Intro
In this time, I will try using Leap Motion Controller from the Uno Platform application on Ubuntu.
I use this project to add LeapSDK.
Environments
- Ubuntu 21.10
- .NET 6.0.101
- LeapDeveloperKit ver.2.3.1
Using Leap Motion Controller on Ubuntu
To use Leap Motion Controller on Ubuntu I have to install tracking software.
After unpacking the tgz file, install a deb file.
sudo dpkg --install Leap-2.3.1+31549-x64.deb
And I also install Mesa OpenGL.
sudo apt-get install libgl1-mesa-dri libgl1-mesa-glx
After installing, I start the daemon of Leap Motion.
sudo leapd
I can open a control panel.
LeapControlPanel &
To open the control panel, I have to execute the command twice.
I don't know why :(
Controller was not working
Though I didn't get any errors, my machine hasn't recognized the controller yet.
According to this post, I could know I had to add a config file(leapd.service).
Now I can use the Leap Motion Controller on the control panel.
Add a LeapSDK library file in .NET 6 projects
In the tgz file, I can also get library files to control the Leap Motion Controller.
So I add a dll file for .NET Framework 4.0.
UnoSample.Skia.Gtk.csproj
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<OutputType Condition="'$(Configuration)'=='Release'">WinExe</OutputType>
<OutputType Condition="'$(Configuration)'=='Debug'">Exe</OutputType>
<TargetFramework>net6.0</TargetFramework>
<LangVersion>latest</LangVersion>
<Nullable>enable</Nullable>
<ImplicitUsings>enable</ImplicitUsings>
</PropertyGroup>
<ItemGroup Condition="exists('..\UnoSample.UWP')">
<EmbeddedResource Include="..\UnoSample.UWP\Package.appxmanifest" LogicalName="Package.appxmanifest" />
<Content Include="..\UnoSample.UWP\Assets\StoreLogo.png" Link="Assets\StoreLogo.png" />
<Content Include="Assets\Fonts\uno-fluentui-assets.ttf" />
</ItemGroup>
<ItemGroup>
<UpToDateCheckInput Include="..\UnoSample.Shared\**\*.xaml" />
</ItemGroup>
<ItemGroup>
<Reference Include="Leap">
<HintPath>References/LeapSdk/LeapCSharp.NET4.0.dll</HintPath>
</Reference>
</ItemGroup>
<ItemGroup>
<PackageReference Include="Microsoft.Extensions.Logging" Version="5.0.0" />
<PackageReference Include="Microsoft.Extensions.Logging.Console" Version="5.0.0" />
<PackageReference Include="Uno.UI.Skia.Gtk" Version="4.0.11" />
<PackageReference Include="Uno.UI.RemoteControl" Version="4.0.11" Condition="'$(Configuration)'=='Debug'" />
<PackageReference Include="Uno.UI.Adapter.Microsoft.Extensions.Logging" Version="4.0.11" />
</ItemGroup>
<Import Project="..\UnoSample.Shared\UnoSample.Shared.projitems" Label="Shared" />
</Project>
libLeapCSharp can't be found
Though I don't get any compile errors and I can get static value like "Gesture.GestureType.TYPE_CIRCLE",
when I add classes for controlling the Leap Motion Controller, I get a runtime exception.
LeapCtrlListener.cs
using Leap;
namespace UnoSample.Skia.Gtk.MotionControllers
{
public class LeapCtrlListener: Listener
{
public LeapCtrlListener()
{
Console.WriteLine("LeapCtrlListener");
}
}
}
Program.cs
using GLib;
using Uno.UI.Runtime.Skia;
using Leap;
using UnoSample.Skia.Gtk.MotionControllers;
namespace UnoSample.Skia.Gtk
{
class Program
{
static void Main(string[] args)
{
// OK. "Gesture: TYPE_CIRCLE"
Console.WriteLine("Gesture: " + Gesture.GestureType.TYPE_CIRCLE);
// Error
var leapCtrlListener = new LeapCtrlListener();
ExceptionManager.UnhandledException += delegate (UnhandledExceptionArgs expArgs)
{
Console.WriteLine("GLIB UNHANDLED EXCEPTION" + expArgs.ExceptionObject.ToString());
expArgs.ExitApplication = true;
};
var host = new GtkHost(() => new App(), args);
host.Run();
}
}
}
Error
Unhandled exception. System.TypeInitializationException: The type initializer for 'Leap.LeapPINVOKE' threw an exception.
---> System.TypeInitializationException: The type initializer for 'SWIGExceptionHelper' threw an exception.
---> System.DllNotFoundException: Unable to load shared library 'LeapCSharp' or one of its dependencies. In order to help diagnose loading problems, consider setting the LD_DEBUG environment variable: libLeapCSharp: cannot open shared object file: No such file or directory
at Leap.LeapPINVOKE.SWIGExceptionHelper.SWIGRegisterExceptionCallbacks_Leap(ExceptionDelegate applicationDelegate, ExceptionDelegate arithmeticDelegate, ExceptionDelegate divideByZeroDelegate, ExceptionDelegate indexOutOfRangeDelegate, ExceptionDelegate invalidCastDelegate, ExceptionDelegate invalidOperationDelegate, ExceptionDelegate ioDelegate, ExceptionDelegate nullReferenceDelegate, ExceptionDelegate outOfMemoryDelegate, ExceptionDelegate overflowDelegate, ExceptionDelegate systemExceptionDelegate)
at Leap.LeapPINVOKE.SWIGExceptionHelper..cctor()
--- End of inner exception stack trace ---
at Leap.LeapPINVOKE.SWIGExceptionHelper..ctor()
at Leap.LeapPINVOKE..cctor()
--- End of inner exception stack trace ---
at Leap.LeapPINVOKE.new_Listener()
at Leap.Listener..ctor()
at UnoSample.Skia.Gtk.LeapMotions.LeapController..ctor() in /home/example/Documents/workspace/UnoSample/UnoSample.Skia.Gtk/LeapMotions/LeapController.cs:line 7
at UnoSample.Skia.Gtk.Program.Main(String[] args) in /home/example/Documents/workspace/UnoSample/UnoSample.Skia.Gtk/Program.cs:line 13
Add link to shared object file
To use the library file, I have to add link to "libLeapCSharp.so" on my machine.
I can execute this command before run the project.
export LD_LIBRARY_PATH="$Home/home/example/Documents/leap_developer_kit"
(In "leap_developer_kit" folder, there are "libLeapCSharp.so", "libLeap.so", and so on)
But because I don't want to do this everytime.
So I add "leap_developer_kit.conf" into "/etc/ld.so.conf.d".
leap_developer_kit.conf
/home/example/Documents/leap_developer_kit
After I execute "sudo ldconfig", I can watch the link of the files by "ldconfig -p".
...
libLeapCSharp.so (libc6,x86-64) => /home/example/Documents/leap_developer_kit/libLeapCSharp.so
libLeap.so (libc6,x86-64) => /home/example/Documents/leap_developer_kit/libLeap.so
...
(Sample) Getting hand count
According to the sample code in the tgz file, I add classes and get tracking hand count.
Program.cs
using GLib;
using Uno.UI.Runtime.Skia;
using UnoSample.Skia.Gtk.MotionControllers;
namespace UnoSample.Skia.Gtk
{
class Program
{
static void Main(string[] args)
{
using(var motionController = new MotionController())
{
ExceptionManager.UnhandledException += delegate (UnhandledExceptionArgs expArgs)
{
Console.WriteLine("GLIB UNHANDLED EXCEPTION" + expArgs.ExceptionObject.ToString());
expArgs.ExitApplication = true;
};
var host = new GtkHost(() => new App(), args);
host.Run();
}
}
}
}
MotionController.cs
using Leap;
namespace UnoSample.Skia.Gtk.MotionControllers;
public class MotionController: IDisposable
{
private LeapCtrlListener leapCtrlListener;
private Controller controller;
public MotionController()
{
this.leapCtrlListener = new LeapCtrlListener();
this.controller = new Controller ();
this.controller.AddListener(this.leapCtrlListener);
}
public void Dispose()
{
this.controller.RemoveListener(this.leapCtrlListener);
this.controller.Dispose();
}
}
LeapCtrlListener.cs
using Leap;
namespace UnoSample.Skia.Gtk.MotionControllers;
public class LeapCtrlListener : Listener
{
public LeapCtrlListener()
{
Console.WriteLine("LeapCtrlListener");
}
public override void OnInit(Controller controller)
{
Console.WriteLine("Initialized");
}
public override void OnConnect(Controller controller)
{
Console.WriteLine("Connected");
controller.EnableGesture(Gesture.GestureType.TYPE_CIRCLE);
controller.EnableGesture(Gesture.GestureType.TYPE_KEY_TAP);
controller.EnableGesture(Gesture.GestureType.TYPE_SCREEN_TAP);
controller.EnableGesture(Gesture.GestureType.TYPE_SWIPE);
}
public override void OnDisconnect(Controller controller)
{
//Note: not dispatched when running in a debugger.
Console.WriteLine("Disconnected");
}
public override void OnExit(Controller controller)
{
Console.WriteLine("Exited");
}
public override void OnFrame(Controller controller)
{
var leapFrame = controller.Frame();
var handList = leapFrame.Hands;
Console.WriteLine($"OnFrame Hand: {handList.Count}");
}
}
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