private byte[] UndistortImage(byte[] imgData, Leap.Image.CameraType type)
{
byte[] undistortedImg = new byte[TEX_WIDTH * TEX_HEIGHT];
for (float row = ROW_OFFSET; row < TEX_HEIGHT - ROW_OFFSET; row++)
{
for (float col = COL_OFFSET; col < TEX_WIDTH - COL_OFFSET; col++)
{
//Normalize from pixel xy to range [0..1]
Leap.Vector input = new Leap.Vector();
input.x = col / TEX_WIDTH;
input.y = row / TEX_HEIGHT;
//Convert from normalized [0..1] to ray slopes
input.x = (input.x - 0.5f) * V_FOV * FOV_MODIFIER;
input.y = (input.y - 0.5f) * H_FOV * FOV_MODIFIER;
Leap.Vector pixel = _currentImage.RectilinearToPixel(type, input);
int dindex = (int)Mathf.Floor(row * TEX_WIDTH + col);
int pindex = (int)Mathf.Floor(pixel.y) * _currentImage.Width + (int)Mathf.Floor(pixel.x);
if (pixel.x >= 0 && pixel.x < _currentImage.Width && pixel.y >= 0 && pixel.y < _currentImage.Height)
{
undistortedImg[dindex] = imgData[pindex];
}
else
{
undistortedImg[dindex] = 100;
}
}
}
return(undistortedImg);
}
private float[] ProcessImage(byte[] imgData, Leap.Image.CameraType type)
{
byte[] undistortedImg = UndistortImage(imgData, type);
byte[] croppedUndistortedImg = new byte[WIDTH_WITH_OFFSET * HEIGHT_WITH_OFFSET];
LeapToolTracking.CropImage(
undistortedImg,
croppedUndistortedImg,
TEX_WIDTH, TEX_HEIGHT,
COL_OFFSET, //COL_OFFSET and ROW_OFFSET have to be swapped here
ROW_OFFSET,
WIDTH_WITH_OFFSET,
HEIGHT_WITH_OFFSET);
float[] markerLocations = new float[] { 1000000, 1000000, 1000000, 1000000 };
LeapToolTracking.GetMarkerLocations(croppedUndistortedImg, markerLocations, WIDTH_WITH_OFFSET, HEIGHT_WITH_OFFSET, (int)type);
return(markerLocations);
}