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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 "XnBayerImageProcessor.h"
#include "Uncomp.h"
#include "Bayer.h"
#include <XnProfiling.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnBayerImageProcessor::XnBayerImageProcessor(XnSensorImageStream* pStream, XnSensorStreamHelper* pHelper, XnFrameBufferManager* pBufferManager) :
XnImageProcessor(pStream, pHelper, pBufferManager)
{
}
XnBayerImageProcessor::~XnBayerImageProcessor()
{
}
XnStatus XnBayerImageProcessor::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnImageProcessor::Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_BUFFER_ALLOCATE(m_ContinuousBuffer, GetExpectedOutputSize());
switch (GetStream()->GetOutputFormat())
{
case ONI_PIXEL_FORMAT_GRAY8:
break;
case ONI_PIXEL_FORMAT_RGB888:
XN_VALIDATE_BUFFER_ALLOCATE(m_UncompressedBayerBuffer, GetExpectedOutputSize());
break;
default:
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_SENSOR_PROTOCOL_IMAGE, "Unsupported image output format: %d", GetStream()->GetOutputFormat());
}
return (XN_STATUS_OK);
}
void XnBayerImageProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnBayerImageProcessor::ProcessFramePacketChunk")
// if output format is Gray8, we can write directly to output buffer. otherwise, we need
// to write to a temp buffer.
XnBuffer* pWriteBuffer = (GetStream()->GetOutputFormat() == ONI_PIXEL_FORMAT_GRAY8) ? GetWriteBuffer() : &m_UncompressedBayerBuffer;
const XnUChar* pBuf = NULL;
XnUInt32 nBufSize = 0;
// check if we have bytes stored from previous calls
if (m_ContinuousBuffer.GetSize() > 0)
{
// we have no choice. We need to append current buffer to previous bytes
if (m_ContinuousBuffer.GetFreeSpaceInBuffer() < nDataSize)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_DEPTH, "Bad overflow image! %d", m_ContinuousBuffer.GetSize());
FrameIsCorrupted();
}
else
{
m_ContinuousBuffer.UnsafeWrite(pData, nDataSize);
}
pBuf = m_ContinuousBuffer.GetData();
nBufSize = m_ContinuousBuffer.GetSize();
}
else
{
// we can process the data directly
pBuf = pData;
nBufSize = nDataSize;
}
XnUInt32 nOutputSize = pWriteBuffer->GetFreeSpaceInBuffer();
XnUInt32 nWrittenOutput = nOutputSize;
XnUInt32 nActualRead = 0;
XnBool bLastPart = pHeader->nType == XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_END && (nDataOffset + nDataSize) == pHeader->nBufSize;
XnStatus nRetVal = XnStreamUncompressImageNew(pBuf, nBufSize, pWriteBuffer->GetUnsafeWritePointer(),
&nWrittenOutput, (XnUInt16)GetActualXRes(), &nActualRead, bLastPart);
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_IMAGE, "Image decompression failed: %s (%d of %d, requested %d, last %d)", xnGetStatusString(nRetVal), nWrittenOutput, nBufSize, nOutputSize, bLastPart);
FrameIsCorrupted();
return;
}
pWriteBuffer->UnsafeUpdateSize(nWrittenOutput);
nBufSize -= nActualRead;
m_ContinuousBuffer.Reset();
// if we have any bytes left, keep them for next time
if (nBufSize > 0)
{
pBuf += nActualRead;
m_ContinuousBuffer.UnsafeWrite(pBuf, nBufSize);
}
XN_PROFILING_END_SECTION
}
void XnBayerImageProcessor::OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
XnImageProcessor::OnStartOfFrame(pHeader);
m_ContinuousBuffer.Reset();
m_UncompressedBayerBuffer.Reset();
}
void XnBayerImageProcessor::OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
XN_PROFILING_START_SECTION("XnBayerImageProcessor::OnEndOfFrame")
// if data was written to temp buffer, convert it now
switch (GetStream()->GetOutputFormat())
{
case ONI_PIXEL_FORMAT_GRAY8:
break;
case ONI_PIXEL_FORMAT_RGB888:
{
Bayer2RGB888(m_UncompressedBayerBuffer.GetData(), GetWriteBuffer()->GetUnsafeWritePointer(), GetActualXRes(), GetActualYRes(), 1);
GetWriteBuffer()->UnsafeUpdateSize(GetActualXRes()*GetActualYRes()*3);
m_UncompressedBayerBuffer.Reset();
}
break;
default:
assert(0);
return;
}
XnImageProcessor::OnEndOfFrame(pHeader);
m_ContinuousBuffer.Reset();
XN_PROFILING_END_SECTION
}
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