1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
|
/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnDepthProcessor.h"
#include "XnSensor.h"
#include <XnProfiling.h>
#include <XnLog.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnDepthProcessor::XnDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper) :
XnFrameStreamProcessor(pStream, pHelper, XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_START, XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_END),
m_pShiftToDepthTable(pStream->GetShiftToDepthTable()),
m_nPaddingPixelsOnEnd(0),
m_bShiftToDepthAllocated(FALSE)
{
}
XnDepthProcessor::~XnDepthProcessor()
{
if (m_bShiftToDepthAllocated)
{
xnOSFree(m_pShiftToDepthTable);
}
}
XnStatus XnDepthProcessor::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
// init base
nRetVal = XnFrameStreamProcessor::Init();
XN_IS_STATUS_OK(nRetVal);
switch (GetStream()->GetOutputFormat())
{
case XN_OUTPUT_FORMAT_SHIFT_VALUES:
{
// optimization. We create a LUT shift-to-shift. See comment up.
m_pShiftToDepthTable = (XnDepthPixel*)xnOSMalloc(sizeof(XnDepthPixel)*XN_DEVICE_SENSOR_MAX_SHIFT_VALUE);
XN_VALIDATE_ALLOC_PTR(m_pShiftToDepthTable);
for (XnUInt32 i = 0; i < XN_DEVICE_SENSOR_MAX_SHIFT_VALUE; ++i)
{
m_pShiftToDepthTable[i] = (XnDepthPixel)i;
}
m_bShiftToDepthAllocated = TRUE;
}
break;
case XN_OUTPUT_FORMAT_DEPTH_VALUES:
break;
default:
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_SENSOR_PROTOCOL_DEPTH, "Unknown Depth output: %d", GetStream()->GetOutputFormat());
}
return (XN_STATUS_OK);
}
void XnDepthProcessor::OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
// call base
XnFrameStreamProcessor::OnStartOfFrame(pHeader);
if (m_pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_1 && pHeader->nTimeStamp != 0)
{
// PATCH: starting with v5.1, the timestamp field of the SOF packet, is the number of pixels
// that should be prepended to the frame.
XnUInt32 nPaddingPixelsOnStart = pHeader->nTimeStamp >> 16;
m_nPaddingPixelsOnEnd = pHeader->nTimeStamp & 0x0000FFFF;
PadPixels(nPaddingPixelsOnStart);
}
}
XnUInt32 XnDepthProcessor::CalculateExpectedSize()
{
XnUInt32 nExpectedDepthBufferSize = GetStream()->GetXRes() * GetStream()->GetYRes();
// when cropping is turned on, actual depth size is smaller
if (GetStream()->m_FirmwareCropEnabled.GetValue() == TRUE)
{
nExpectedDepthBufferSize = (XnUInt32)(GetStream()->m_FirmwareCropSizeX.GetValue() * GetStream()->m_FirmwareCropSizeY.GetValue());
}
nExpectedDepthBufferSize *= sizeof(XnDepthPixel);
return nExpectedDepthBufferSize;
}
void XnDepthProcessor::OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
// pad pixels
if (m_nPaddingPixelsOnEnd != 0)
{
PadPixels(m_nPaddingPixelsOnEnd);
m_nPaddingPixelsOnEnd = 0 ;
}
XnUInt32 nExpectedSize = CalculateExpectedSize();
if (GetWriteBuffer()->GetSize() != nExpectedSize)
{
xnLogWarning(XN_MASK_SENSOR_READ, "Read: Depth buffer is corrupt. Size is %u (!= %u)", GetWriteBuffer()->GetSize(), nExpectedSize);
FrameIsCorrupted();
}
// call base
XnFrameStreamProcessor::OnEndOfFrame(pHeader);
}
void XnDepthProcessor::PadPixels(XnUInt32 nPixels)
{
XnBuffer* pWriteBuffer = GetWriteBuffer();
// check for overflow
if (!CheckWriteBufferForOverflow(nPixels * sizeof(XnDepthPixel)))
{
return;
}
XnDepthPixel* pWrite = (XnDepthPixel*)pWriteBuffer->GetUnsafeWritePointer();
// place the no-depth value
for (XnUInt32 i = 0; i < nPixels; ++i, ++pWrite)
*pWrite = GetStream()->GetNoDepthValue();
pWriteBuffer->UnsafeUpdateSize(nPixels * sizeof(XnDepthPixel));
}
void XnDepthProcessor::OnFrameReady(XnUInt32 nFrameID, XnUInt64 nFrameTS)
{
XnFrameStreamProcessor::OnFrameReady(nFrameID, nFrameTS);
m_pDevicePrivateData->pSensor->GetFPSCalculator()->MarkInputDepth(nFrameID, nFrameTS);
}
void XnDepthProcessor::WriteShifts(XnUInt16* pShifts, XnUInt32 nCount)
{
XnUInt32 nOutputSize = nCount * sizeof(XnDepthPixel);
// make sure we have enough room
if (CheckWriteBufferForOverflow(nOutputSize))
{
UnsafeWriteShifts(pShifts, nCount);
}
}
void XnDepthProcessor::UnsafeWriteShifts(XnUInt16* pShifts, XnUInt32 nCount)
{
XnBuffer* pWriteBuffer = GetWriteBuffer();
XnDepthPixel* pWriteBuf = (XnDepthPixel*)pWriteBuffer->GetUnsafeWritePointer();
XnUInt16* pRaw = pShifts;
XnUInt16* pRawEnd = pShifts + nCount;
while (pRaw != pRawEnd)
{
*pWriteBuf = m_pShiftToDepthTable[*pRaw];
++pRaw;
++pWriteBuf;
}
pWriteBuffer->UnsafeUpdateSize(nCount * sizeof(XnDepthPixel));
}
|
