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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/>.*
* *
****************************************************************************/
#ifndef __XN_DEPTH_PROCESSOR_H__
#define __XN_DEPTH_PROCESSOR_H__
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnFrameStreamProcessor.h"
#include "XnSensorDepthStream.h"
//---------------------------------------------------------------------------
// Compilation Checks
//---------------------------------------------------------------------------
// Optimization: in order to save branches in the code itself, we create a shift-to-depth
// map which will actually translate shift-to-shift. This optimization relies on the
// fact that both shifts and depths are 16-bit long. If this is not the case,
// this optimization should be re-written.
// Then, any processor can always go through this LUT, no matter what the output format is.
#if (XnDepthPixel != XnUInt16)
#error "Depth and Shift do not have the same size. Need to reconsider optimization!"
#endif
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
class XnDepthProcessor : public XnFrameStreamProcessor
{
public:
XnDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper);
virtual ~XnDepthProcessor();
XnStatus Init();
protected:
//---------------------------------------------------------------------------
// Overridden Functions
//---------------------------------------------------------------------------
virtual void OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader);
virtual void OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader);
virtual void OnFrameReady(XnUInt32 nFrameID, XnUInt64 nFrameTS);
//---------------------------------------------------------------------------
// Helper Functions
//---------------------------------------------------------------------------
inline XnSensorDepthStream* GetStream()
{
return (XnSensorDepthStream*)XnFrameStreamProcessor::GetStream();
}
inline XnDepthPixel GetOutput(XnUInt16 nShift)
{
return m_pShiftToDepthTable[nShift];
}
void WriteShifts(XnUInt16* pShifts, XnUInt32 nCount);
void UnsafeWriteShifts(XnUInt16* pShifts, XnUInt32 nCount);
XnUInt32 CalculateExpectedSize();
private:
void PadPixels(XnUInt32 nPixels);
XnUInt32 m_nPaddingPixelsOnEnd;
XnBool m_bShiftToDepthAllocated;
XnDepthPixel* m_pShiftToDepthTable;
};
#endif //__XN_DEPTH_PROCESSOR_H__
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