void software_sensor::on_video_frame(rs2_software_video_frame software_frame)
{
frame_additional_data data;
data.timestamp = software_frame.timestamp;
data.timestamp_domain = software_frame.domain;
data.frame_number = software_frame.frame_number;
rs2_extension extension = software_frame.profile->profile->get_stream_type() == RS2_STREAM_DEPTH ?
RS2_EXTENSION_DEPTH_FRAME : RS2_EXTENSION_VIDEO_FRAME;
auto frame = _source.alloc_frame(extension, 0, data, false);
if (!frame)
{
return;
}
auto vid_profile = dynamic_cast<video_stream_profile_interface*>(software_frame.profile->profile);
auto vid_frame = dynamic_cast<video_frame*>(frame);
vid_frame->assign(vid_profile->get_width(), vid_profile->get_height(), software_frame.stride, software_frame.bpp * 8);
frame->set_stream(std::dynamic_pointer_cast<stream_profile_interface>(software_frame.profile->profile->shared_from_this()));
frame->attach_continuation(frame_continuation{ [=]() {
software_frame.deleter(software_frame.pixels);
}, software_frame.pixels });
_source.invoke_callback(frame);
}
void software_sensor::on_video_frame(rs2_software_video_frame software_frame)
{
if (!_is_streaming) return;
frame_additional_data data;
data.timestamp = software_frame.timestamp;
data.timestamp_domain = software_frame.domain;
data.frame_number = software_frame.frame_number;
data.metadata_size = 0;
for (auto i : _metadata_map)
{
auto size_of_enum = sizeof(rs2_frame_metadata_value);
auto size_of_data = sizeof(rs2_metadata_type);
if (data.metadata_size + size_of_enum + size_of_data > 255)
{
continue; //stop adding metadata to frame
}
memcpy(data.metadata_blob.data() + data.metadata_size, &i.first, size_of_enum);
data.metadata_size += static_cast<uint32_t>(size_of_enum);
memcpy(data.metadata_blob.data() + data.metadata_size, &i.second, size_of_data);
data.metadata_size += static_cast<uint32_t>(size_of_data);
}
rs2_extension extension = software_frame.profile->profile->get_stream_type() == RS2_STREAM_DEPTH ?
RS2_EXTENSION_DEPTH_FRAME : RS2_EXTENSION_VIDEO_FRAME;
auto frame = _source.alloc_frame(extension, 0, data, false);
if (!frame)
{
LOG_WARNING("Dropped video frame. alloc_frame(...) returned nullptr");
return;
}
auto vid_profile = dynamic_cast<video_stream_profile_interface*>(software_frame.profile->profile);
auto vid_frame = dynamic_cast<video_frame*>(frame);
vid_frame->assign(vid_profile->get_width(), vid_profile->get_height(), software_frame.stride, software_frame.bpp * 8);
frame->set_stream(std::dynamic_pointer_cast<stream_profile_interface>(software_frame.profile->profile->shared_from_this()));
frame->attach_continuation(frame_continuation{ [=]() {
software_frame.deleter(software_frame.pixels);
}, software_frame.pixels });
auto sd = dynamic_cast<software_device*>(_owner);
sd->register_extrinsic(*vid_profile, _unique_id);
_source.invoke_callback(frame);
}