public void CompleteImageData(eLeapImageType type,
eLeapImageFormat format,
UInt32 bpp,
UInt32 width,
UInt32 height,
Int64 timestamp,
Int64 frame_id,
float x_offset,
float y_offset,
float x_scale,
float y_scale,
DistortionData distortionData,
int distortion_size,
UInt64 distortion_matrix_version)
{
lock (locker)
{
this.type = type;
this.format = format;
this.bpp = bpp;
this.width = width;
this.height = height;
this.timestamp = timestamp;
this.frame_id = frame_id;
this.DistortionData = distortionData;
this.DistortionSize = distortion_size;
this.DistortionMatrixKey = distortion_matrix_version;
isComplete = true;
}
}
private void handleImageCompletion(ref LEAP_IMAGE_COMPLETE_EVENT imageMsg)
{
LEAP_IMAGE_PROPERTIES props;
StructMarshal <LEAP_IMAGE_PROPERTIES> .PtrToStruct(imageMsg.properties, out props);
ImageFuture pendingImage = _pendingImageRequestList.FindAndRemove(imageMsg.token);
if (pendingImage == null)
{
return;
}
//Update distortion data, if changed
if ((_currentDistortionData.Version != imageMsg.matrix_version) || !_currentDistortionData.IsValid)
{
_currentDistortionData = new DistortionData();
_currentDistortionData.Version = imageMsg.matrix_version;
_currentDistortionData.Width = LeapC.DistortionSize; //fixed value for now
_currentDistortionData.Height = LeapC.DistortionSize; //fixed value for now
if (_currentDistortionData.Data == null || _currentDistortionData.Data.Length != (2 * _currentDistortionData.Width * _currentDistortionData.Height * 2))
{
_currentDistortionData.Data = new float[(int)(2 * _currentDistortionData.Width * _currentDistortionData.Height * 2)]; //2 float values per map point
}
LEAP_DISTORTION_MATRIX matrix;
StructMarshal <LEAP_DISTORTION_MATRIX> .PtrToStruct(imageMsg.distortionMatrix, out matrix);
Array.Copy(matrix.matrix_data, _currentDistortionData.Data, matrix.matrix_data.Length);
if (LeapDistortionChange != null)
{
LeapDistortionChange.DispatchOnContext <DistortionEventArgs>(this, EventContext, new DistortionEventArgs(_currentDistortionData));
}
}
pendingImage.imageData.CompleteImageData(props.type,
props.format,
props.bpp,
props.width,
props.height,
imageMsg.info.timestamp,
imageMsg.info.frame_id,
props.x_offset,
props.y_offset,
props.x_scale,
props.y_scale,
_currentDistortionData,
LeapC.DistortionSize,
imageMsg.matrix_version);
Image completedImage = pendingImage.imageObject;
if (LeapImageReady != null)
{
LeapImageReady.DispatchOnContext <ImageEventArgs>(this, EventContext, new ImageEventArgs(completedImage));
}
}
public ImageData(Image.CameraType camera, LEAP_IMAGE image, DistortionData distortionData)
{
this.camera = camera;
this._properties = image.properties;
this.DistortionMatrixKey = image.matrix_version;
this.DistortionData = distortionData;
this._object = MemoryManager.GetPinnedObject(image.data);
this.byteOffset = image.offset;
}
private void OnEnable()
{
if (m_distortionData == null)
{
m_distortionData = new DistortionData(gameObject);
}
DistortionManager.Instance.Register(m_distortionData);
}
private void handleImageCompletion(ref LEAP_IMAGE_COMPLETE_EVENT imageMsg)
{
LEAP_IMAGE_PROPERTIES props = LeapC.PtrToStruct <LEAP_IMAGE_PROPERTIES>(imageMsg.properties);
ImageReference pendingImage = null;
lock (lockPendingImageList)
{
_pendingImageRequests.TryGetValue(imageMsg.token.requestID, out pendingImage);
}
if (pendingImage != null)
{
//Update distortion data, if changed
if ((_currentDistortionData.Version != imageMsg.matrix_version) || !_currentDistortionData.IsValid)
{
_currentDistortionData = new DistortionData();
_currentDistortionData.Version = imageMsg.matrix_version;
_currentDistortionData.Width = LeapC.DistortionSize; //fixed value for now
_currentDistortionData.Height = LeapC.DistortionSize; //fixed value for now
if (_currentDistortionData.Data == null || _currentDistortionData.Data.Length != (2 * _currentDistortionData.Width * _currentDistortionData.Height * 2))
{
_currentDistortionData.Data = new float[(int)(2 * _currentDistortionData.Width * _currentDistortionData.Height * 2)]; //2 float values per map point
}
LEAP_DISTORTION_MATRIX matrix = LeapC.PtrToStruct <LEAP_DISTORTION_MATRIX>(imageMsg.distortionMatrix);
Array.Copy(matrix.matrix_data, _currentDistortionData.Data, matrix.matrix_data.Length);
this.LeapDistortionChange.Dispatch <DistortionEventArgs>(this, new DistortionEventArgs(_currentDistortionData));
}
pendingImage.imageData.CompleteImageData(props.type,
props.format,
props.bpp,
props.width,
props.height,
imageMsg.info.timestamp,
imageMsg.info.frame_id,
props.x_offset,
props.y_offset,
props.x_scale,
props.y_scale,
_currentDistortionData,
LeapC.DistortionSize,
imageMsg.matrix_version);
Image completedImage = pendingImage.imageObject;
lock (lockPendingImageList)
{
_pendingImageRequests.Remove(imageMsg.token.requestID);
}
this.LeapImageReady.Dispatch <ImageEventArgs>(this, new ImageEventArgs(completedImage));
}
}
public void Register(DistortionData distortionData)
{
if (distortionData.renderer == null)
{
return;
}
if (m_distortionDatas.Contains(distortionData))
{
return;
}
m_distortionDatas.Add(distortionData);
}
private void handleImage(ref LEAP_IMAGE_EVENT imageMsg) {
if (LeapImage != null) {
//Update distortion data, if changed
if ((_currentLeftDistortionData.Version != imageMsg.leftImage.matrix_version) || !_currentLeftDistortionData.IsValid) {
_currentLeftDistortionData = createDistortionData(imageMsg.leftImage, Image.CameraType.LEFT);
}
if ((_currentRightDistortionData.Version != imageMsg.rightImage.matrix_version) || !_currentRightDistortionData.IsValid) {
_currentRightDistortionData = createDistortionData(imageMsg.rightImage, Image.CameraType.RIGHT);
}
ImageData leftImage = new ImageData(Image.CameraType.LEFT, imageMsg.leftImage, _currentLeftDistortionData);
ImageData rightImage = new ImageData(Image.CameraType.RIGHT, imageMsg.rightImage, _currentRightDistortionData);
Image stereoImage = new Image(imageMsg.info.frame_id, imageMsg.info.timestamp, leftImage, rightImage);
LeapImage.DispatchOnContext(this, EventContext, new ImageEventArgs(stereoImage));
}
}
private DistortionData createDistortionData(LEAP_IMAGE image, Image.CameraType camera) {
DistortionData distortionData = new DistortionData();
distortionData.Version = image.matrix_version;
distortionData.Width = LeapC.DistortionSize; //fixed value for now
distortionData.Height = LeapC.DistortionSize; //fixed value for now
//Visit LeapC.h for more details. We need to marshal the float data manually
//since the distortion struct cannot be represented safely in c#
distortionData.Data = new float[(int)(distortionData.Width * distortionData.Height * 2)]; //2 float values per map point
Marshal.Copy(image.distortionMatrix, distortionData.Data, 0, distortionData.Data.Length);
if (LeapDistortionChange != null) {
LeapDistortionChange.DispatchOnContext(this, EventContext, new DistortionEventArgs(distortionData, camera));
}
return distortionData;
}
private DistortionData createDistortionData(LEAP_IMAGE image, Image.CameraType camera)
{
DistortionData distortionData = new DistortionData();
distortionData.Version = image.matrix_version;
distortionData.Width = LeapC.DistortionSize; //fixed value for now
distortionData.Height = LeapC.DistortionSize; //fixed value for now
distortionData.Data = new float[(int)(distortionData.Width * distortionData.Height * 2)]; //2 float values per map point
LEAP_DISTORTION_MATRIX matrix;
StructMarshal <LEAP_DISTORTION_MATRIX> .PtrToStruct(image.distortionMatrix, out matrix);
Array.Copy(matrix.matrix_data, distortionData.Data, matrix.matrix_data.Length);
if (LeapDistortionChange != null)
{
LeapDistortionChange.DispatchOnContext <DistortionEventArgs>(this, EventContext, new DistortionEventArgs(distortionData, camera));
}
return(distortionData);
}
public void Unregister(DistortionData distortionData)
{
m_distortionDatas.Remove(distortionData);
}
