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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 "XnDepthProcessor.h"
#include "XnSensor.h"
#include <XnProfiling.h>
#include <XnLog.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnDepthProcessor::XnDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper, XnFrameBufferManager* pBufferManager) :
XnFrameStreamProcessor(pStream, pHelper, pBufferManager, XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_START, XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_END),
m_nPaddingPixelsOnEnd(0),
m_applyRegistrationOnEnd(FALSE),
m_nExpectedFrameSize(0),
m_bShiftToDepthAllocated(FALSE),
m_pShiftToDepthTable(pStream->GetShiftToDepthTable())
{
}
XnDepthProcessor::~XnDepthProcessor()
{
if (m_bShiftToDepthAllocated)
{
xnOSFree(m_pShiftToDepthTable);
}
}
XnStatus XnDepthProcessor::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
// init base
nRetVal = XnFrameStreamProcessor::Init();
XN_IS_STATUS_OK(nRetVal);
switch (GetStream()->GetOutputFormat())
{
case ONI_PIXEL_FORMAT_SHIFT_9_2:
{
// optimization. We create a LUT shift-to-shift. See comment up.
m_pShiftToDepthTable = (OniDepthPixel*)xnOSMalloc(sizeof(OniDepthPixel)*XN_DEVICE_SENSOR_MAX_SHIFT_VALUE);
XN_VALIDATE_ALLOC_PTR(m_pShiftToDepthTable);
for (XnUInt32 i = 0; i < XN_DEVICE_SENSOR_MAX_SHIFT_VALUE; ++i)
{
m_pShiftToDepthTable[i] = (OniDepthPixel)i;
}
m_bShiftToDepthAllocated = TRUE;
m_noDepthValue = 2047;
}
break;
case ONI_PIXEL_FORMAT_DEPTH_1_MM:
case ONI_PIXEL_FORMAT_DEPTH_100_UM:
m_noDepthValue = 0;
break;
default:
XN_ASSERT(FALSE);
XN_LOG_WARNING_RETURN(XN_STATUS_ERROR, XN_MASK_SENSOR_PROTOCOL_DEPTH, "Unknown Depth output: %d", GetStream()->GetOutputFormat());
}
return (XN_STATUS_OK);
}
void XnDepthProcessor::OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
// call base
XnFrameStreamProcessor::OnStartOfFrame(pHeader);
m_nExpectedFrameSize = CalculateExpectedSize();
m_applyRegistrationOnEnd = (
(GetStream()->GetOutputFormat() == ONI_PIXEL_FORMAT_DEPTH_1_MM || GetStream()->GetOutputFormat() == ONI_PIXEL_FORMAT_DEPTH_100_UM) &&
GetStream()->m_DepthRegistration.GetValue() == TRUE &&
GetStream()->m_FirmwareRegistration.GetValue() == FALSE);
if (m_pDevicePrivateData->FWInfo.nFWVer >= XN_SENSOR_FW_VER_5_1 && pHeader->nTimeStamp != 0)
{
// PATCH: starting with v5.1, the timestamp field of the SOF packet, is the number of pixels
// that should be prepended to the frame.
XnUInt32 nPaddingPixelsOnStart = pHeader->nTimeStamp >> 16;
m_nPaddingPixelsOnEnd = pHeader->nTimeStamp & 0x0000FFFF;
PadPixels(nPaddingPixelsOnStart);
}
}
XnUInt32 XnDepthProcessor::CalculateExpectedSize()
{
XnUInt32 nExpectedDepthBufferSize = GetStream()->GetXRes() * GetStream()->GetYRes();
// when cropping is turned on, actual depth size is smaller
if (GetStream()->m_FirmwareCropMode.GetValue() != XN_FIRMWARE_CROPPING_MODE_DISABLED)
{
nExpectedDepthBufferSize = (XnUInt32)(GetStream()->m_FirmwareCropSizeX.GetValue() * GetStream()->m_FirmwareCropSizeY.GetValue());
}
nExpectedDepthBufferSize *= sizeof(OniDepthPixel);
return nExpectedDepthBufferSize;
}
void XnDepthProcessor::OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
// pad pixels
if (m_nPaddingPixelsOnEnd != 0)
{
PadPixels(m_nPaddingPixelsOnEnd);
m_nPaddingPixelsOnEnd = 0 ;
}
if (GetWriteBuffer()->GetSize() != GetExpectedSize())
{
xnLogWarning(XN_MASK_SENSOR_READ, "Read: Depth buffer is corrupt. Size is %u (!= %u)", GetWriteBuffer()->GetSize(), GetExpectedSize());
FrameIsCorrupted();
}
else
{
if (m_applyRegistrationOnEnd)
{
GetStream()->ApplyRegistration((OniDepthPixel*)GetWriteBuffer()->GetData());
}
}
OniFrame* pFrame = GetWriteFrame();
pFrame->sensorType = ONI_SENSOR_DEPTH;
pFrame->videoMode.pixelFormat = GetStream()->GetOutputFormat();
pFrame->videoMode.resolutionX = GetStream()->GetXRes();
pFrame->videoMode.resolutionY = GetStream()->GetYRes();
pFrame->videoMode.fps = GetStream()->GetFPS();
if (GetStream()->m_FirmwareCropMode.GetValue() != XN_FIRMWARE_CROPPING_MODE_DISABLED)
{
pFrame->width = (int)GetStream()->m_FirmwareCropSizeX.GetValue();
pFrame->height = (int)GetStream()->m_FirmwareCropSizeY.GetValue();
pFrame->cropOriginX = (int)GetStream()->m_FirmwareCropOffsetX.GetValue();
pFrame->cropOriginY = (int)GetStream()->m_FirmwareCropOffsetY.GetValue();
pFrame->croppingEnabled = TRUE;
}
else
{
pFrame->width = pFrame->videoMode.resolutionX;
pFrame->height = pFrame->videoMode.resolutionY;
pFrame->cropOriginX = 0;
pFrame->cropOriginY = 0;
pFrame->croppingEnabled = FALSE;
}
pFrame->stride = pFrame->width * GetStream()->GetBytesPerPixel();
// call base
XnFrameStreamProcessor::OnEndOfFrame(pHeader);
}
void XnDepthProcessor::PadPixels(XnUInt32 nPixels)
{
XnBuffer* pWriteBuffer = GetWriteBuffer();
// check for overflow
if (!CheckWriteBufferForOverflow(nPixels * sizeof(OniDepthPixel)))
{
return;
}
OniDepthPixel* pDepth = (OniDepthPixel*)GetWriteBuffer()->GetUnsafeWritePointer();
// place the no-depth value
for (XnUInt32 i = 0; i < nPixels; ++i, ++pDepth)
{
*pDepth = m_noDepthValue;
}
pWriteBuffer->UnsafeUpdateSize(nPixels * sizeof(OniDepthPixel));
}
void XnDepthProcessor::OnFrameReady(XnUInt32 nFrameID, XnUInt64 nFrameTS)
{
XnFrameStreamProcessor::OnFrameReady(nFrameID, nFrameTS);
m_pDevicePrivateData->pSensor->GetFPSCalculator()->MarkDepth(nFrameID, nFrameTS);
}
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