frame: Update format definitions

Author: xlz

include/libfreenect2/frame_listener.hpp

@@ -47,20 +47,20 @@ class LIBFREENECT2_API Frame
   /** Available types of frames. */
   enum Type
   {
-    Color = 1, ///< 1920x1080 32-bit BGRX.
+    Color = 1, ///< 1920x1080
     Ir = 2,    ///< 512x424 float. Range is [0.0, 65535.0].
     Depth = 4  ///< 512x424 float, unit: millimeter. Non-positive, NaN, and infinity are invalid or missing data.
   };
 
-  /** (Proposed for 0.2) Pixel format. */
+  /** Pixel format. */
   enum Format
   {
-    BGRX,
-    RGBX,
-    Gray,
-    Float,
-    // Note that if format is 'raw' then 'bytes_per_pixel' actually contains the number of bytes
-    Raw
+    Invalid = 0, ///< Invalid format.
+    Raw = 1, ///< Raw bitstream. 'bytes_per_pixel' defines the number of bytes
+    Float = 2, ///< A 4-byte float per pixel
+    BGRX = 4, ///< 4 bytes of B, G, R, and unused per pixel
+    RGBX = 5, ///< 4 bytes of R, G, B, and unused per pixel
+    Gray = 6, ///< 1 byte of gray per pixel
   };
 
   size_t width;           ///< Length of a line (in pixels).
@@ -72,39 +72,17 @@ class LIBFREENECT2_API Frame
   float exposure;         ///< From 0.5 (very bright) to ~60.0 (fully covered)
   float gain;             ///< From 1.0 (bright) to 1.5 (covered)
   float gamma;            ///< From 1.0 (bright) to 6.4 (covered)
-  uint32_t status;        ///< Reserved. To be defined in 0.2.
-  Format format;          ///< Reserved. To be defined in 0.2.
+  uint32_t status;        ///< zero if ok; non-zero for errors.
+  Format format;          ///< Byte format. Informative only, doesn't indicate errors.
 
   /** Construct a new frame.
    * @param width Width in pixel
    * @param height Height in pixel
    * @param bytes_per_pixel Bytes per pixel
    * @param data_ Memory to store frame data. If `NULL`, new memory is allocated.
    */
-  Frame(size_t width, size_t height, size_t bytes_per_pixel, unsigned char *data_ = NULL) :
-    width(width),
-    height(height),
-    bytes_per_pixel(bytes_per_pixel),
-    data(data_),
-    exposure(0.f),
-    gain(0.f),
-    gamma(0.f),
-    rawdata(NULL)
-  {
-    if (data_)
-      return;
-    const size_t alignment = 64;
-    size_t space = width * height * bytes_per_pixel + alignment;
-    rawdata = new unsigned char[space];
-    uintptr_t ptr = reinterpret_cast<uintptr_t>(rawdata);
-    uintptr_t aligned = (ptr - 1u + alignment) & -alignment;
-    data = reinterpret_cast<unsigned char *>(aligned);
-  }
-
-  virtual ~Frame()
-  {
-    delete[] rawdata;
-  }
+  Frame(size_t width, size_t height, size_t bytes_per_pixel, unsigned char *data_ = NULL);
+  virtual ~Frame();
 
   protected:
   unsigned char* rawdata; ///< Unaligned start of #data.

src/cpu_depth_packet_processor.cpp

@@ -301,6 +301,7 @@ class CpuDepthPacketProcessorImpl: public WithPerfLogging
   void newIrFrame()
   {
     ir_frame = new Frame(512, 424, 4);
+    ir_frame->format = Frame::Float;
     //ir_frame = new Frame(512, 424, 12);
   }
 
@@ -314,6 +315,7 @@ class CpuDepthPacketProcessorImpl: public WithPerfLogging
   void newDepthFrame()
   {
     depth_frame = new Frame(512, 424, 4);
+    depth_frame->format = Frame::Float;
   }
 
   int32_t decodePixelMeasurement(unsigned char* data, int sub, int x, int y)

src/cuda_depth_packet_processor.cu

@@ -867,11 +867,13 @@ public:
   void newIrFrame()
   {
     ir_frame = new CudaFrame(ir_allocator->allocate(IMAGE_SIZE*sizeof(float)));
+    ir_frame->format = Frame::Float;
   }
 
   void newDepthFrame()
   {
     depth_frame = new CudaFrame(depth_allocator->allocate(IMAGE_SIZE*sizeof(float)));
+    depth_frame->format = Frame::Float;
   }
 
   void fill_trig_table(const protocol::P0TablesResponse *p0table)

src/frame_listener_impl.cpp

@@ -32,6 +32,33 @@
 namespace libfreenect2
 {
 
+Frame::Frame(size_t width, size_t height, size_t bytes_per_pixel, unsigned char *data_) :
+  width(width),
+  height(height),
+  bytes_per_pixel(bytes_per_pixel),
+  data(data_),
+  exposure(0.f),
+  gain(0.f),
+  gamma(0.f),
+  status(0),
+  format(Frame::Invalid),
+  rawdata(NULL)
+{
+  if (data_)
+    return;
+  const size_t alignment = 64;
+  size_t space = width * height * bytes_per_pixel + alignment;
+  rawdata = new unsigned char[space];
+  uintptr_t ptr = reinterpret_cast<uintptr_t>(rawdata);
+  uintptr_t aligned = (ptr - 1u + alignment) & -alignment;
+  data = reinterpret_cast<unsigned char *>(aligned);
+}
+
+Frame::~Frame()
+{
+  delete[] rawdata;
+}
+
 FrameListener::~FrameListener() {}
 
 /** Implementation class for synchronizing different types of frames. */

src/opencl_depth_packet_processor.cpp

@@ -643,11 +643,13 @@ class OpenCLDepthPacketProcessorImpl: public WithPerfLogging
   void newIrFrame()
   {
     ir_frame = new OpenCLFrame(static_cast<OpenCLBuffer *>(ir_buffer_allocator->allocate(IMAGE_SIZE * sizeof(cl_float))));
+    ir_frame->format = Frame::Float;
   }
 
   void newDepthFrame()
   {
     depth_frame = new OpenCLFrame(static_cast<OpenCLBuffer *>(depth_buffer_allocator->allocate(IMAGE_SIZE * sizeof(cl_float))));
+    depth_frame->format = Frame::Float;
   }
 
   bool fill_trig_table(const libfreenect2::protocol::P0TablesResponse *p0table)

src/opengl_depth_packet_processor.cpp

@@ -385,6 +385,7 @@ struct Texture : public WithOpenGLBindings
   Frame *downloadToNewFrame()
   {
     Frame *f = new Frame(width, height, bytes_per_pixel);
+    f->format = Frame::Float;
     downloadToBuffer(f->data);
     flipYBuffer(f->data);
 

src/tegra_jpeg_rgb_packet_processor.cpp

@@ -194,6 +194,7 @@ class TegraJpegRgbPacketProcessorImpl: public WithPerfLogging
   void newFrame()
   {
     frame = new TegraFrame(WIDTH, HEIGHT, BPP, static_cast<TegraImage *>(image_allocator->allocate(0)));
+    frame->format = Format:RGBX;
   }
 
   static inline TegraJpegRgbPacketProcessorImpl *owner(j_decompress_ptr dinfo)

src/turbo_jpeg_rgb_packet_processor.cpp

@@ -69,6 +69,7 @@ class TurboJpegRgbPacketProcessorImpl: public WithPerfLogging
   void newFrame()
   {
     frame = new Frame(1920, 1080, tjPixelSize[TJPF_BGRX]);
+    frame->format = Frame::BGRX;
   }
 };
 

src/vaapi_rgb_packet_processor.cpp

@@ -247,6 +247,7 @@ class VaapiRgbPacketProcessorImpl: public WithPerfLogging
   void newFrame()
   {
     frame = new VaapiFrame(static_cast<VaapiImage *>(image_allocator->allocate(0)));
+    frame->format = Frame::BGRX;
   }
 
   bool initializeVaapi()

src/vt_rgb_packet_processor.cpp

@@ -156,6 +156,7 @@ void VTRgbPacketProcessor::process(const RgbPacket &packet)
     VTDecompressionSessionDecodeFrame(impl_->decoder, sampleBuffer, 0, &pixelBuffer, NULL);
 
     Frame *frame = new VTFrame(1920, 1080, 4, pixelBuffer);
+    frame->format = Frame::BGRX;
 
     frame->timestamp = packet.timestamp;
     frame->sequence = packet.sequence;