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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. *
* *
*****************************************************************************/
#ifndef __XN_DEPTH_PROCESSOR_H__
#define __XN_DEPTH_PROCESSOR_H__
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnFrameStreamProcessor.h"
#include "XnSensorDepthStream.h"
//---------------------------------------------------------------------------
// Compilation Checks
//---------------------------------------------------------------------------
// Optimization: in order to save branches in the code itself, we create a shift-to-depth
// map which will actually translate shift-to-shift. This optimization relies on the
// fact that both shifts and depths are 16-bit long. If this is not the case,
// this optimization should be re-written.
// Then, any processor can always go through this LUT, no matter what the output format is.
#if (OniDepthPixel != XnUInt16)
#error "Depth and Shift do not have the same size. Need to reconsider optimization!"
#endif
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
class XnDepthProcessor : public XnFrameStreamProcessor
{
public:
XnDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper, XnFrameBufferManager* pBufferManager);
virtual ~XnDepthProcessor();
XnStatus Init();
protected:
//---------------------------------------------------------------------------
// Overridden Functions
//---------------------------------------------------------------------------
virtual void OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader);
virtual void OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader);
virtual void OnFrameReady(XnUInt32 nFrameID, XnUInt64 nFrameTS);
//---------------------------------------------------------------------------
// Helper Functions
//---------------------------------------------------------------------------
inline XnSensorDepthStream* GetStream()
{
return (XnSensorDepthStream*)XnFrameStreamProcessor::GetStream();
}
inline OniDepthPixel GetOutput(XnUInt16 nShift)
{
return m_pShiftToDepthTable[nShift];
}
inline XnUInt32 GetExpectedSize()
{
return m_nExpectedFrameSize;
}
private:
void PadPixels(XnUInt32 nPixels);
XnUInt32 CalculateExpectedSize();
XnUInt32 m_nPaddingPixelsOnEnd;
XnBool m_applyRegistrationOnEnd;
XnUInt32 m_nExpectedFrameSize;
XnBool m_bShiftToDepthAllocated;
OniDepthPixel* m_pShiftToDepthTable;
OniDepthPixel m_noDepthValue;
};
#endif //__XN_DEPTH_PROCESSOR_H__
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