void XnUncompressedYUVtoRGBImageProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnUncompressedYUVtoRGBImageProcessor::ProcessFramePacketChunk")
XnBuffer* pWriteBuffer = GetWriteBuffer();
if (m_ContinuousBuffer.GetSize() != 0)
{
// fill in to a whole element
XnUInt32 nReadBytes = XN_MIN(nDataSize, XN_YUV_TO_RGB_INPUT_ELEMENT_SIZE - m_ContinuousBuffer.GetSize());
m_ContinuousBuffer.UnsafeWrite(pData, nReadBytes);
pData += nReadBytes;
nDataSize -= nReadBytes;
if (m_ContinuousBuffer.GetSize() == XN_YUV_TO_RGB_INPUT_ELEMENT_SIZE)
{
if (CheckWriteBufferForOverflow(XN_YUV_TO_RGB_OUTPUT_ELEMENT_SIZE))
{
// process it
XnUInt32 nActualRead = 0;
XnUInt32 nOutputSize = pWriteBuffer->GetFreeSpaceInBuffer();
YUV422ToRGB888(m_ContinuousBuffer.GetData(), pWriteBuffer->GetUnsafeWritePointer(), XN_YUV_TO_RGB_INPUT_ELEMENT_SIZE, &nActualRead, &nOutputSize);
pWriteBuffer->UnsafeUpdateSize(XN_YUV_TO_RGB_OUTPUT_ELEMENT_SIZE);
}
m_ContinuousBuffer.Reset();
}
}
if (CheckWriteBufferForOverflow(nDataSize / XN_YUV_TO_RGB_INPUT_ELEMENT_SIZE * XN_YUV_TO_RGB_OUTPUT_ELEMENT_SIZE))
{
XnUInt32 nActualRead = 0;
XnUInt32 nOutputSize = pWriteBuffer->GetFreeSpaceInBuffer();
YUV422ToRGB888(pData, pWriteBuffer->GetUnsafeWritePointer(), nDataSize, &nActualRead, &nOutputSize);
pWriteBuffer->UnsafeUpdateSize(nOutputSize);
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 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 = pWriteBuffer->GetFreeSpaceInBuffer();
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, (XnUInt16*)pWriteBuffer->GetUnsafeWritePointer(),
&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
}
void XnBayerImageProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* pHeader, const XnUChar* pData, XnUInt32 nDataOffset, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnBayerImageProcessor::ProcessFramePacketChunk")
// if output format is Gray8, we can write directly to output buffer. otherwise, we need
// to write to a temp buffer.
XnBuffer* pWriteBuffer = (GetStream()->GetOutputFormat() == XN_OUTPUT_FORMAT_GRAYSCALE8) ? GetWriteBuffer() : &m_UncompressedBayerBuffer;
const XnUChar* pBuf = NULL;
XnUInt32 nBufSize = 0;
// check if we have bytes stored from previous calls
if (m_ContinuousBuffer.GetSize() > 0)
{
// we have no choice. We need to append current buffer to previous bytes
if (m_ContinuousBuffer.GetFreeSpaceInBuffer() < nDataSize)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_DEPTH, "Bad overflow image! %d", m_ContinuousBuffer.GetSize());
FrameIsCorrupted();
}
else
{
m_ContinuousBuffer.UnsafeWrite(pData, nDataSize);
}
pBuf = m_ContinuousBuffer.GetData();
nBufSize = m_ContinuousBuffer.GetSize();
}
else
{
// we can process the data directly
pBuf = pData;
nBufSize = nDataSize;
}
XnUInt32 nOutputSize = pWriteBuffer->GetFreeSpaceInBuffer();
XnUInt32 nWrittenOutput = nOutputSize;
XnUInt32 nActualRead = 0;
XnBool bLastPart = pHeader->nType == XN_SENSOR_PROTOCOL_RESPONSE_IMAGE_END && (nDataOffset + nDataSize) == pHeader->nBufSize;
XnStatus nRetVal = XnStreamUncompressImageNew(pBuf, nBufSize, pWriteBuffer->GetUnsafeWritePointer(),
&nWrittenOutput, (XnUInt16)GetActualXRes(), &nActualRead, bLastPart);
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_SENSOR_PROTOCOL_IMAGE, "Image decompression failed: %s (%d of %d, requested %d, last %d)", xnGetStatusString(nRetVal), nWrittenOutput, nBufSize, nOutputSize, bLastPart);
FrameIsCorrupted();
}
pWriteBuffer->UnsafeUpdateSize(nWrittenOutput);
nBufSize -= nActualRead;
m_ContinuousBuffer.Reset();
// if we have any bytes left, keep them for next time
if (nBufSize > 0)
{
pBuf += nActualRead;
m_ContinuousBuffer.UnsafeWrite(pBuf, nBufSize);
}
XN_PROFILING_END_SECTION
}
