/// <summary>
/// Decodes the depth image using a specified decoder.
/// </summary>
/// <param name="depthImageDecoder">The depth image decoder to use.</param>
/// <returns>A new, corresponding decoded depth image.</returns>
public DepthImage Decode(IDepthImageFromStreamDecoder depthImageDecoder)
{
var depthImage = new DepthImage(this.Width, this.Height);
depthImage.DecodeFrom(this, depthImageDecoder);
return(depthImage);
}
/// <summary>
/// Decodes the depth image using a specified decoder.
/// </summary>
/// <param name="depthImageDecoder">The depth image decoder to use.</param>
/// <returns>A new, corresponding decoded depth image.</returns>
public DepthImage Decode(IDepthImageFromStreamDecoder depthImageDecoder)
{
var depthImage = new DepthImage(this.Width, this.Height, this.DepthValueSemantics, this.DepthValueToMetersScaleFactor);
depthImage.DecodeFrom(this, depthImageDecoder);
return(depthImage);
}
/// <summary>
/// Decodes a specified encoded depth image with a specified decoder into the current depth image.
/// </summary>
/// <param name="encodedDepthImage">The encoded depth image to decode.</param>
/// <param name="depthImageDecoder">The depth image decoder to use.</param>
/// <remarks>The depth image width, height and pixel format must match. The method should not be called concurrently.</remarks>
public void DecodeFrom(EncodedDepthImage encodedDepthImage, IDepthImageFromStreamDecoder depthImageDecoder)
{
if (encodedDepthImage.Width != this.Width || encodedDepthImage.Height != this.Height || encodedDepthImage.PixelFormat != this.PixelFormat)
{
throw new InvalidOperationException("Cannot decode from an encoded depth image that has a different width, height, or pixel format.");
}
depthImageDecoder.DecodeFromStream(encodedDepthImage.ToStream(), this);
}
/// <summary>
/// Decodes a specified encoded depth image with a specified decoder into the current depth image.
/// </summary>
/// <param name="encodedDepthImage">The encoded depth image to decode.</param>
/// <param name="depthImageDecoder">The depth image decoder to use.</param>
/// <remarks>The depth image width, height and pixel format must match. The method should not be called concurrently.</remarks>
public void DecodeFrom(EncodedDepthImage encodedDepthImage, IDepthImageFromStreamDecoder depthImageDecoder)
{
if (encodedDepthImage.Width != this.Width ||
encodedDepthImage.Height != this.Height ||
encodedDepthImage.PixelFormat != this.PixelFormat ||
encodedDepthImage.DepthValueSemantics != this.DepthValueSemantics ||
encodedDepthImage.DepthValueToMetersScaleFactor != this.DepthValueToMetersScaleFactor)
{
throw new InvalidOperationException("Cannot decode from an encoded depth image that has a different width, height, pixel format, depth value semantics or depth value scale factor.");
}
depthImageDecoder.DecodeFromStream(encodedDepthImage.ToStream(), this);
}
/// <summary>
/// Initializes a new instance of the <see cref="DepthImageCompressor"/> class.
/// </summary>
/// <param name="depthCompressionMethod">The depth compression method to be used.</param>
public DepthImageCompressor(DepthCompressionMethod depthCompressionMethod)
{
this.DepthCompressionMethod = depthCompressionMethod;
switch (this.DepthCompressionMethod)
{
case DepthCompressionMethod.Png:
this.encoder = new DepthImageToPngStreamEncoder();
break;
case DepthCompressionMethod.None:
break;
}
this.decoder = new DepthImageFromStreamDecoder();
}
/// <summary>
/// Initializes a new instance of the <see cref="DepthImageCompressor"/> class.
/// </summary>
/// <param name="depthCompressionMethod">The depth compression method to be used.</param>
public DepthImageCompressor(DepthCompressionMethod depthCompressionMethod)
{
this.DepthCompressionMethod = depthCompressionMethod;
switch (this.DepthCompressionMethod)
{
case DepthCompressionMethod.Png:
this.encoder = new DepthImageToPngStreamEncoder();
break;
case DepthCompressionMethod.Tiff:
throw new NotImplementedException();
case DepthCompressionMethod.None:
break;
}
this.decoder = new DepthImageFromStreamDecoder();
}
/// <summary>
/// Decodes an encoded depth image image rectangle using a specified depth image decoder.
/// </summary>
/// <param name="source">The source stream of encoded depth image rectangles.</param>
/// <param name="decoder">The depth image decoder to use.</param>
/// <param name="deliveryPolicy">An optional delivery policy.</param>
/// <param name="name">An optional name for the stream operator.</param>
/// <returns>A stream of decoded depth image rectangles.</returns>
public static IProducer <DepthImageRectangle3D> Decode(
this IProducer <EncodedDepthImageRectangle3D> source,
IDepthImageFromStreamDecoder decoder,
DeliveryPolicy <EncodedDepthImageRectangle3D> deliveryPolicy = null,
string name = nameof(Decode))
{
return(source.Process <EncodedDepthImageRectangle3D, DepthImageRectangle3D>(
(encodedDepthImageRectangle3D, envelope, emitter) =>
{
var encodedDepthImage = encodedDepthImageRectangle3D.Image.Resource;
using var depthImage = DepthImagePool.GetOrCreate(
encodedDepthImage.Width,
encodedDepthImage.Height,
encodedDepthImage.DepthValueSemantics,
encodedDepthImage.DepthValueToMetersScaleFactor);
depthImage.Resource.DecodeFrom(encodedDepthImage, decoder);
emitter.Post(new DepthImageRectangle3D(encodedDepthImageRectangle3D.Rectangle3D, depthImage), envelope.OriginatingTime);
},
deliveryPolicy,
name));
}
/// <summary>
/// Decodes an encoded depth image camera view using a specified image decoder.
/// </summary>
/// <param name="source">The source stream of encoded depth image camera views.</param>
/// <param name="decoder">The depth image decoder to use.</param>
/// <param name="deliveryPolicy">An optional delivery policy.</param>
/// <param name="name">An optional name for the stream operator.</param>
/// <returns>A stream of decoded depth image camera views.</returns>
public static IProducer <DepthImageCameraView> Decode(
this IProducer <EncodedDepthImageCameraView> source,
IDepthImageFromStreamDecoder decoder,
DeliveryPolicy <EncodedDepthImageCameraView> deliveryPolicy = null,
string name = nameof(Decode))
{
return(source.Process <EncodedDepthImageCameraView, DepthImageCameraView>(
(encodedDepthImageCameraView, envelope, emitter) =>
{
var encodedDepthImage = encodedDepthImageCameraView.ViewedObject.Resource;
using var depthImage = DepthImagePool.GetOrCreate(
encodedDepthImage.Width,
encodedDepthImage.Height,
encodedDepthImage.DepthValueSemantics,
encodedDepthImage.DepthValueToMetersScaleFactor);
depthImage.Resource.DecodeFrom(encodedDepthImage, decoder);
using var depthImageCameraView = new DepthImageCameraView(depthImage, encodedDepthImageCameraView.CameraIntrinsics, encodedDepthImageCameraView.CameraPose);
emitter.Post(depthImageCameraView, envelope.OriginatingTime);
},
deliveryPolicy,
name));
}
/// <summary>
/// Initializes a new instance of the <see cref="DepthImageDecoder"/> class.
/// </summary>
/// <param name="pipeline">Pipeline to add this component to.</param>
/// <param name="decoder">The depth image decoder to use.</param>
public DepthImageDecoder(Pipeline pipeline, IDepthImageFromStreamDecoder decoder)
: base(pipeline)
{
this.decoder = decoder;
}
/// <summary>
/// Initializes a new instance of the <see cref="DepthImageDecoder"/> class.
/// </summary>
/// <param name="pipeline">The pipeline to add the component to.</param>
/// <param name="decoder">The depth image decoder to use.</param>
/// <param name="name">An optional name for the component.</param>
public DepthImageDecoder(Pipeline pipeline, IDepthImageFromStreamDecoder decoder, string name = nameof(DepthImageDecoder))
: base(pipeline, name)
{
this.decoder = decoder;
}