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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 "XnImageProcessor.h"
#include "XnSensor.h"
#include <XnProfiling.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnImageProcessor::XnImageProcessor(XnSensorImageStream* pStream, XnSensorStreamHelper* pHelper, XnBool bCompressedOutput /* = FALSE */) :
XnFrameStreamProcessor(pStream, pHelper, XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_START, XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_END),
m_bCompressedOutput(bCompressedOutput)
{
}
XnImageProcessor::~XnImageProcessor()
{
// unregister from properties (otherwise, callbacks will be called with deleted pointer...)
GetStream()->XResProperty().OnChangeEvent().Unregister(m_hXResCallback);
GetStream()->YResProperty().OnChangeEvent().Unregister(m_hYResCallback);
GetStream()->m_FirmwareCropSizeX.OnChangeEvent().Unregister(m_hXCropCallback);
GetStream()->m_FirmwareCropSizeY.OnChangeEvent().Unregister(m_hYCropCallback);
GetStream()->m_FirmwareCropEnabled.OnChangeEvent().Unregister(m_hCropEnabledCallback);
}
XnStatus XnImageProcessor::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnFrameStreamProcessor::Init();
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetStream()->XResProperty().OnChangeEvent().Register(ActualResChangedCallback, this, &m_hXResCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetStream()->YResProperty().OnChangeEvent().Register(ActualResChangedCallback, this, &m_hYResCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetStream()->m_FirmwareCropSizeX.OnChangeEvent().Register(ActualResChangedCallback, this, &m_hXCropCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetStream()->m_FirmwareCropSizeY.OnChangeEvent().Register(ActualResChangedCallback, this, &m_hYCropCallback);
XN_IS_STATUS_OK(nRetVal);
nRetVal = GetStream()->m_FirmwareCropEnabled.OnChangeEvent().Register(ActualResChangedCallback, this, &m_hCropEnabledCallback);
XN_IS_STATUS_OK(nRetVal);
CalcActualRes();
return (XN_STATUS_OK);
}
XnUInt32 XnImageProcessor::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 *= GetStream()->GetBytesPerPixel();
return nExpectedDepthBufferSize;
}
void XnImageProcessor::OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
if (!m_bCompressedOutput)
{
// make sure data size is right
XnUInt32 nExpectedSize = CalculateExpectedSize();
if (GetWriteBuffer()->GetSize() != nExpectedSize)
{
xnLogWarning(XN_MASK_SENSOR_READ, "Read: Image buffer is corrupt. Size is %u (!= %u)", GetWriteBuffer()->GetSize(), nExpectedSize);
FrameIsCorrupted();
}
}
// call base
XnFrameStreamProcessor::OnEndOfFrame(pHeader);
}
void XnImageProcessor::OnFrameReady(XnUInt32 nFrameID, XnUInt64 nFrameTS)
{
XnFrameStreamProcessor::OnFrameReady(nFrameID, nFrameTS);
m_pDevicePrivateData->pSensor->GetFPSCalculator()->MarkInputImage(nFrameID, nFrameTS);
}
void XnImageProcessor::CalcActualRes()
{
if (GetStream()->m_FirmwareCropEnabled.GetValue() == TRUE)
{
m_nActualXRes = (XnUInt32)GetStream()->m_FirmwareCropSizeX.GetValue();
m_nActualYRes = (XnUInt32)GetStream()->m_FirmwareCropSizeY.GetValue();
}
else
{
m_nActualXRes = GetStream()->GetXRes();
m_nActualYRes = GetStream()->GetYRes();
}
}
XnStatus XnImageProcessor::ActualResChangedCallback(const XnProperty* /*pSender*/, void* pCookie)
{
XnImageProcessor* pThis = (XnImageProcessor*)pCookie;
pThis->CalcActualRes();
return XN_STATUS_OK;
}
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