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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 "XnPacked11DepthProcessor.h"
#include <XnProfiling.h>
#ifdef XN_NEON
#include <arm_neon.h>
#endif
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
/* The size of an input element in the stream. */
#define XN_INPUT_ELEMENT_SIZE 11
/* The size of an output element in the stream. */
#define XN_OUTPUT_ELEMENT_SIZE 16
//---------------------------------------------------------------------------
// Macros
//---------------------------------------------------------------------------
/* Returns a set of <count> bits. For example XN_ON_BITS(4) returns 0xF */
#define XN_ON_BITS(count) ((1 << count)-1)
/* Creates a mask of <count> bits in offset <offset> */
#define XN_CREATE_MASK(count, offset) (XN_ON_BITS(count) << offset)
/* Takes the <count> bits in offset <offset> from <source>.
* For example:
* If we want 3 bits located in offset 2 from 0xF4:
* 11110100
* ---
* we get 101, which is 0x5.
* and so, XN_TAKE_BITS(0xF4,3,2) == 0x5.
*/
#define XN_TAKE_BITS(source, count, offset) ((source & XN_CREATE_MASK(count, offset)) >> offset)
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnPacked11DepthProcessor::XnPacked11DepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper, XnFrameBufferManager* pBufferManager) :
XnDepthProcessor(pStream, pHelper, pBufferManager)
{
}
XnStatus XnPacked11DepthProcessor::Init()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = XnDepthProcessor::Init();
XN_IS_STATUS_OK(nRetVal);
XN_VALIDATE_BUFFER_ALLOCATE(m_ContinuousBuffer, XN_INPUT_ELEMENT_SIZE);
return (XN_STATUS_OK);
}
XnPacked11DepthProcessor::~XnPacked11DepthProcessor()
{
}
XnStatus XnPacked11DepthProcessor::Unpack11to16(const XnUInt8* pcInput, const XnUInt32 nInputSize, XnUInt32* pnActualRead)
{
const XnUInt8* pOrigInput = pcInput;
XnUInt32 nElements = nInputSize / XN_INPUT_ELEMENT_SIZE; // floored
XnUInt32 nNeededOutput = nElements * XN_OUTPUT_ELEMENT_SIZE;
*pnActualRead = 0;
XnBuffer* pWriteBuffer = GetWriteBuffer();
// Check there is enough room for the depth pixels
if (!CheckWriteBufferForOverflow(nNeededOutput))
{
return XN_STATUS_OUTPUT_BUFFER_OVERFLOW;
}
XnUInt16* pnOutput = (XnUInt16*)pWriteBuffer->GetUnsafeWritePointer();
XnUInt16 a0,a1,a2,a3,a4,a5,a6,a7;
#ifdef XN_NEON
XnUInt16 depth[8];
uint16x8_t Q0;
#endif
// Convert the 11bit packed data into 16bit shorts
for (XnUInt32 nElem = 0; nElem < nElements; ++nElem)
{
// input: 0, 1, 2,3, 4, 5, 6,7, 8, 9,10
// -,---,---,-,---,---,---,-,---,---,-
// bits: 8,3,5,6,2,8,1,7,4,4,7,1,8,2,6,5,3,8
// ---,---,-----,---,---,-----,---,---
// output: 0, 1, 2, 3, 4, 5, 6, 7
a0 = (XN_TAKE_BITS(pcInput[0],8,0) << 3) | XN_TAKE_BITS(pcInput[1],3,5);
a1 = (XN_TAKE_BITS(pcInput[1],5,0) << 6) | XN_TAKE_BITS(pcInput[2],6,2);
a2 = (XN_TAKE_BITS(pcInput[2],2,0) << 9) | (XN_TAKE_BITS(pcInput[3],8,0) << 1) | XN_TAKE_BITS(pcInput[4],1,7);
a3 = (XN_TAKE_BITS(pcInput[4],7,0) << 4) | XN_TAKE_BITS(pcInput[5],4,4);
a4 = (XN_TAKE_BITS(pcInput[5],4,0) << 7) | XN_TAKE_BITS(pcInput[6],7,1);
a5 = (XN_TAKE_BITS(pcInput[6],1,0) << 10) | (XN_TAKE_BITS(pcInput[7],8,0) << 2) | XN_TAKE_BITS(pcInput[8],2,6);
a6 = (XN_TAKE_BITS(pcInput[8],6,0) << 5) | XN_TAKE_BITS(pcInput[9],5,3);
a7 = (XN_TAKE_BITS(pcInput[9],3,0) << 8) | XN_TAKE_BITS(pcInput[10],8,0);
#ifdef XN_NEON
depth[0] = GetOutput(a0);
depth[1] = GetOutput(a1);
depth[2] = GetOutput(a2);
depth[3] = GetOutput(a3);
depth[4] = GetOutput(a4);
depth[5] = GetOutput(a5);
depth[6] = GetOutput(a6);
depth[7] = GetOutput(a7);
// Load
Q0 = vld1q_u16(depth);
// Store
vst1q_u16(pnOutput, Q0);
#else
pnOutput[0] = GetOutput(a0);
pnOutput[1] = GetOutput(a1);
pnOutput[2] = GetOutput(a2);
pnOutput[3] = GetOutput(a3);
pnOutput[4] = GetOutput(a4);
pnOutput[5] = GetOutput(a5);
pnOutput[6] = GetOutput(a6);
pnOutput[7] = GetOutput(a7);
#endif
pcInput += XN_INPUT_ELEMENT_SIZE;
pnOutput += 8;
}
*pnActualRead = (XnUInt32)(pcInput - pOrigInput);
pWriteBuffer->UnsafeUpdateSize(nNeededOutput);
return XN_STATUS_OK;
}
void XnPacked11DepthProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* /*pHeader*/, const XnUChar* pData, XnUInt32 /*nDataOffset*/, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnPacked11DepthProcessor::ProcessFramePacketChunk")
XnStatus nRetVal = XN_STATUS_OK;
// check if we have data from previous packet
if (m_ContinuousBuffer.GetSize() != 0)
{
// fill in to a whole element
XnUInt32 nReadBytes = XN_MIN(nDataSize, XN_INPUT_ELEMENT_SIZE - m_ContinuousBuffer.GetSize());
m_ContinuousBuffer.UnsafeWrite(pData, nReadBytes);
pData += nReadBytes;
nDataSize -= nReadBytes;
if (m_ContinuousBuffer.GetSize() == XN_INPUT_ELEMENT_SIZE)
{
// process it
XnUInt32 nActualRead = 0;
Unpack11to16(m_ContinuousBuffer.GetData(), XN_INPUT_ELEMENT_SIZE, &nActualRead);
m_ContinuousBuffer.Reset();
}
}
// find out the number of input elements we have
XnUInt32 nActualRead = 0;
nRetVal = Unpack11to16(pData, nDataSize, &nActualRead);
if (nRetVal == XN_STATUS_OK)
{
pData += nActualRead;
nDataSize -= nActualRead;
// if we have any bytes left, store them for next packet.
if (nDataSize > 0)
{
// no need to check for overflow. there can not be a case in which more than XN_INPUT_ELEMENT_SIZE
// are left.
m_ContinuousBuffer.UnsafeWrite(pData, nDataSize);
}
}
XN_PROFILING_END_SECTION
}
void XnPacked11DepthProcessor::OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
XnDepthProcessor::OnStartOfFrame(pHeader);
m_ContinuousBuffer.Reset();
}
void XnPacked11DepthProcessor::OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader)
{
XnDepthProcessor::OnEndOfFrame(pHeader);
m_ContinuousBuffer.Reset();
}
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