cimg_library::CImg<unsigned char> convertImage(Leap::Image leap)
{
auto result = cimg_library::CImg<unsigned char>(leap.data(), leap.width(), leap.height(), 1);
//result.display();
auto resizedResult = result.resize(result.width() * 2, result.height() * 2, 1, 3, 1);
return result;
}
BigDotList::BigDotList(Leap::Image &img) : bigDots()
{
value = 0;
const unsigned char *imgData = img.data();
for (int i = 0; i < img.width()*img.height(); i++) {
if (imgData[i] < Dot::thres)
continue;
int y = i/img.width();
Dot newDot(Coord(i-y, y));
bool groupFound = true;
/* Check if dot belongs to another group */
std::vector<BigDot> bd;
std::vector<Dot> d;
for (std::vector<BigDot>::iterator bd = bigDots.begin();
bd != bigDots.end(); ++bd) {
for (std::vector<Dot>::iterator d = bd->dots.begin();
d != bd->dots.begin(); ++d) {
if (newDot.pos.getDist(d->pos) < Dot::r) {
bd->add(newDot);
groupFound = true;
break;
}
}
if (groupFound) break;
}
}
}
Channel8uRef toChannel8u( const Leap::Image& img, bool copyData )
{
int32_t h = img.height();
int32_t w = img.width();
Channel8uRef channel;
if ( copyData ) {
channel = Channel8u::create( w, h );
char_traits<uint8_t>::copy( channel->getData(), img.data(), w * h * sizeof( uint8_t ) );
} else {
channel = Channel8u::create( w, h, w * sizeof( uint8_t ), sizeof( uint8_t ), (uint8_t*)img.data() );
}
return channel;
}
void ULeapMotionImageComponent::UpdateImageTexture()
{
FLeapMotionDevice* Device = FLeapMotionControllerPlugin::GetLeapDeviceSafe();
if (Device && Device->IsConnected())
{
Device->SetReferenceFrameOncePerTick();
}
if (Device && Device->IsConnected() && Device->Frame().images().count() > 1)
{
Leap::ImageList ImageList = Device->Frame().images();
for (int eye = 0; eye < 2; eye++)
{
Leap::Image Image = ImageList[eye];
bool isRGB = Image.format() != Leap::Image::INFRARED;
UTexture2D*& Texture = eye ? ImagePassthroughRight : ImagePassthroughLeft;
UTexture2D*& Distortion = eye ? DistortionTextureRight : DistortionTextureLeft;
// Recreate the image & distortion textures.
if (!Texture || Image.width() != Texture->PlatformData->SizeX || Image.height() != Texture->PlatformData->SizeY)
{
EPixelFormat PixelFormat = !isRGB ? PF_G8 : PF_R8G8B8A8;
Texture = UTexture2D::CreateTransient(Image.width(), Image.height(), PixelFormat);
Texture->SRGB = 0;
Texture->UpdateResource();
Distortion = BuildDistortionTextures(Image);
if (isRGB)
{
DynamicPassthroughMaterial->SetTextureParameterValue(eye ? TEXT("BaseTextureRGB_Right") : TEXT("BaseTextureRGB"), Texture);
DynamicPassthroughMaterial->SetScalarParameterValue(TEXT("ImageFormat"), 1.0);
}
else
{
DynamicPassthroughMaterial->SetTextureParameterValue(eye ? TEXT("BaseTextureIR_Right") : TEXT("BaseTextureIR"), Texture);
DynamicPassthroughMaterial->SetScalarParameterValue(TEXT("ImageFormat"), -1.0);
}
DynamicPassthroughMaterial->SetTextureParameterValue(eye ? TEXT("DistortionTextureRight") : TEXT("DistortionTexture"), Distortion);
if (GEngine && GEngine->GameViewport && GEngine->GameViewport->Viewport)
{
FIntPoint Resolution = GEngine->GameViewport->Viewport->GetSizeXY();
FLinearColor ScreenRes = FLinearColor(Resolution.X, Resolution.Y, 0.f, 0.f);
DynamicPassthroughMaterial->SetVectorParameterValue(TEXT("ScreenResolution"), ScreenRes);
}
AttachDisplaySurface();
}
// Extract the image
{
UTexture2D*& Texture = eye ? ImagePassthroughRight : ImagePassthroughLeft;
const uint8* LeapData = Image.data();
const int LeapDataSize = Image.width() * Image.height() * Image.bytesPerPixel();
//Check for dragonfly
if (!isRGB)
{
uint8* Dest = (uint8*)Texture->PlatformData->Mips[0].BulkData.Lock(LOCK_READ_WRITE);
FMemory::Memcpy(Dest, LeapData, LeapDataSize);
}
else
{
uint32* Dest = (uint32*)Texture->PlatformData->Mips[0].BulkData.Lock(LOCK_READ_WRITE);
FMemory::Memcpy(Dest, LeapData, LeapDataSize);
}
Texture->PlatformData->Mips[0].BulkData.Unlock();
Texture->UpdateResource();
}
// Hack: need to update distortion texture every frame to handle device flipping.
UpdateDistortionTextures(Image, Distortion);
}
const bool bUsingHmd = GEngine->HMDDevice.IsValid() && GEngine->HMDDevice->IsHeadTrackingAllowed();
DynamicPassthroughMaterial->SetScalarParameterValue("HorizontalTanHalfFOV", bUsingHmd ? 1.4f : 1.0f);
}
else
{
// We can't find two images, that might be due to device being detached & maybe exchanged later -- trigger reset.
ImagePassthroughLeft = nullptr;
ImagePassthroughRight = nullptr;
DistortionTextureLeft = nullptr;
DistortionTextureRight = nullptr;
}
}
Leap::Vector GetTrackedPoint(Leap::Image image)
{
Mat img = Mat(image.height(), image.width(), CV_8UC1);
img.data = (unsigned char*)image.data();
Mat cimg = img.clone();
CvSize size = img.size();
//binary threshold, val = 235
threshold(img, cimg, 235, 255, 0);
medianBlur(cimg, cimg, 5);
//circle detection with contours
bool enableRadiusCulling = false;
int minTargetRadius = 5;
vector<vector<Point> > contours;
vector<Vec4i> heirarchy;
findContours(cimg, contours, heirarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
size_t count = contours.size();
//get circle with largest radius
float radius = 0;
Point2i center;
for (int i = 0; i < count; i++)
{
Point2f c;
float r;
minEnclosingCircle(contours[i], c, r);
if (!enableRadiusCulling || r >= minTargetRadius)
{
if (r > radius) {
radius = r;
center = (Point2i)c;
}
}
}
Leap::Vector res;
res.x = center.x;
res.y = center.y;
res.z = 0;
/*
cvtColor(cimg, cimg, CV_GRAY2BGR);
Scalar red(0, 0, 255);
Scalar blue(255, 0, 0);
if (radius > 0) { //circle was found
circle(cimg, center, radius, red, 1);
circle(cimg, center, 1, blue, 2);
//cout << "Center: " << center.x << "; " << center.y << "\n";
}
imshow("detected circles", cimg);
*/
return res;
}