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 (CheckDepthBufferForOverflow(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 = GetDepthOutputBuffer();
OniDepthPixel* pShiftBuf = GetShiftsOutputBuffer();
XnUInt16 shift;
while (pRaw < pRawEnd)
{
shift = (((*pRaw) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (*pRaw) : 0);
*pShiftBuf = shift;
*pDepthBuf = GetOutput(shift);
++pRaw;
++pDepthBuf;
++pShiftBuf;
}
pWriteBuffer->UnsafeUpdateSize(nDataSize);
}
XN_PROFILING_END_SECTION
}
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 (!CheckDepthBufferForOverflow(nNeededOutput))
{
return XN_STATUS_OUTPUT_BUFFER_OVERFLOW;
}
XnUInt16* pShiftOut = GetShiftsOutputBuffer();
XnUInt16* pnOutput = GetDepthOutputBuffer();
XnUInt16 a0,a1,a2,a3,a4,a5,a6,a7;
#ifdef XN_NEON
XnUInt16 shift[8];
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
shift[0] = (((a0) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a0) : 0);
shift[1] = (((a1) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a1) : 0);
shift[2] = (((a2) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a2) : 0);
shift[3] = (((a3) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a3) : 0);
shift[4] = (((a4) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a4) : 0);
shift[5] = (((a5) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a5) : 0);
shift[6] = (((a6) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a6) : 0);
shift[7] = (((a7) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a7) : 0);
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);
// Load
Q0 = vld1q_u16(shift);
// Store
vst1q_u16(pShiftOut, Q0);
#else
pShiftOut[0] = (((a0) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a0) : 0);
pShiftOut[1] = (((a1) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a1) : 0);
pShiftOut[2] = (((a2) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a2) : 0);
pShiftOut[3] = (((a3) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a3) : 0);
pShiftOut[4] = (((a4) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a4) : 0);
pShiftOut[5] = (((a5) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a5) : 0);
pShiftOut[6] = (((a6) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a6) : 0);
pShiftOut[7] = (((a7) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (a7) : 0);
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;
pShiftOut += 8;
}
*pnActualRead = (XnUInt32)(pcInput - pOrigInput);
pWriteBuffer->UnsafeUpdateSize(nNeededOutput);
return XN_STATUS_OK;
}
XnStatus XnPacked12DepthProcessor::Unpack12to16(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();
if (!CheckDepthBufferForOverflow(nNeededOutput))
{
return XN_STATUS_OUTPUT_BUFFER_OVERFLOW;
}
XnUInt16* pnOutput = GetDepthOutputBuffer();
XnUInt16* pShiftOut = GetShiftsOutputBuffer();
XnUInt16 shift[16];
#ifdef XN_NEON
XnUInt16 depth[16];
uint8x8x3_t inD3;
uint8x8_t rshft4D, lshft4D;
uint16x8_t rshft4Q, lshft4Q;
uint16x8_t depthQ;
uint16x8x2_t shiftQ2;
#endif
// Convert the 11bit packed data into 16bit shorts
for (XnUInt32 nElem = 0; nElem < nElements; ++nElem)
{
#ifndef XN_NEON
// input: 0, 1,2,3, 4,5,6, 7,8,9, 10,11,12, 13,14,15, 16,17,18, 19,20,21, 22,23
// -,---,-,-,---,-,-,---,-,-,---,--,--,---,--,--,---,--,--,---,--,--,---,--
// bits: 8,4,4,8,8,4,4,8,8,4,4,8,8,4,4, 8, 8,4,4, 8, 8,4,4, 8, 8,4,4, 8, 8,4,4, 8
// ---,---,---,---,---,---,---,----,----,----,----,----,----,----,----,----
// output: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15
shift[0] = (XN_TAKE_BITS(pcInput[0],8,0) << 4) | XN_TAKE_BITS(pcInput[1],4,4);
shift[1] = (XN_TAKE_BITS(pcInput[1],4,0) << 8) | XN_TAKE_BITS(pcInput[2],8,0);
shift[2] = (XN_TAKE_BITS(pcInput[3],8,0) << 4) | XN_TAKE_BITS(pcInput[4],4,4);
shift[3] = (XN_TAKE_BITS(pcInput[4],4,0) << 8) | XN_TAKE_BITS(pcInput[5],8,0);
shift[4] = (XN_TAKE_BITS(pcInput[6],8,0) << 4) | XN_TAKE_BITS(pcInput[7],4,4);
shift[5] = (XN_TAKE_BITS(pcInput[7],4,0) << 8) | XN_TAKE_BITS(pcInput[8],8,0);
shift[6] = (XN_TAKE_BITS(pcInput[9],8,0) << 4) | XN_TAKE_BITS(pcInput[10],4,4);
shift[7] = (XN_TAKE_BITS(pcInput[10],4,0) << 8) | XN_TAKE_BITS(pcInput[11],8,0);
shift[8] = (XN_TAKE_BITS(pcInput[12],8,0) << 4) | XN_TAKE_BITS(pcInput[13],4,4);
shift[9] = (XN_TAKE_BITS(pcInput[13],4,0) << 8) | XN_TAKE_BITS(pcInput[14],8,0);
shift[10] = (XN_TAKE_BITS(pcInput[15],8,0) << 4) | XN_TAKE_BITS(pcInput[16],4,4);
shift[11] = (XN_TAKE_BITS(pcInput[16],4,0) << 8) | XN_TAKE_BITS(pcInput[17],8,0);
shift[12] = (XN_TAKE_BITS(pcInput[18],8,0) << 4) | XN_TAKE_BITS(pcInput[19],4,4);
shift[13] = (XN_TAKE_BITS(pcInput[19],4,0) << 8) | XN_TAKE_BITS(pcInput[20],8,0);
shift[14] = (XN_TAKE_BITS(pcInput[21],8,0) << 4) | XN_TAKE_BITS(pcInput[22],4,4);
shift[15] = (XN_TAKE_BITS(pcInput[22],4,0) << 8) | XN_TAKE_BITS(pcInput[23],8,0);
pShiftOut[0] = (((shift[0]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[0]) : 0);
pShiftOut[1] = (((shift[1]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[1]) : 0);
pShiftOut[2] = (((shift[2]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[2]) : 0);
pShiftOut[3] = (((shift[3]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[3]) : 0);
pShiftOut[4] = (((shift[4]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[4]) : 0);
pShiftOut[5] = (((shift[5]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[5]) : 0);
pShiftOut[6] = (((shift[6]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[6]) : 0);
pShiftOut[7] = (((shift[7]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[7]) : 0);
pShiftOut[8] = (((shift[0]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[8]) : 0);
pShiftOut[9] = (((shift[1]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[9]) : 0);
pShiftOut[10] = (((shift[2]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[10]) : 0);
pShiftOut[11] = (((shift[3]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[11]) : 0);
pShiftOut[12] = (((shift[4]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[12]) : 0);
pShiftOut[13] = (((shift[5]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[13]) : 0);
pShiftOut[14] = (((shift[6]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[14]) : 0);
pShiftOut[15] = (((shift[7]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[15]) : 0);
pnOutput[0] = GetOutput(shift[0]);
pnOutput[1] = GetOutput(shift[1]);
pnOutput[2] = GetOutput(shift[2]);
pnOutput[3] = GetOutput(shift[3]);
pnOutput[4] = GetOutput(shift[4]);
pnOutput[5] = GetOutput(shift[5]);
pnOutput[6] = GetOutput(shift[6]);
pnOutput[7] = GetOutput(shift[7]);
pnOutput[8] = GetOutput(shift[8]);
pnOutput[9] = GetOutput(shift[9]);
pnOutput[10] = GetOutput(shift[10]);
pnOutput[11] = GetOutput(shift[11]);
pnOutput[12] = GetOutput(shift[12]);
pnOutput[13] = GetOutput(shift[13]);
pnOutput[14] = GetOutput(shift[14]);
pnOutput[15] = GetOutput(shift[15]);
#else
// input: 0, 1,2 (X8)
// -,---,-
// bits: 8,4,4,8 (X8)
// ---,---
// output: 0, 1 (X8)
// Split 24 bytes into 3 vectors (64 bit each)
inD3 = vld3_u8(pcInput);
// rshft4D0 contains 4 MSB of second vector (placed at offset 0)
rshft4D = vshr_n_u8(inD3.val[1], 4);
// lshft4D0 contains 4 LSB of second vector (placed at offset 4)
lshft4D = vshl_n_u8(inD3.val[1], 4);
// Expand 64 bit vectors to 128 bit (8 values of 16 bits)
shiftQ2.val[0] = vmovl_u8(inD3.val[0]);
shiftQ2.val[1] = vmovl_u8(inD3.val[2]);
rshft4Q = vmovl_u8(rshft4D);
lshft4Q = vmovl_u8(lshft4D);
// Even indexed shift = 8 bits from first vector + 4 MSB bits of second vector
shiftQ2.val[0] = vshlq_n_u16(shiftQ2.val[0], 4);
shiftQ2.val[0] = vorrq_u16(shiftQ2.val[0], rshft4Q);
// Odd indexed shift = 4 LSB bits of second vector + 8 bits from third vector
lshft4Q = vshlq_n_u16(lshft4Q, 4);
shiftQ2.val[1] = vorrq_u16(shiftQ2.val[1], lshft4Q);
// Interleave shift values to a single vector
vst2q_u16(shift, shiftQ2);
shift[0] = (((shift[0]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[0]) : 0);
shift[1] = (((shift[1]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[1]) : 0);
shift[2] = (((shift[2]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[2]) : 0);
shift[3] = (((shift[3]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[3]) : 0);
shift[4] = (((shift[4]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[4]) : 0);
shift[5] = (((shift[5]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[5]) : 0);
shift[6] = (((shift[6]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[6]) : 0);
shift[7] = (((shift[7]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[7]) : 0);
shift[8] = (((shift[0]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[8]) : 0);
shift[9] = (((shift[1]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[9]) : 0);
shift[10] = (((shift[2]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[10]) : 0);
shift[11] = (((shift[3]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[11]) : 0);
shift[12] = (((shift[4]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[12]) : 0);
shift[13] = (((shift[5]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[13]) : 0);
shift[14] = (((shift[6]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[14]) : 0);
shift[15] = (((shift[7]) < (XN_DEVICE_SENSOR_MAX_SHIFT_VALUE-1)) ? (shift[15]) : 0);
depth[0] = GetOutput(shift[0]);
depth[1] = GetOutput(shift[1]);
depth[2] = GetOutput(shift[2]);
depth[3] = GetOutput(shift[3]);
depth[4] = GetOutput(shift[4]);
depth[5] = GetOutput(shift[5]);
depth[6] = GetOutput(shift[6]);
depth[7] = GetOutput(shift[7]);
// Load
depthQ = vld1q_u16(depth);
//Store
vst1q_u16(pnOutput, depthQ);
// Load
depthQ = vld1q_u16(shift);
// Store
vst1q_u16(pShiftOut, depthQ);
depth[8] = GetOutput(shift[8]);
depth[9] = GetOutput(shift[9]);
depth[10] = GetOutput(shift[10]);
depth[11] = GetOutput(shift[11]);
depth[12] = GetOutput(shift[12]);
depth[13] = GetOutput(shift[13]);
depth[14] = GetOutput(shift[14]);
depth[15] = GetOutput(shift[15]);
// Load
depthQ = vld1q_u16(depth + 8);
// Store
vst1q_u16(pnOutput + 8, depthQ);
// Load
depthQ = vld1q_u16(shift + 8);
// Store
vst1q_u16(pShiftOut + 8, depthQ);
#endif
pcInput += XN_INPUT_ELEMENT_SIZE;
pnOutput += 16;
pShiftOut += 16;
}
*pnActualRead = (XnUInt32)(pcInput - pOrigInput);
pWriteBuffer->UnsafeUpdateSize(nNeededOutput);
return XN_STATUS_OK;
}
void XnPSCompressedDepthProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnPSCompressedDepthProcessor::ProcessFramePacketChunk")
XnBuffer* pWriteBuffer = GetWriteBuffer();
const XnUChar* pBuf = NULL;
XnUInt32 nBufSize = 0;
// check if we have bytes stored from previous calls
if (m_RawData.GetSize() > 0)
{
// we have no choice. We need to append current buffer to previous bytes
if (m_RawData.GetFreeSpaceInBuffer() < nDataSize)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_DEPTH, "Bad overflow depth! %d", m_RawData.GetSize());
FrameIsCorrupted();
}
else
{
m_RawData.UnsafeWrite(pData, nDataSize);
}
pBuf = m_RawData.GetData();
nBufSize = m_RawData.GetSize();
}
else
{
// we can process the data directly
pBuf = pData;
nBufSize = nDataSize;
}
XnUInt32 nOutputSize = GetFreeSpaceInDepthBuffer();
XnUInt32 nWrittenOutput = nOutputSize;
XnUInt32 nActualRead = 0;
XnBool bLastPart = pHeader->nType == XN_SENSOR_PROTOCOL_RESPONSE_DEPTH_END && (nDataOffset + nDataSize) == pHeader->nBufSize;
XnStatus nRetVal = UncompressDepthPS(pBuf, nBufSize, GetDepthOutputBuffer(),
GetShiftsOutputBuffer(), &nWrittenOutput, &nActualRead, bLastPart);
if (nRetVal != XN_STATUS_OK)
{
FrameIsCorrupted();
static XnUInt64 nLastPrinted = 0;
XnUInt64 nCurrTime;
xnOSGetTimeStamp(&nCurrTime);
if (nOutputSize != 0 || (nCurrTime - nLastPrinted) > 1000)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_DEPTH, "Uncompress depth failed: %s. Input Size: %u, Output Space: %u, Last Part: %d.", xnGetStatusString(nRetVal), nBufSize, nOutputSize, bLastPart);
xnOSGetTimeStamp(&nLastPrinted);
}
}
pWriteBuffer->UnsafeUpdateSize(nWrittenOutput);
nBufSize -= nActualRead;
m_RawData.Reset();
// if we have any bytes left, keep them for next time
if (nBufSize > 0)
{
pBuf += nActualRead;
m_RawData.UnsafeWrite(pBuf, nBufSize);
}
XN_PROFILING_END_SECTION
}
