void XnPacked11DepthProcessor::ProcessFramePacketChunk(const XnSensorProtocolResponseHeader* /*pHeader*/, const XnUChar* pData, XnUInt32 /*nDataOffset*/, XnUInt32 nDataSize)
{
XN_PROFILING_START_SECTION("XnPacked11DepthProcessor::ProcessFramePacketChunk")
XnStatus nRetVal = XN_STATUS_OK;
// check if we have data from previous packet
if (m_ContinuousBuffer.GetSize() != 0)
{
// fill in to a whole element
XnUInt32 nReadBytes = XN_MIN(nDataSize, XN_INPUT_ELEMENT_SIZE - m_ContinuousBuffer.GetSize());
m_ContinuousBuffer.UnsafeWrite(pData, nReadBytes);
pData += nReadBytes;
nDataSize -= nReadBytes;
if (m_ContinuousBuffer.GetSize() == XN_INPUT_ELEMENT_SIZE)
{
// process it
XnUInt32 nActualRead = 0;
Unpack11to16(m_ContinuousBuffer.GetData(), XN_INPUT_ELEMENT_SIZE, &nActualRead);
m_ContinuousBuffer.Reset();
}
}
// find out the number of input elements we have
XnUInt32 nActualRead = 0;
nRetVal = Unpack11to16(pData, nDataSize, &nActualRead);
if (nRetVal == XN_STATUS_OK)
{
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
}
int main (int argc, char* argv[])
{
struct timespec now;
struct timespec later;
int size;
clock_gettime (CLOCK_REALTIME, &now);
for (int h = 0; h < LOOPS; h++) size = Unpack11to16( packedfield, output, sizeof(packedfield));
clock_gettime (CLOCK_REALTIME, &later);
double nowtime = (double) (now.tv_sec) + ((double) (now.tv_nsec)) / 1000000000;
double latertime = (double) (later.tv_sec) + ((double) (later.tv_nsec)) / 1000000000;
printf("%3.3g mus\n", (latertime - nowtime)*1000000/LOOPS);
unsigned long nElements = size / XN_INPUT_ELEMENT_SIZE; // floored
printf("got %ld elements\n", nElements);
for (int i = 0; i < nElements; i++)
printf("%d ", output[i]);
printf("\n");
}
