void depthstream::on_get_parameter(astra_streamconnection_t connection,
astra_parameter_id id,
astra_parameter_bin_t& parameterBin)
{
PROFILE_FUNC();
switch (id)
{
case ASTRA_PARAMETER_DEPTH_CONVERSION_CACHE:
{
std::size_t resultByteLength = sizeof(conversion_cache_t);
astra_parameter_data_t parameterData;
astra_status_t rc = pluginService().get_parameter_bin(resultByteLength,
¶meterBin,
¶meterData);
if (rc == ASTRA_STATUS_SUCCESS)
{
std::memcpy(parameterData, &conversionCache_, resultByteLength);
}
break;
}
case ASTRA_PARAMETER_DEPTH_REGISTRATION:
{
std::size_t resultByteLength = sizeof(bool);
astra_parameter_data_t parameterData;
astra_status_t rc = pluginService().get_parameter_bin(resultByteLength,
¶meterBin,
¶meterData);
if (rc == ASTRA_STATUS_SUCCESS)
{
bool* enable = static_cast<bool*>(parameterData);
openni::ImageRegistrationMode mode = oniDevice_.getImageRegistrationMode();
switch (mode)
{
case openni::ImageRegistrationMode::IMAGE_REGISTRATION_DEPTH_TO_COLOR:
*enable = true;
break;
case openni::ImageRegistrationMode::IMAGE_REGISTRATION_OFF:
default:
*enable = false;
break;
}
}
}
default:
devicestream::on_get_parameter(connection, id, parameterBin);
break;
}
}
void register_for_stream_events()
{
pluginService().
register_stream_registered_callback(&plugin_base::stream_added_handler_thunk,
this,
&streamAddedCallbackId_);
pluginService().
register_stream_unregistering_callback(&plugin_base::stream_removing_handler_thunk,
this,
&streamRemovingCallbackId_);
}
void register_for_host_events()
{
pluginService().
register_host_event_callback(&plugin_base::host_event_handler_thunk,
this,
&hostEventCallbackId_);
}
void handstream::get_include_candidates(astra_parameter_bin_t& parameterBin)
{
size_t resultByteLength = sizeof(bool);
astra_parameter_data_t parameterData;
astra_status_t rc = pluginService().get_parameter_bin(resultByteLength,
¶meterBin,
¶meterData);
if (rc == ASTRA_STATUS_SUCCESS)
{
memcpy(parameterData, &includeCandidatePoints_, resultByteLength);
}
}
void device_stream<TFrameWrapper>::on_get_parameter(astra_streamconnection_t connection,
astra_parameter_id id,
astra_parameter_bin_t& parameterBin)
{
size_t resultByteLength;
deviceStream_->get_property_size(id, &resultByteLength);
astra_parameter_data_t parameterData;
astra_status_t rc = pluginService().get_parameter_bin(resultByteLength,
¶meterBin,
¶meterData);
if (rc == astra_status_t::ASTRA_STATUS_SUCCESS)
{
deviceStream_->get_property(id,
parameterData, resultByteLength);
}
}
void XSPlugin::on_stream_added(astra_streamset_t setHandle,
astra_stream_t streamHandle,
astra_stream_desc_t streamDesc)
{
if (streamDesc.type == ASTRA_STREAM_DEPTH &&
m_pointProcessorMap.find(streamHandle) == m_pointProcessorMap.end())
{
LOG_INFO("astra.plugins.xs.XSPlugin", "creating point processor");
StreamDescription depthDescription = streamDesc;
auto pointProcessorPtr = std::make_unique<PointProcessor>(pluginService(),
setHandle,
depthDescription);
m_pointProcessorMap[streamHandle] = std::move(pointProcessorPtr);
}
}
device_streamset* oni_adapter_plugin::add_or_get_device(const char* oniUri)
{
device_streamset* device = find_device(oniUri);
if (device)
return device;
std::stringstream sstream;
sstream << "device/sensor" << streamsets_.size();
streamset_ptr streamSet = std::make_unique<device_streamset>(sstream.str(),
pluginService(),
oniUri);
streamSet->open();
device = streamSet.get();
streamsets_.push_back(std::move(streamSet));
return device;
}
void device_stream<TFrameWrapper>::set_mode(const astra::ImageStreamMode& mode)
{
assert(mode.pixelFormat() != 0);
bufferLength_ =
mode.width() *
mode.height() *
mode.bytesPerPixel();
LOG_INFO("orbbec.mocks.device_stream", "bin change: %ux%ux%u len: %u",
mode.width(),
mode.height(),
mode.bytesPerPixel(),
bufferLength_);
bin_ = std::make_unique<bin_type>(pluginService(),
get_handle(),
bufferLength_);
for(auto& conn : connections_)
{
bin_->link_connection(conn);
};
}
void unregister_for_host_events()
{
pluginService().unregister_host_event_callback(hostEventCallbackId_);
}
void unregister_for_stream_events()
{
pluginService().unregister_stream_registered_callback(streamAddedCallbackId_);
pluginService().unregister_stream_unregistering_callback(streamRemovingCallbackId_);
}
