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/****************************************************************************
* *
* 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 "XnBayerImageProcessor.h"
#include "Uncomp.h"
#include "Bayer.h"
#include <XnProfiling.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnBayerImageProcessor::XnBayerImageProcessor(XnSensorImageStream* pStream, XnSensorStreamHelper* pHelper) :
XnImageProcessor(pStream, pHelper)
{
}
XnBayerImageProcessor::~XnBayerImageProcessor()
{
}
XnStatus XnBayerImageProcessor::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnImageProcessor::Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_BUFFER_ALLOCATE(m_ContinuousBuffer, GetExpectedOutputSize());
switch (GetStream()->GetOutputFormat())
{
case XN_OUTPUT_FORMAT_GRAYSCALE8:
break;
case XN_OUTPUT_FORMAT_RGB24:
XN_VALIDATE_BUFFER_ALLOCATE(m_UncompressedBayerBuffer, GetExpectedOutputSize());
break;
default:
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_SENSOR_PROTOCOL_IMAGE, "Unsupported image output format: %d", GetStream()->GetOutputFormat());
}
return (XN_STATUS_OK);
}
void XnBayerImageProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnBayerImageProcessor::ProcessFramePacketChunk")
// if output format is Gray8, we can write directly to output buffer. otherwise, we need
// to write to a temp buffer.
XnBuffer* pWriteBuffer = (GetStream()->GetOutputFormat() == XN_OUTPUT_FORMAT_GRAYSCALE8) ? GetWriteBuffer() : &m_UncompressedBayerBuffer;
const XnUChar* pBuf = NULL;
XnUInt32 nBufSize = 0;
// check if we have bytes stored from previous calls
if (m_ContinuousBuffer.GetSize() > 0)
{
// we have no choice. We need to append current buffer to previous bytes
if (m_ContinuousBuffer.GetFreeSpaceInBuffer() < nDataSize)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_DEPTH, "Bad overflow image! %d", m_ContinuousBuffer.GetSize());
FrameIsCorrupted();
}
else
{
m_ContinuousBuffer.UnsafeWrite(pData, nDataSize);
}
pBuf = m_ContinuousBuffer.GetData();
nBufSize = m_ContinuousBuffer.GetSize();
}
else
{
// we can process the data directly
pBuf = pData;
nBufSize = nDataSize;
}
XnUInt32 nOutputSize = pWriteBuffer->GetFreeSpaceInBuffer();
XnUInt32 nWrittenOutput = nOutputSize;
XnUInt32 nActualRead = 0;
XnBool bLastPart = pHeader->nType == XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_END && (nDataOffset + nDataSize) == pHeader->nBufSize;
XnStatus nRetVal = XnStreamUncompressImageNew(pBuf, nBufSize, pWriteBuffer->GetUnsafeWritePointer(),
&nWrittenOutput, (XnUInt16)GetActualXRes(), &nActualRead, bLastPart);
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_IMAGE, "Image decompression failed: %s (%d of %d, requested %d, last %d)", xnGetStatusString(nRetVal), nWrittenOutput, nBufSize, nOutputSize, bLastPart);
FrameIsCorrupted();
}
pWriteBuffer->UnsafeUpdateSize(nWrittenOutput);
nBufSize -= nActualRead;
m_ContinuousBuffer.Reset();
// if we have any bytes left, keep them for next time
if (nBufSize > 0)
{
pBuf += nActualRead;
m_ContinuousBuffer.UnsafeWrite(pBuf, nBufSize);
}
XN_PROFILING_END_SECTION
}
void XnBayerImageProcessor::OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
XnImageProcessor::OnStartOfFrame(pHeader);
m_ContinuousBuffer.Reset();
}
void XnBayerImageProcessor::OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
XN_PROFILING_START_SECTION("XnBayerImageProcessor::OnEndOfFrame")
// if data was written to temp buffer, convert it now
switch (GetStream()->GetOutputFormat())
{
case XN_OUTPUT_FORMAT_GRAYSCALE8:
break;
case XN_OUTPUT_FORMAT_RGB24:
{
Bayer2RGB888(m_UncompressedBayerBuffer.GetData(), GetWriteBuffer()->GetUnsafeWritePointer(), GetActualXRes(), GetActualYRes(), 1, 0);
GetWriteBuffer()->UnsafeUpdateSize(GetActualXRes()*GetActualYRes()*3);
m_UncompressedBayerBuffer.Reset();
}
break;
}
XnImageProcessor::OnEndOfFrame(pHeader);
m_ContinuousBuffer.Reset();
XN_PROFILING_END_SECTION
}
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