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/*****************************************************************************
* *
* OpenNI 2.x Alpha *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnShiftToDepth.h"
#include <XnOS.h>
#include "XnDDK.h"
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnStatus XnShiftToDepthInit(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
XN_VALIDATE_INPUT_PTR(pConfig);
XN_VALIDATE_ALIGNED_CALLOC(pShiftToDepth->pShiftToDepthTable, OniDepthPixel, 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);
}
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;
OniDepthPixel* pShiftToDepthTable = pShiftToDepth->pShiftToDepthTable;
XnUInt16* pDepthToShiftTable = pShiftToDepth->pDepthToShiftTable;
xnOSMemSet(pShiftToDepthTable, 0, pShiftToDepth->nShiftsCount * sizeof(OniDepthPixel));
xnOSMemSet(pDepthToShiftTable, 0, pShiftToDepth->nDepthsCount * sizeof(XnUInt16));
XnUInt16 nLastDepth = 0;
XnUInt16 nLastIndex = 0;
XnUInt32 nMaxDepth = XN_MIN(pConfig->nDeviceMaxDepthValue, pConfig->nDepthMaxCutOff);
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 < nMaxDepth))
{
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;
}
XnStatus XnShiftToDepthConvert(XnShiftToDepthTables* pShiftToDepth, XnUInt16* pInput, XnUInt32 nInputSize, OniDepthPixel* pOutput)
{
XN_VALIDATE_INPUT_PTR(pShiftToDepth);
XN_VALIDATE_INPUT_PTR(pInput);
XN_VALIDATE_INPUT_PTR(pOutput);
XnUInt16* pInputEnd = pInput + nInputSize;
OniDepthPixel* pShiftToDepthTable = pShiftToDepth->pShiftToDepthTable;
while (pInput != pInputEnd)
{
pOutput[0] = pShiftToDepthTable[pInput[0]];
pInput++;
pOutput++;
}
return XN_STATUS_OK;
}
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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