はじめに
2019年11月現在，KinectやRealSense等のデプスカメラが流通している中，公開されているSDKに手の姿勢推定機能を有しているデプスカメラはLeap Motion社のLeap Motionのみである．
（RealSenseSR300に対応するSDKには搭載されていたが，現在はサポートされていないみたいです．詳細）
カメラで手を認識していろいろとやりたい場合，Kinectなど他のデプスカメラにこちらを実装するのも一つの手だが，とても面倒なので現時点ではLeapMotionを使うのが無難だと思われる．
環境
OS Windows 10
Visual Studio 2019
やり方（備忘録）
LeapMotionを手に入れた後，今回はこちらからSDKをダウンロードする．
ダウンロード後，Leap_Motion_Developer_kit_...の中のセットアップを行うexeファイルを実行する．
その後，こちらからサンプルファイルをダウンロード，中のLeapSample.slnを開き，ビルド→実行で手の関節座標をCSV出力できる．
Program_joint.csがMainとなっており，出力を行う関節の選択が可能．以下にProgram_joint.csのコードを記す．
Program_joint.cs
usingLeap;usingSystem;usingSystem.Collections.Generic;usingSystem.Linq;usingSystem.Text;usingSystem.Threading.Tasks;usingSystem.IO;namespaceLeapSample{classProgram{staticvoidMain(string[]args){Controllercontroller=newController();SampleListenerlistener=newSampleListener();controller.Connect+=listener.OnServiceConnect;controller.Device+=listener.OnConnect;controller.FrameReady+=listener.OnFrame;Console.WriteLine("Press Enter to quit...");Console.ReadLine();controller.Dispose();listener.Dispose();}}classSampleListener{publicvoidOnServiceConnect(objectsender,ConnectionEventArgsargs){Console.WriteLine("Service Connected");}StreamWritersw;publicSampleListener(){sw=newSystem.IO.StreamWriter("test.csv",true,System.Text.Encoding.GetEncoding("shift_jis"));}publicvoidDispose(){sw.Dispose();}publicvoidOnConnect(objectsender,DeviceEventArgsargs){Console.WriteLine("Connected");}publicvoidOnFrame(objectsender,FrameEventArgsargs){Frameframe=args.frame;foreach(Handhandinframe.Hands){if(hand==null||hand.Fingers.Count==0)continue;varfinger1=hand.Fingers.Where(f=>f.Type==Finger.FingerType.TYPE_THUMB).FirstOrDefault();varfinger2=hand.Fingers.Where(f=>f.Type==Finger.FingerType.TYPE_INDEX).FirstOrDefault();varfinger3=hand.Fingers.Where(f=>f.Type==Finger.FingerType.TYPE_MIDDLE).FirstOrDefault();varfinger4=hand.Fingers.Where(f=>f.Type==Finger.FingerType.TYPE_RING).FirstOrDefault();varfinger5=hand.Fingers.Where(f=>f.Type==Finger.FingerType.TYPE_PINKY).FirstOrDefault();Fingerindex_fin=null;foreach(varfininhand.Fingers){if(fin.Type==Finger.FingerType.TYPE_INDEX)index_fin=fin;}if(finger1!=null){Bonebone1=finger1.Bone(Bone.BoneType.TYPE_DISTAL);Bonebone2=finger1.Bone(Bone.BoneType.TYPE_INTERMEDIATE);Bonebone3=finger1.Bone(Bone.BoneType.TYPE_PROXIMAL);Bonebone4=finger1.Bone(Bone.BoneType.TYPE_METACARPAL);Console.WriteLine(finger1.Type+"0: "+hand.PalmPosition);Console.WriteLine(finger1.Type+"1: "+bone1.NextJoint);Console.WriteLine(finger1.Type+"2: "+bone2.NextJoint);Console.WriteLine(finger1.Type+"3: "+bone3.NextJoint);Console.WriteLine(finger1.Type+"4: "+bone4.NextJoint);Console.WriteLine(finger1.Type+"5: "+bone4.PrevJoint);{sw.Write("{0}, {1}, {2}",hand.PalmPosition.x,hand.PalmPosition.y,hand.PalmPosition.z+",");sw.Write("{0}, {1}, {2}",bone1.NextJoint.x,bone1.NextJoint.y,bone1.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone2.NextJoint.x,bone2.NextJoint.y,bone2.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone3.NextJoint.x,bone3.NextJoint.y,bone3.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.NextJoint.x,bone4.NextJoint.y,bone4.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.PrevJoint.x,bone4.PrevJoint.y,bone4.PrevJoint.z+",");}}if(finger2!=null){Bonebone1=finger2.Bone(Bone.BoneType.TYPE_DISTAL);Bonebone2=finger2.Bone(Bone.BoneType.TYPE_INTERMEDIATE);Bonebone3=finger2.Bone(Bone.BoneType.TYPE_PROXIMAL);Bonebone4=finger2.Bone(Bone.BoneType.TYPE_METACARPAL);Console.WriteLine(finger2.Type+"1: "+bone1.NextJoint);Console.WriteLine(finger2.Type+"2: "+bone2.NextJoint);Console.WriteLine(finger2.Type+"3: "+bone3.NextJoint);Console.WriteLine(finger2.Type+"4: "+bone4.NextJoint);Console.WriteLine(finger2.Type+"5: "+bone4.PrevJoint);{sw.Write("{0}, {1}, {2}",bone1.NextJoint.x,bone1.NextJoint.y,bone1.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone2.NextJoint.x,bone2.NextJoint.y,bone2.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone3.NextJoint.x,bone3.NextJoint.y,bone3.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.NextJoint.x,bone4.NextJoint.y,bone4.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.PrevJoint.x,bone4.PrevJoint.y,bone4.PrevJoint.z+",");}}if(finger3!=null){Bonebone1=finger3.Bone(Bone.BoneType.TYPE_DISTAL);Bonebone2=finger3.Bone(Bone.BoneType.TYPE_INTERMEDIATE);Bonebone3=finger3.Bone(Bone.BoneType.TYPE_PROXIMAL);Bonebone4=finger3.Bone(Bone.BoneType.TYPE_METACARPAL);Console.WriteLine(finger3.Type+"1: "+bone1.NextJoint);Console.WriteLine(finger3.Type+"2: "+bone2.NextJoint);Console.WriteLine(finger3.Type+"3: "+bone3.NextJoint);Console.WriteLine(finger3.Type+"4: "+bone4.NextJoint);Console.WriteLine(finger3.Type+"5: "+bone4.PrevJoint);{sw.Write("{0}, {1}, {2}",bone1.NextJoint.x,bone1.NextJoint.y,bone1.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone2.NextJoint.x,bone2.NextJoint.y,bone2.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone3.NextJoint.x,bone3.NextJoint.y,bone3.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.NextJoint.x,bone4.NextJoint.y,bone4.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.PrevJoint.x,bone4.PrevJoint.y,bone4.PrevJoint.z+",");}}if(finger4!=null){Bonebone1=finger4.Bone(Bone.BoneType.TYPE_DISTAL);Bonebone2=finger4.Bone(Bone.BoneType.TYPE_INTERMEDIATE);Bonebone3=finger4.Bone(Bone.BoneType.TYPE_PROXIMAL);Bonebone4=finger4.Bone(Bone.BoneType.TYPE_METACARPAL);Console.WriteLine(finger4.Type+"1: "+bone1.NextJoint);Console.WriteLine(finger4.Type+"2: "+bone2.NextJoint);Console.WriteLine(finger4.Type+"3: "+bone3.NextJoint);Console.WriteLine(finger4.Type+"4: "+bone4.NextJoint);Console.WriteLine(finger4.Type+"5: "+bone4.PrevJoint);{sw.Write("{0}, {1}, {2}",bone1.NextJoint.x,bone1.NextJoint.y,bone1.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone2.NextJoint.x,bone2.NextJoint.y,bone2.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone3.NextJoint.x,bone3.NextJoint.y,bone3.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.NextJoint.x,bone4.NextJoint.y,bone4.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.PrevJoint.x,bone4.PrevJoint.y,bone4.PrevJoint.z+",");}}if(finger5!=null){Bonebone1=finger5.Bone(Bone.BoneType.TYPE_DISTAL);Bonebone2=finger5.Bone(Bone.BoneType.TYPE_INTERMEDIATE);Bonebone3=finger5.Bone(Bone.BoneType.TYPE_PROXIMAL);Bonebone4=finger5.Bone(Bone.BoneType.TYPE_METACARPAL);Console.WriteLine(finger5.Type+"1: "+bone1.NextJoint);Console.WriteLine(finger5.Type+"2: "+bone2.NextJoint);Console.WriteLine(finger5.Type+"3: "+bone3.NextJoint);Console.WriteLine(finger5.Type+"4: "+bone4.NextJoint);Console.WriteLine(finger5.Type+"5: "+bone4.PrevJoint);{sw.Write("{0}, {1}, {2}",bone1.NextJoint.x,bone1.NextJoint.y,bone1.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone2.NextJoint.x,bone2.NextJoint.y,bone2.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone3.NextJoint.x,bone3.NextJoint.y,bone3.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.NextJoint.x,bone4.NextJoint.y,bone4.NextJoint.z+",");sw.Write("{0}, {1}, {2}",bone4.PrevJoint.x,bone4.PrevJoint.y,bone4.PrevJoint.z+",");}}Console.WriteLine(frame.Id);vardt=DateTime.Now;sw.WriteLine(dt.Millisecond+",");}}}}デフォルトでは各関節の座標をコマンドライン上に表示し，CSVに出力するようにしている．欲しい関節に合わせてコメントアウトをするのが望まれる．
各指，関節の変数設定についてはこちらを参考にするのがよい．