void DepthImageBase::setDepthData(const char *srcData, int dstSize)
{
if(dstSize > mSampleCodeSize) reSizeSampleCode(dstSize);
/******直接传输，移除QuickLZ*******/
// qlz_state_decompress *state_decompress = (qlz_state_decompress*)malloc(sizeof(qlz_state_decompress));
//
// int r = qlz_decompress(srcData, mSampleCode, state_decompress);
//
// free(state_decompress);
//
// if(r != dstSize)
// {
// LOGI("the decompressed size of depth does not match");
// return;
// }
memcpy(mSampleCode, srcData, dstSize);
int readW = getLocalInt(mSampleCode + 4);
int readH = getLocalInt(mSampleCode + 8);
Resolution tmpRes = GlobalInfo::getInstance().getDepthRes();
if(readW != tmpRes.w || readH != tmpRes.h)
{
LOGI("the size of depth image does not match!");
return;
}
int blockY = (readH - 1) / BSIZE;
int headPos = 12;
int dataPos = getLocalInt(mSampleCode);
bool half = false;
bool nowBlock = false;
int nowX = 0, nowY = 0;
int dataCnt = ((dataPos - headPos) / 3) * 2;
if((dataPos - headPos) % 3 != 0) dataCnt += 1;
if(dataCnt * 3 > mSampleSize) reSizeSample(dataCnt * 3);
mSampleCnt = dataCnt;
for(int i = 0; i < dataCnt; ++i)
{
HeadInfo hInfo = getHeadInfo(mSampleCode + headPos, half);
if(hInfo.nextBlock != nowBlock)
{
if(nowY == blockY)
{
nowX += 1;
nowY = 0;
}
else nowY += 1;
nowBlock = hInfo.nextBlock;
}
int tmpW = nowX * BSIZE + hInfo.index / BSIZE;
int tmpH = nowY * BSIZE + hInfo.index % BSIZE;
mSample[3*i] = (2*tmpW + 1 - readW) / ((float)(readW));
mSample[3*i + 1] = (2 * tmpH + 1 - readH) /((float)(readH));
mSample[3*i + 2] = 1.0f;
if(!hInfo.isOne)
{
mSample[3*i + 2] = toDepthValue(mSampleCode + dataPos);
dataPos += 2;
//确定深度重构是否正确
//LOGI("No_one_value: %f", mSample[3*i + 2]);
}
headPos += (half ? 2 : 1);
half = (!half);
}
mDflag = true;
}
/*
* Execute the RET instruction
*/
void op_ret() {
pc = getLocalInt(u8(1));
}
