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Get and store distortion matrix

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This commit is contained in:
Rodolphe Houdas 2023-04-02 23:11:23 +01:00
parent 06300f9f4a
commit 5210c35627
3 changed files with 41 additions and 3 deletions
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37
src/image.cpp
View file

@ -10,6 +10,8 @@ using namespace godot;
void UltraleapImage::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_data"), &UltraleapImage::get_data);
ClassDB::bind_method(D_METHOD("get_distortion_matrix"), &UltraleapImage::get_distortion_matrix);
ClassDB::bind_method(D_METHOD("get_matrix_version"), &UltraleapImage::get_matrix_version);
}
void UltraleapImage::fill_images_data(Ref<UltraleapImage> left, Ref<UltraleapImage> right, const LEAP_IMAGE* images) {
@ -21,14 +23,17 @@ void UltraleapImage::fill_images_data(Ref<UltraleapImage> left, Ref<UltraleapIma
return;
}
// We'll shove data 8 bytes by 8 bytes to go fast
PackedInt64Array temp_left = PackedInt64Array();
PackedInt64Array temp_right = PackedInt64Array();
uint32_t tot_pixels = height * width;
uint64_t* data_left = (uint64_t*)((uint8_t*)images->data + images->offset);
uint64_t* data_right = (uint64_t*)((uint8_t*)(images + 1)->data + (images + 1)->offset);
// Fill the data 8 bytes at a time
for (uint32_t i = 0; i < tot_pixels / 8; i++) {
uint64_t* data_left = (uint64_t*)((uint8_t*)images->data + images->offset);
uint64_t* data_right = (uint64_t*)((uint8_t*)(images + 1)->data + (images + 1)->offset);
uint64_t pixel_left = data_left[i];
uint64_t pixel_right = data_right[i];
temp_left.push_back(pixel_left);
@ -37,4 +42,32 @@ void UltraleapImage::fill_images_data(Ref<UltraleapImage> left, Ref<UltraleapIma
left->data = temp_left.to_byte_array();
right->data = temp_right.to_byte_array();
// Check and store left image distortion matrix
if (left->matrix_version != images->matrix_version) {
left->matrix_version = images->matrix_version;
left->distortion_matrix.clear();
for (uint32_t i = 0; i < 64; i++) {
for (uint32_t j = 0; j < 64; j++) {
float x = images->distortion_matrix->matrix[i][j].x;
float y = images->distortion_matrix->matrix[i][j].y;
left->distortion_matrix.push_back(Vector2(x, y));
}
}
}
// Check and store left image distortion matrix
if (right->matrix_version != (images + 1)->matrix_version) {
right->matrix_version = (images + 1)->matrix_version;
right->distortion_matrix.clear();
for (uint32_t i = 0; i < 64; i++) {
for (uint32_t j = 0; j < 64; j++) {
float x = images->distortion_matrix->matrix[i][j].x;
float y = images->distortion_matrix->matrix[i][j].y;
right->distortion_matrix.push_back(Vector2(x, y));
}
}
}
}

5
src/image.h
View file

@ -18,13 +18,18 @@ class UltraleapImage : public Resource {
public:
PackedByteArray data = PackedByteArray();
PackedVector2Array distortion_matrix = PackedVector2Array();
// Getters / Setters
PackedByteArray get_data() { return data; }
PackedVector2Array get_distortion_matrix() { return distortion_matrix; }
uint64_t get_matrix_version() { return matrix_version; }
static void fill_images_data(Ref<UltraleapImage> left, Ref<UltraleapImage> right, const LEAP_IMAGE* images);
uint64_t matrix_version = 999;
protected:
static void _bind_methods();
};

2
src/ultraleap.cpp
View file

@ -151,7 +151,7 @@ void UltraleapHandTracking::serviceMessageLoop() {
while (_isRunning) {
result = LeapPollConnection(connectionHandle, 100, &msg);
if (result != eLeapRS_Success) {
if (result != eLeapRS_Success && result != eLeapRS_Timeout) {
UtilityFunctions::print(UltraleapTypes::ultraleap_result_to_string(result));
continue;
}