XnDepthProcessor.h

/*****************************************************************************
*                                                                            *
*  PrimeSense Sensor 5.0 Alpha                                               *
*  Copyright (C) 2010 PrimeSense Ltd.                                        *
*                                                                            *
*  This file is part of PrimeSense Common.                                   *
*                                                                            *
*  PrimeSense Sensor is free software: you can redistribute it and/or modify *
*  it under the terms of the GNU Lesser General Public License as published  *
*  by the Free Software Foundation, either version 3 of the License, or      *
*  (at your option) any later version.                                       *
*                                                                            *
*  PrimeSense Sensor is distributed in the hope that it will be useful,      *
*  but WITHOUT ANY WARRANTY; without even the implied warranty of            *
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the              *
*  GNU Lesser General Public License for more details.                       *
*                                                                            *
*  You should have received a copy of the GNU Lesser General Public License  *
*  along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>. *
*                                                                            *
*****************************************************************************/





#ifndef __XN_DEPTH_PROCESSOR_H__
#define __XN_DEPTH_PROCESSOR_H__

//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "XnFrameStreamProcessor.h"
#include "XnSensorDepthStream.h"

//---------------------------------------------------------------------------
// Compilation Checks
//---------------------------------------------------------------------------

// Optimization: in order to save branches in the code itself, we create a shift-to-depth
// map which will actually translate shift-to-shift. This optimization relies on the 
// fact that both shifts and depths are 16-bit long. If this is not the case, 
// this optimization should be re-written.
// Then, any processor can always go through this LUT, no matter what the output format is.
#if (XnDepthPixel != XnUInt16)
	#error "Depth and Shift do not have the same size. Need to reconsider optimization!"
#endif

//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
class XnDepthProcessor : public XnFrameStreamProcessor
{
public:
	XnDepthProcessor(XnSensorDepthStream* pStream, XnSensorStreamHelper* pHelper);
	virtual ~XnDepthProcessor();

	XnStatus Init();

protected:
	//---------------------------------------------------------------------------
	// Overridden Functions
	//---------------------------------------------------------------------------
	virtual void OnStartOfFrame(const XnSensorProtocolResponseHeader* pHeader);
	virtual void OnEndOfFrame(const XnSensorProtocolResponseHeader* pHeader);
	virtual void OnFrameReady(XnUInt32 nFrameID, XnUInt64 nFrameTS);

	//---------------------------------------------------------------------------
	// Helper Functions
	//---------------------------------------------------------------------------
	inline XnSensorDepthStream* GetStream()
	{
		return (XnSensorDepthStream*)XnFrameStreamProcessor::GetStream();
	}

	inline XnDepthPixel GetOutput(XnUInt16 nShift)
	{
		return m_pShiftToDepthTable[nShift];
	}

	void WriteShifts(XnUInt16* pShifts, XnUInt32 nCount);
	void UnsafeWriteShifts(XnUInt16* pShifts, XnUInt32 nCount);
	XnUInt32 CalculateExpectedSize();

private:
	void PadPixels(XnUInt32 nPixels);

	XnUInt32 m_nPaddingPixelsOnEnd;
	XnBool m_bShiftToDepthAllocated;
	XnDepthPixel* m_pShiftToDepthTable;
};

#endif //__XN_DEPTH_PROCESSOR_H__