Class CpuDepthPacketProcessorImpl

src/cpu_depth_packet_processor.cpp:270–804

}

class CpuDepthPacketProcessorImpl: public WithPerfLogging
{
public:
  Mat<uint16_t> p0_table0, p0_table1, p0_table2;
  Mat<float> x_table, z_table;

  int16_t lut11to16[2048];

  float trig_table0[512*424][6];
  float trig_table1[512*424][6];
  float trig_table2[512*424][6];

  bool enable_bilateral_filter, enable_edge_filter;
  DepthPacketProcessor::Parameters params;

  Frame *ir_frame, *depth_frame;

  bool flip_ptables;

  CpuDepthPacketProcessorImpl()
  {
    newIrFrame();
    newDepthFrame();

    enable_bilateral_filter = true;
    enable_edge_filter = true;

    flip_ptables = true;
  }

  /** Allocate a new IR frame. */
  void newIrFrame()
  {
    ir_frame = new Frame(512, 424, 4);
    ir_frame->format = Frame::Float;
    //ir_frame = new Frame(512, 424, 12);
  }

  ~CpuDepthPacketProcessorImpl()
  {
    delete ir_frame;
    delete depth_frame;
  }

  /** Allocate a new depth frame. */
  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)
  {
    if (x < 1 || y < 0 || 510 < x || 423 < y)
    {
      return lut11to16[0];
    }