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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 "XnShiftToDepth.h"
#include <XnOS.h>
#include "XnDDK.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XN_DDK_API XnStatus XnShiftToDepthInit(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
XN_VALIDATE_INPUT_PTR(pConfig);
XN_VALIDATE_ALIGNED_CALLOC(pShiftToDepth->pShiftToDepthTable, XnDepthPixel, pConfig->nDeviceMaxShiftValue+1, XN_DEFAULT_MEM_ALIGN);
XN_VALIDATE_ALIGNED_CALLOC(pShiftToDepth->pDepthToShiftTable, XnUInt16, pConfig->nDeviceMaxDepthValue+1, XN_DEFAULT_MEM_ALIGN);
pShiftToDepth->bIsInitialized = TRUE;
// store allocation sizes
pShiftToDepth->nShiftsCount = pConfig->nDeviceMaxShiftValue + 1;
pShiftToDepth->nDepthsCount = pConfig->nDeviceMaxDepthValue + 1;
return XnShiftToDepthUpdate(pShiftToDepth, pConfig);
}
XN_DDK_API XnStatus XnShiftToDepthUpdate(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
XN_VALIDATE_INPUT_PTR(pConfig);
// check max shift wasn't changed (if so, memory should be re-allocated)
if (pConfig->nDeviceMaxShiftValue > pShiftToDepth->nShiftsCount)
return XN_STATUS_DEVICE_INVALID_MAX_SHIFT;
// check max depth wasn't changed (if so, memory should be re-allocated)
if (pConfig->nDeviceMaxDepthValue > pShiftToDepth->nDepthsCount)
return XN_STATUS_DEVICE_INVALID_MAX_DEPTH;
XnUInt32 nIndex = 0;
XnInt16 nShiftValue = 0;
XnDouble dFixedRefX = 0;
XnDouble dMetric = 0;
XnDouble dDepth = 0;
XnDouble dPlanePixelSize = pConfig->fZeroPlanePixelSize;
XnDouble dPlaneDsr = pConfig->nZeroPlaneDistance;
XnDouble dPlaneDcl = pConfig->fEmitterDCmosDistance;
XnInt32 nConstShift = pConfig->nParamCoeff * pConfig->nConstShift;
dPlanePixelSize *= pConfig->nPixelSizeFactor;
nConstShift /= pConfig->nPixelSizeFactor;
XnDepthPixel* pShiftToDepthTable = pShiftToDepth->pShiftToDepthTable;
XnUInt16* pDepthToShiftTable = pShiftToDepth->pDepthToShiftTable;
xnOSMemSet(pShiftToDepthTable, 0, pShiftToDepth->nShiftsCount * sizeof(XnDepthPixel));
xnOSMemSet(pDepthToShiftTable, 0, pShiftToDepth->nDepthsCount * sizeof(XnUInt16));
XnUInt16 nLastDepth = 0;
XnUInt16 nLastIndex = 0;
for (nIndex = 1; nIndex < pConfig->nDeviceMaxShiftValue; nIndex++)
{
nShiftValue = (XnInt16)nIndex;
dFixedRefX = (XnDouble)(nShiftValue - nConstShift) / (XnDouble)pConfig->nParamCoeff;
dFixedRefX -= 0.375;
dMetric = dFixedRefX * dPlanePixelSize;
dDepth = pConfig->nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr);
// check cut-offs
if ((dDepth > pConfig->nDepthMinCutOff) && (dDepth < pConfig->nDepthMaxCutOff))
{
pShiftToDepthTable[nIndex] = (XnUInt16)dDepth;
for (XnUInt16 i = nLastDepth; i < dDepth; i++)
pDepthToShiftTable[i] = nLastIndex;
nLastIndex = (XnUInt16)nIndex;
nLastDepth = (XnUInt16)dDepth;
}
}
for (XnUInt16 i = nLastDepth; i <= pConfig->nDeviceMaxDepthValue; i++)
pDepthToShiftTable[i] = nLastIndex;
return XN_STATUS_OK;
}
XN_DDK_API XnStatus XnShiftToDepthConvert(XnShiftToDepthTables* pShiftToDepth, XnUInt16* pInput, XnUInt32 nInputSize, XnDepthPixel* pOutput)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
XN_VALIDATE_INPUT_PTR(pInput);
XN_VALIDATE_INPUT_PTR(pOutput);
XnUInt16* pInputEnd = pInput + nInputSize;
XnDepthPixel* pShiftToDepthTable = pShiftToDepth->pShiftToDepthTable;
while (pInput != pInputEnd)
{
pOutput[0] = pShiftToDepthTable[pInput[0]];
pInput++;
pOutput++;
}
return XN_STATUS_OK;
}
XN_DDK_API XnStatus XnShiftToDepthFree(XnShiftToDepthTables* pShiftToDepth)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
if (pShiftToDepth->bIsInitialized)
{
XN_ALIGNED_FREE_AND_NULL(pShiftToDepth->pDepthToShiftTable);
XN_ALIGNED_FREE_AND_NULL(pShiftToDepth->pShiftToDepthTable);
pShiftToDepth->bIsInitialized = FALSE;
}
return XN_STATUS_OK;
}
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