public FastProcessor(DepthStreamingSource fs, DepthDeviceType t, DepthCameraIntrinsics cI,
ushort w, ushort h, ushort ml, string guid)
: base(fs, t, cI, w, h, ml, guid)
{
_frameBuffer = new Queue <FastFrame>();
for (int i = 0; i < _frameBufferSize; i++)
{
_frameBuffer.Enqueue(new FastFrame(this));
}
}
protected DepthStreamingProcessor(DepthStreamingSource fs, DepthDeviceType t, DepthCameraIntrinsics cameraIntrinsics,
ushort w, ushort h, ushort ml, string guid)
{
DeviceType = t;
TotalWidth = w;
TotalHeight = h;
MaxLinesPerBlock = ml;
DeviceGUID = guid;
CameraIntrinsics = cameraIntrinsics;
FrameSource = fs;
}
public VSyncProcessor(DepthStreamingSource fs, DepthDeviceType t, DepthCameraIntrinsics cI,
ushort w, ushort h, ushort ml, string guid)
: base(fs, t, cI, w, h, ml, guid)
{
_frameBuffer = new Dictionary <UInt32, SequencedFrame>();
_unusedQueue = new Queue <SequencedFrame>();
for (int i = 0; i < _frameBufferSize; i++)
{
_unusedQueue.Enqueue(new SequencedFrame(this));
}
_processThread = new Thread(new ThreadStart(Process));
_processThread.Start();
}
private void Listen()
{
_listening = true;
while (_listening)
{
byte[] receiveBytes = new byte[] { };
receiveBytes = udpClient.GetNewData();
if (receiveBytes == null)
{
continue;
}
if (receiveBytes.Length < 2)
{
continue;
}
byte frameType = receiveBytes[0];
byte deviceID = receiveBytes[1];
switch (frameType)
{
case (byte)FrameType.Config:
if (processor != null)
{
// Currently only one processor per port.
// We could support here:
// - Changing configuration (based on throtteling, etc)
// - Multiple devices on one port (routing DepthPackets to processor based on id)
// - (...which would require some changes to how streaming source & render works)
break;
}
// TODO: Parse config data
DepthDeviceType type = (DepthDeviceType)receiveBytes[2];
ushort frameWidth = BitConverter.ToUInt16(receiveBytes, 4);
ushort frameHeight = BitConverter.ToUInt16(receiveBytes, 6);
ushort maxLines = BitConverter.ToUInt16(receiveBytes, 8);
float cx = BitConverter.ToSingle(receiveBytes, 12);
float cy = BitConverter.ToSingle(receiveBytes, 16);
float fx = BitConverter.ToSingle(receiveBytes, 20);
float fy = BitConverter.ToSingle(receiveBytes, 24);
float depthScale = BitConverter.ToSingle(receiveBytes, 28);
DepthCameraIntrinsics cI = new DepthCameraIntrinsics(
cx, cy, fx, fy, depthScale);
string guid = "";
for (int sOffset = 0; sOffset < 32; sOffset++)
{
byte c = receiveBytes[32 + sOffset];
if (c == 0x00)
{
break;
}
guid += (char)c;
}
Debug.Log("Config:\n\tFrame: " + frameWidth + " " + frameHeight + " " + maxLines +
"\n\tIntrinsics: " + cx + " " + cy + " " + fx + " " + fy + " " + depthScale +
"\n\tGUID: " + guid);
// We could also implement & choose a specific Processor
// (i.e. with custom Proccess() function) based on DepthDeviceType...
//processor = new DefaultDepthStreamingProcessor(
//processor = new VSyncProcessor(
processor = new FastProcessor(
_frameSource, type, cI, frameWidth, frameHeight, maxLines, guid);
break;
case (byte)FrameType.DepthBlock:
if (processor == null)
{
break;
}
UInt32 sequenceD = BitConverter.ToUInt32(receiveBytes, 4);
ushort startRowD = BitConverter.ToUInt16(receiveBytes, 8);
ushort endRowD = BitConverter.ToUInt16(receiveBytes, 10);
//Debug.Log("Seq: "+sequence+" start: "+startRow+" end: "+endRow);
processor.HandleDepthData(startRowD, endRowD, sequenceD, ref receiveBytes, headerSize);
break;
case (byte)FrameType.ColorBlock:
if (processor == null)
{
break;
}
UInt32 sequenceC = BitConverter.ToUInt32(receiveBytes, 4);
//ushort startRowC = BitConverter.ToUInt16(receiveBytes, 8); // if we split up frames, this could be: msgX...
//ushort endRowC = BitConverter.ToUInt16(receiveBytes, 10); // ...........................................ofY
processor.HandleColorData(sequenceC, ref receiveBytes, headerSize);
break;
default:
Debug.Log("Unknown DepthStreaming frame type: " + receiveBytes[0]);
break;
}
}
_listening = false;
Debug.Log("Listen Thread Closed");
}
