Tanoda
Leap.Image Class Reference

The Image class represents a stereo image pair from the Leap Motion device. More...

Public Types

enum  FormatType { INFRARED = 0 , IBRG = 1 }
 Enumerates the possible image formats. More...
 
enum  ImageType { DEFAULT , RAW }
 
enum  CameraType { LEFT = 0 , RIGHT = 1 }
 

Public Member Functions

 Image (Int64 frameId, Int64 timestamp, ImageData leftImage, ImageData rightImage)
 
byte[] Data (CameraType camera)
 The buffer containing the image data. More...
 
UInt32 ByteOffset (CameraType camera)
 The offset, in number of bytes, from the beginning of the Data() buffer to the first byte of the image data for the specified camera. More...
 
float[] Distortion (CameraType camera)
 The distortion calibration map for this image. More...
 
Vector PixelToRectilinear (CameraType camera, Vector pixel)
 Provides the corrected camera ray intercepting the specified point on the image. More...
 
Vector RectilinearToPixel (CameraType camera, Vector ray)
 Provides the point in the image corresponding to a ray projecting from the camera. More...
 
bool Equals (Image other)
 Compare Image object equality. More...
 
override string ToString ()
 A string containing a brief, human readable description of the Image object. More...
 
float RayOffsetX (CameraType camera)
 The horizontal ray offset for a particular camera. More...
 
float RayOffsetY (CameraType camera)
 The vertical ray offset for a particular camera. More...
 
float RayScaleX (CameraType camera)
 The horizontal ray scale factor for a particular camera. More...
 
float RayScaleY (CameraType camera)
 The vertical ray scale factor for a particular camera. More...
 

Properties

UInt32 NumBytes [get]
 The number of bytes in the Data() buffer corresponding to each image. Use the ByteOffset() function to find the starting byte offset for each image. More...
 
Int64 SequenceId [get]
 The image sequence ID. More...
 
int Width [get]
 The image width. More...
 
int Height [get]
 The image height. More...
 
int BytesPerPixel [get]
 The number of bytes per pixel. More...
 
FormatType Format [get]
 The image format. More...
 
ImageType Type [get]
 
int DistortionWidth [get]
 The stride of the distortion map. More...
 
int DistortionHeight [get]
 The distortion map height. Currently fixed at 64. More...
 
Int64 Timestamp [get]
 Returns a timestamp indicating when this frame began being captured on the device. More...
 

Detailed Description

The Image class represents a stereo image pair from the Leap Motion device.

In addition to image data, the Image object provides a distortion map for correcting lens distortion.

Since
2.1.0

Definition at line 20 of file Image.cs.

Member Enumeration Documentation

◆ CameraType

enum Leap.Image.CameraType
Enumerator
LEFT 
RIGHT 

Definition at line 386 of file Image.cs.

◆ FormatType

enum Leap.Image.FormatType

Enumerates the possible image formats.

The Image.Format() function returns an item from the FormatType enumeration.

Since
2.2.0
Enumerator
INFRARED 
IBRG 

Definition at line 376 of file Image.cs.

◆ ImageType

enum Leap.Image.ImageType
Enumerator
DEFAULT 
RAW 

Definition at line 381 of file Image.cs.

Constructor & Destructor Documentation

◆ Image()

Leap.Image.Image ( Int64  frameId,
Int64  timestamp,
ImageData  leftImage,
ImageData  rightImage 
)

Definition at line 26 of file Image.cs.

Member Function Documentation

◆ ByteOffset()

UInt32 Leap.Image.ByteOffset ( CameraType  camera)

The offset, in number of bytes, from the beginning of the Data() buffer to the first byte of the image data for the specified camera.

Since
4.0

Definition at line 72 of file Image.cs.

◆ Data()

byte[] Leap.Image.Data ( CameraType  camera)

The buffer containing the image data.

The image data is a set of 8-bit intensity values. The buffer is image.Width * image.Height * image.BytesPerPixel bytes long.

Use the ByteOffset(` method to find the beginning offset of the data for the specified camera.

Since
4.0

Definition at line 59 of file Image.cs.

◆ Distortion()

float[] Leap.Image.Distortion ( CameraType  camera)

The distortion calibration map for this image.

The calibration map is a 64x64 grid of points. Each point is defined by a pair of 32-bit floating point values. Each point in the map represents a ray projected into the camera. The value of a grid point defines the pixel in the image data containing the brightness value produced by the light entering along the corresponding ray. By interpolating between grid data points, you can find the brightness value for any projected ray. Grid values that fall outside the range [0..1] do not correspond to a value in the image data and those points should be ignored.

The calibration map can be used to render an undistorted image as well as to find the true angle from the camera to a feature in the raw image. The distortion map itself is designed to be used with GLSL shader programs. In other contexts, it may be more convenient to use the Image Rectify() and Warp() functions.

Distortion is caused by the lens geometry as well as imperfections in the lens and sensor window. The calibration map is created by the calibration process run for each device at the factory (and which can be rerun by the user).

Since
2.1.0

Definition at line 117 of file Image.cs.

◆ Equals()

bool Leap.Image.Equals ( Image  other)

Compare Image object equality.

Two Image objects are equal if and only if both Image objects represent the exact same Image and both Images are valid.

Since
2.1.0

Definition at line 184 of file Image.cs.

◆ PixelToRectilinear()

Vector Leap.Image.PixelToRectilinear ( CameraType  camera,
Vector  pixel 
)

Provides the corrected camera ray intercepting the specified point on the image.

Given a point on the image, PixelToRectilinear() corrects for camera distortion and returns the true direction from the camera to the source of that image point within the Leap Motion field of view.

This direction vector has an x and y component [x, y, 1], with the third element always one. Note that this vector uses the 2D camera coordinate system where the x-axis parallels the longer (typically horizontal) dimension and the y-axis parallels the shorter (vertical) dimension. The camera coordinate system does not correlate to the 3D Leap Motion coordinate system.

Note: This function should be called immediately after an image is obtained. Incorrect results will be returned if the image orientation has changed or a different device is plugged in between the time the image was received and the time this function is called.

Note, this function was formerly named Rectify().

Since
2.1.0

Definition at line 144 of file Image.cs.

◆ RayOffsetX()

float Leap.Image.RayOffsetX ( CameraType  camera)

The horizontal ray offset for a particular camera.

Used to convert between normalized coordinates in the range [0..1] and the ray slope range [-4..4].

Since
4.0

Definition at line 308 of file Image.cs.

◆ RayOffsetY()

float Leap.Image.RayOffsetY ( CameraType  camera)

The vertical ray offset for a particular camera.

Used to convert between normalized coordinates in the range [0..1] and the ray slope range [-4..4].

Since
2.1.0

Definition at line 323 of file Image.cs.

◆ RayScaleX()

float Leap.Image.RayScaleX ( CameraType  camera)

The horizontal ray scale factor for a particular camera.

Used to convert between normalized coordinates in the range [0..1] and the ray slope range [-4..4].

Since
2.1.0

Definition at line 338 of file Image.cs.

◆ RayScaleY()

float Leap.Image.RayScaleY ( CameraType  camera)

The vertical ray scale factor for a particular camera.

Used to convert between normalized coordinates in the range [0..1] and the ray slope range [-4..4].

Since
2.1.0

Definition at line 353 of file Image.cs.

◆ RectilinearToPixel()

Vector Leap.Image.RectilinearToPixel ( CameraType  camera,
Vector  ray 
)

Provides the point in the image corresponding to a ray projecting from the camera.

Given a ray projected from the camera in the specified direction, RectilinearToPixel() corrects for camera distortion and returns the corresponding pixel coordinates in the image.

The ray direction is specified in relationship to the camera. The first vector element corresponds to the "horizontal" view angle; the second corresponds to the "vertical" view angle.

The RectilinearToPixel() function returns pixel coordinates outside of the image bounds if you project a ray toward a point for which there is no recorded data.

RectilinearToPixel() is typically not fast enough for realtime distortion correction. For better performance, use a shader program executed on a GPU.

Note: This function should be called immediately after an image is obtained. Incorrect results will be returned if the image orientation has changed or a different device is plugged in between the time the image was received and the time this function is called.

Note, this function was formerly named Warp().

Since
2.1.0

Definition at line 173 of file Image.cs.

◆ ToString()

override string Leap.Image.ToString ( )

A string containing a brief, human readable description of the Image object.

Since
2.1.0

Definition at line 195 of file Image.cs.

Property Documentation

◆ BytesPerPixel

int Leap.Image.BytesPerPixel
get

The number of bytes per pixel.

Use this value along with Image.Width() and Image.Height() to calculate the size of the data buffer.

Since
2.2.0

Definition at line 237 of file Image.cs.

◆ DistortionHeight

int Leap.Image.DistortionHeight
get

The distortion map height. Currently fixed at 64.

Since
2.1.0

Definition at line 294 of file Image.cs.

◆ DistortionWidth

int Leap.Image.DistortionWidth
get

The stride of the distortion map.

Since each point on the 64x64 element distortion map has two values in the buffer, the stride is 2 times the size of the grid. (Stride is currently fixed at 2 * 64 = 128).

Since
2.1.0

Definition at line 282 of file Image.cs.

◆ Format

FormatType Leap.Image.Format
get

The image format.

Since
2.2.0

Definition at line 247 of file Image.cs.

◆ Height

int Leap.Image.Height
get

The image height.

Since
2.1.0

Definition at line 223 of file Image.cs.

◆ NumBytes

UInt32 Leap.Image.NumBytes
get

The number of bytes in the Data() buffer corresponding to each image. Use the ByteOffset() function to find the starting byte offset for each image.

Since
4.0

Definition at line 86 of file Image.cs.

◆ SequenceId

Int64 Leap.Image.SequenceId
get

The image sequence ID.

Since
2.2.1

Definition at line 203 of file Image.cs.

◆ Timestamp

Int64 Leap.Image.Timestamp
get

Returns a timestamp indicating when this frame began being captured on the device.

Since
2.2.7

Definition at line 364 of file Image.cs.

◆ Type

ImageType Leap.Image.Type
get

Definition at line 260 of file Image.cs.

◆ Width

int Leap.Image.Width
get

The image width.

Since
2.1.0

Definition at line 213 of file Image.cs.


The documentation for this class was generated from the following file: