
||
|
|
struct _LEAP_PALM* palm, const FVector& LeapMountTranslationOffset, const FQuat& LeapMountRotationOffset)
|
||
|
|
{
|
||
|
|
Direction = FLeapUtility::ConvertLeapVectorToFVector(palm->direction);
|
||
|
|
|
||
|
|
Normal = FLeapUtility::ConvertLeapVectorToFVector(palm->normal);
|
||
|
|
|
||
|
|
Orientation = FLeapUtility::ConvertLeapQuatToFQuat(palm->orientation).Rotator();
|
||
|
|
|
||
|
|
Position = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
|
||
|
|
palm->position, LeapMountTranslationOffset, LeapMountRotationOffset);
|
||
|
|
|
||
|
|
StabilizedPosition = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
|
||
|
|
palm->stabilized_position, LeapMountTranslationOffset, LeapMountRotationOffset);
|
||
|
|
|
||
|
|
Velocity = FLeapUtility::ConvertAndScaleLeapVectorToFVectorWithHMDOffsets(
|
||
|
|
palm->velocity, LeapMountTranslationOffset, LeapMountRotationOffset);
|
||
|
|
|
||
|
|
Width = FLeapUtility::ScaleLeapFloatToUE(palm->width);
|
||
|
|
}
|
||
|
|
|
||
|
|
void FLeapPalmData::ScalePalm(float InScale)
|
||
|
|
{
|
||
|
|
Position *= InScale;
|
||
|
|
StabilizedPosition *= InScale;
|
||
|
|
Velocity *= InScale;
|
||
|
|
}
|
||
|
|
|
||
|
|
void FLeapPalmData::RotatePalm(const FRotator& InRotation)
|
||
|
|
{
|
||
|
|
Position = InRotation.RotateVector(Position);
|
||
|
|
StabilizedPosition = InRotation.RotateVector(StabilizedPosition);
|
||
|
|
Velocity = InRotation.RotateVector(Velocity);
|
||
|
|
Direction = InRotation.RotateVector(Direction);
|
||
|
|
Normal = InRotation.RotateVector(Normal);
|
||
|
|
Orientation = FLeapUtility::CombineRotators(Orientation, InRotation);
|
||
|
|
}
|
||
|
|
|
||
|
|
void FLeapPalmData::TranslatePalm(const FVector& InTranslation)
|
||
|
|
{
|
||
|
|
Position += InTranslation;
|
||
|
|
StabilizedPosition += InTranslation;
|
||
|
|
// Velocity += InTranslation;
|
||
|
|
}
|
||
|
|
|
||
|
|
FLeapOptions::FLeapOptions()
|
||
|
|
{
|
||
|
|
// Good Vive settings used as defaults
|
||
|
|
Mode = LEAP_MODE_DESKTOP;
|
||
|
|
TrackingFidelity = LEAP_NORMAL;
|
||
|
|
LeapServiceLogLevel = LEAP_LOG_INFO; // most verbose by default
|
||
|
|
bUseTimeWarp = true;
|
||
|
|
bUseInterpolation = true;
|
||
|
|
bTransformOriginToHMD = true;
|
||
|
|
TimewarpOffset = 5500;
|
||
|
|
TimewarpFactor = 1.f;
|
||
|
|
HandInterpFactor = 0.f;
|
||
|
|
FingerInterpFactor = 0.f;
|
||
|
|
// in mm
|
||
|
|
// HMDPositionOffset = FVector(90.0, 0, 0); // Vive default, for oculus use 80,0,0
|
||
|
|
// HMDRotationOffset = FRotator(0, 0, 0); // If imperfectly mounted it might need to sag
|
||
|
|
bUseFrameBasedGestureDetection = false;
|
||
|
|
StartGrabThreshold = .8f;
|
||
|
|
EndGrabThreshold = .5f;
|
||
|
|
StartPinchThreshold = .8f;
|
||
|
|
EndPinchThreshold = .5f;
|
||
|
|
GrabTimeout = 100000;
|
||
|
|
PinchTimeout = 100000;
|
||
|
|
bUseOpenXRAsSource = false;
|
||
|
|
|
||
|
|
HMDPositionOffset = FVector(80.f, 0, 0);
|
||
|
|
HMDRotationOffset = FRotator(0, 0, 0);
|
||
|
|
// bEnableImageStreaming = false; //default image streaming to off
|
||
|
|
}
|
||
|
|
|
||
|
|
FLeapStats::FLeapStats() : FrameExtrapolationInMS(0)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void FLeapDevice::SetFromLeapDevice(struct _LEAP_DEVICE_INFO* LeapInfo)
|
||
|
|
{
|
||
|
|
Status = LeapInfo->status;
|
||
|
|
Caps = LeapInfo->caps;
|
||
|
|
PID = FString(LeapDevicePIDToString(LeapInfo->pid));
|
||
|
|
Baseline = LeapInfo->baseline;
|
||
|
|
Serial = LeapInfo->serial;
|
||
|
|
HorizontalFOV = LeapInfo->h_fov;
|
||
|
|
VerticalFOV = LeapInfo->v_fov;
|
||
|
|
Range = LeapInfo->range;
|
||
|
|
}
|