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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 "XnUncompressedDepthProcessor.h"
#include <XnProfiling.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XnUncompressedDepthProcessor::XnUncompressedDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper, XnFrameBufferManager* pBufferManager) :
XnDepthProcessor(pStream, pHelper, pBufferManager)
{
}
XnUncompressedDepthProcessor::~XnUncompressedDepthProcessor()
{
}
void XnUncompressedDepthProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* /*pHeader*/, const XnUChar* pData, XnUInt32 /*nDataOffset*/, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnUncompressedDepthProcessor::ProcessFramePacketChunk")
// when depth is uncompressed, we can just copy it directly to write buffer
XnBuffer* pWriteBuffer = GetWriteBuffer();
// Check there is enough room for the depth pixels
if (CheckWriteBufferForOverflow(nDataSize))
{
// sometimes, when packets are lost, we get uneven number of bytes, so we need to complete
// one byte, in order to keep UINT16 alignment
if (nDataSize % 2 != 0)
{
nDataSize--;
pData++;
}
// copy values. Make sure we do not get corrupted shifts
XnUInt16* pRaw = (XnUInt16*)(pData);
XnUInt16* pRawEnd = (XnUInt16*)(pData + nDataSize);
OniDepthPixel* pDepthBuf = (OniDepthPixel*)pWriteBuffer->GetUnsafeWritePointer();
XnUInt16 shift;
while (pRaw < pRawEnd)
{
shift = (((*pRaw) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (*pRaw) : 0);
*pDepthBuf = GetOutput(shift);
++pRaw;
++pDepthBuf;
}
pWriteBuffer->UnsafeUpdateSize(nDataSize);
}
XN_PROFILING_END_SECTION
}
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