sdraw_mods_cvr/ml_lme/vendor/LeapCSharp/DistortionData.cs

/******************************************************************************
 * Copyright (C) Ultraleap, Inc. 2011-2023.                                   *
 *                                                                            *
 * Use subject to the terms of the Apache License 2.0 available at            *
 * http://www.apache.org/licenses/LICENSE-2.0, or another agreement           *
 * between Ultraleap and you, your company or other organization.             *
 ******************************************************************************/

using System;

namespace Leap
{
    /// <summary>
    /// The DistortionData class contains the distortion map for correcting the
    /// lens distortion of an image.
    ///
    /// The distortion data is an array containing a 64x64 grid of floating point pairs.
    /// The distortion map for both sides of an image pair are stacked in
    /// the Data array -- the left map first, followed by the right map.
    ///
    /// @since 3.0
    /// </summary>
    public class DistortionData
    {
        private float[] _flippedData;
        private float[] _originalData;

        /// <summary>
        /// Constructs an uninitialized distortion object.
        /// @since 3.0
        /// </summary>
        public DistortionData() { }

        /// <summary>
        /// @since 3.0
        /// </summary>
        public DistortionData(UInt64 version, float width, float height, float[] data)
        {
            Version = version;
            Width = width;
            Height = height;
            Data = data;
        }
        /// <summary>
        /// An identifier assigned to the distortion map.
        ///
        /// When the distortion map changes -- either because the devices flips the images
        /// to automatically orient the hands or because a different device is plugged in,
        /// the version number of the distortion data changes.
        ///
        /// Note that the version always increases. If the images change orientation and then
        /// return to their original orientation, a new version number is assigned. Thus
        /// the version number can be used to detect when the data has changed, but not
        /// to uniquely identify the data.
        /// @since 3.0
        /// </summary>
        public UInt64 Version { get; set; }
        /// <summary>
        /// The width of the distortion map.
        ///
        /// Currently always 64. Note that there are two floating point values for every point in the map.
        /// @since 3.0
        /// </summary>
        public float Width { get; set; }
        /// <summary>
        /// The height of the distortion map.
        ///
        /// Currently always 64.
        /// @since 3.0
        /// </summary>
        public float Height { get; set; }
        /// <summary>
        /// The original distortion data, as provided by the service
        ///
        /// @since 3.0
        /// </summary>
        public float[] Data
        {
            get
            {
                return _originalData;
            }

            set
            {
                _originalData = value;

                // Note, the contents of the array are normally copied into the buffer by a marshall operation,
                // so the flipped data needs to be updated explicitly, not when the _orginalData member is set 
            }
        }

        /// <summary>
        /// Returns the distortion data, adjusted so that a location in the distortion map texture now refers to the 
        /// same region of the texture containing the IR image - e.g. the bottom left of the distortion texture
        /// maps to bottom left of the IR image
        ///
        /// @since 3.0
        /// </summary>
        public float[] FlippedData
        {
            get
            {
                return _flippedData;
            }
        }

        /// <summary>
        /// Reports whether the distortion data is internally consistent.
        /// @since 3.0
        /// </summary>
        public bool IsValid
        {
            get
            {
                if (Data != null &&
                    Width == LeapInternal.LeapC.DistortionSize &&
                    Height == LeapInternal.LeapC.DistortionSize &&
                    Data.Length == Width * Height * 2)
                    return true;

                return false;
            }
        }

        internal void OnDataChanged()
        {
            UpdateFlippedData();
        }

        private void UpdateFlippedData()
        {
            if (_originalData == null)
            {
                return;
            }

            // This is called normally once a session, so allocation is fine
            float[] flipped = new float[LeapInternal.LeapC.DistortionSize * LeapInternal.LeapC.DistortionSize * 2];
            for (int x = 0; x < LeapInternal.LeapC.DistortionSize; x++)
            {
                for (int y = 0; y < LeapInternal.LeapC.DistortionSize; y++)
                {
                    // We change the data so that the *mapped* Y value is inverted 
                    flipped[((x + y * LeapInternal.LeapC.DistortionSize) * 2)] = _originalData[((x + y * LeapInternal.LeapC.DistortionSize) * 2)];
                    flipped[((x + y * LeapInternal.LeapC.DistortionSize) * 2) + 1] = (float)1.0 - _originalData[((x + y * LeapInternal.LeapC.DistortionSize) * 2) + 1];
                }
            }

            _flippedData = flipped;
        }

    }
}