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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 "XnUncompressedDepthProcessor.h"
#include <XnProfiling.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnUncompressedDepthProcessor::XnUncompressedDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper) :
XnDepthProcessor(pStream, pHelper)
{
}
XnUncompressedDepthProcessor::~XnUncompressedDepthProcessor()
{
}
void XnUncompressedDepthProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* /*pHeader*/, const XnUChar* pData, XnUInt32 /*nDataOffset*/, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnUncompressedDepthProcessor::ProcessFramePacketChunk")
// when depth is uncompressed, we can just copy it directly to write buffer
XnBuffer* pWriteBuffer = GetWriteBuffer();
// make sure we have enough room
if (CheckWriteBufferForOverflow(nDataSize))
{
// sometimes, when packets are lost, we get uneven number of bytes, so we need to complete
// one byte, in order to keep UINT16 alignment
if (nDataSize % 2 != 0)
{
nDataSize--;
pData++;
}
// copy values. Make sure we do not get corrupted shifts
XnUInt16* pRaw = (XnUInt16*)(pData);
XnUInt16* pRawEnd = (XnUInt16*)(pData + nDataSize);
XnDepthPixel* pWriteBuf = (XnDepthPixel*)pWriteBuffer->GetUnsafeWritePointer();
while (pRaw < pRawEnd)
{
*pWriteBuf = GetOutput(XN_MIN(*pRaw, XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1));
++pRaw;
++pWriteBuf;
}
pWriteBuffer->UnsafeUpdateSize(nDataSize);
}
XN_PROFILING_END_SECTION
}
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