public static LEAP_VECTOR ToCVector(this Vector3 vector) {
LEAP_VECTOR cVector = new LEAP_VECTOR();
cVector.x = vector.x;
cVector.y = vector.y;
cVector.z = vector.z;
return cVector;
}
public static ReturnStatus AddPoint(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR point1,
ref LEAP_VECTOR point2,
float weight) {
var rs = LeapIEKabschAddPoint(ref kabsch, ref point1, ref point2, weight);
Logger.HandleReturnStatus("AddPoint", LogLevel.AllCalls, rs);
return rs;
}
public static ReturnStatus AddNormal(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR normal1,
ref LEAP_VECTOR normal2,
float weight) {
var rs = LeapIEKabschAddNormal(ref kabsch, ref normal1, ref normal2, weight);
Logger.HandleReturnStatus("AddNormal", LogLevel.AllCalls, rs);
return rs;
}
public Vector PixelToRectilinear(Image.CameraType camera, Vector pixel) {
LEAP_VECTOR pixelStruct = new LEAP_VECTOR(pixel);
LEAP_VECTOR ray = LeapC.LeapPixelToRectilinear(_leapConnection,
(camera == Image.CameraType.LEFT ?
eLeapPerspectiveType.eLeapPerspectiveType_stereo_left :
eLeapPerspectiveType.eLeapPerspectiveType_stereo_right),
pixelStruct);
return new Vector(ray.x, ray.y, ray.z);
}
public Vector RectilinearToPixel(Image.CameraType camera, Vector ray) {
LEAP_VECTOR rayStruct = new LEAP_VECTOR(ray);
LEAP_VECTOR pixel = LeapC.LeapRectilinearToPixel(_leapConnection,
(camera == Image.CameraType.LEFT ?
eLeapPerspectiveType.eLeapPerspectiveType_stereo_left :
eLeapPerspectiveType.eLeapPerspectiveType_stereo_right),
rayStruct);
return new Vector(pixel.x, pixel.y, pixel.z);
}
private static extern ReturnStatus LeapIEKabschAddNormal(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR normal1,
ref LEAP_VECTOR normal2,
float weight);
public static ReturnStatus GetScale(ref LEAP_IE_KABSCH kabsch,
out LEAP_VECTOR translation) {
var rs = LeapIEKabschGetScale(ref kabsch, out translation);
Logger.HandleReturnStatus("GetScale", LogLevel.AllCalls, rs);
return rs;
}
private static extern ReturnStatus LeapIEKabschGetScale(ref LEAP_IE_KABSCH kabsch,
out LEAP_VECTOR translation);
public static ReturnStatus SolveWithPlanar(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR planeNormal) {
var rs = LeapIEKabschSolveWithPlanar(ref kabsch, ref planeNormal);
Logger.HandleReturnStatus("SolveWithPlanar", LogLevel.AllCalls, rs);
return rs;
}
private static extern ReturnStatus LeapIEKabschSolveWithPlanar(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR planeNormal);
public static ReturnStatus SolveWithPivot(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR pivot) {
var rs = LeapIEKabschSolveWithPivot(ref kabsch, ref pivot);
Logger.HandleReturnStatus("SolveWithPivot", LogLevel.AllCalls, rs);
return rs;
}
protected void performSolve() {
switch (_solveMethod) {
case SolveMethod.SixDegreeSolve:
KabschC.Solve(ref _kabsch);
break;
case SolveMethod.PivotAroundOrigin:
LEAP_VECTOR v = new LEAP_VECTOR();
v.x = v.y = v.z = 0;
KabschC.SolveWithPivot(ref _kabsch, ref v);
break;
}
}
private static extern ReturnStatus LeapIEKabschAddPoint(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR point1,
ref LEAP_VECTOR point2,
float weight);
public LEAP_MATRIX(Leap.Matrix leap)
{
x_basis = new LEAP_VECTOR(leap.xBasis);
y_basis = new LEAP_VECTOR(leap.yBasis);
z_basis = new LEAP_VECTOR(leap.zBasis);
}
public static extern LEAP_VECTOR LeapRectilinearToPixel(IntPtr hConnection, eLeapPerspectiveType camera, LEAP_VECTOR rectilinear);
public static extern LEAP_VECTOR LeapPixelToRectilinear(IntPtr hConnection, eLeapPerspectiveType camera, LEAP_VECTOR pixel);
public static extern LEAP_VECTOR LeapRectilinearToPixelEx(IntPtr hConnection,
IntPtr hDevice, eLeapPerspectiveType camera, eLeapCameraCalibrationType calibrationType, LEAP_VECTOR rectilinear);
public LEAP_MATRIX(Leap.Matrix leap)
{
x_basis = new LEAP_VECTOR(leap.xBasis);
y_basis = new LEAP_VECTOR(leap.yBasis);
z_basis = new LEAP_VECTOR(leap.zBasis);
}
private static extern ReturnStatus LeapIEKabschSolveWithPivot(ref LEAP_IE_KABSCH kabsch,
ref LEAP_VECTOR pivot);
