orbbec-sdk-sys 0.1.2+2.5.5

Low-level Rust bindings for https://github.com/orbbec/OrbbecSDK_v2
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135

#include "ObRTPPacketProcessor.hpp"
#include "logger/Logger.hpp"
#include "ethernet/socket/SocketTypes.hpp"
#include <algorithm>
#include <limits>

#define START_RTP_TAG 0x0
#define END_RTP_TAG 0x1
#define OB_RTP_PACKET_REV_TIMEOUT 10

namespace libobsensor {

ObRTPPacketProcessor::ObRTPPacketProcessor()
    : foundStartPacket_(false), revDataComplete_(false), revDataError_(false), frameNumber_(0), dataSize_(0), rtpBuffer_(nullptr), fameSequenceNumberCount_(0) {

    maxPacketSize_  = MAX_RTP_FIX_SIZE - RTP_FIX_SIZE;
    maxPacketCount_ = MAX_RTP_FRAME_SIZE / maxPacketSize_ + 1;
    maxCacheSize_   = maxPacketCount_ * maxPacketSize_;
    rtpBuffer_      = new uint8_t[maxCacheSize_];
    memset(rtpBuffer_, 0, maxCacheSize_);
}

ObRTPPacketProcessor::~ObRTPPacketProcessor() noexcept {
    release();
}

void ObRTPPacketProcessor::OnStartOfFrame() {
    foundStartPacket_        = true;
    dataSize_                = 0;
    fameSequenceNumberCount_ = 0;
    memset(rtpBuffer_, 0, maxCacheSize_);
}

bool ObRTPPacketProcessor::foundStartPacket() {
    return foundStartPacket_;
}

bool ObRTPPacketProcessor::process(RTPHeader *header, uint8_t *recvData, uint32_t length, uint32_t type) {
    if(fameSequenceNumberCount_ >= maxPacketCount_) {
        LOG_WARN("RTP data buffer overflow!");
        reset();
        return false;
    }

    uint8_t  marker         = header->marker;
    uint16_t sequenceNumber = ntohs(header->sequenceNumber);
    rtpType_                = type;
    // LOG_DEBUG("marker-{}, sequenceNumber-{},length-{}, type-{}", marker, sequenceNumber, length, type);
    if(sequenceNumber == START_RTP_TAG) {
        timestamp_ = header->timestamp;
        OnStartOfFrame();
    }

    if(!foundStartPacket()) {
        return false;
    }

    fameSequenceNumberCount_++;

    uint32_t offset  = RTP_FIX_METADATA_OFFSET + sequenceNumber * maxPacketSize_;
    uint32_t dataLen = length - RTP_FIX_SIZE;
    if(rtpBuffer_ != nullptr && dataLen > 0) {
        memcpy(rtpBuffer_ + offset, recvData + RTP_FIX_SIZE, dataLen);
        dataSize_ += dataLen;
    }

    if(marker == END_RTP_TAG) {
        OnEndOfFrame(sequenceNumber);
    }

    return true;
}

void ObRTPPacketProcessor::OnEndOfFrame(uint16_t sequenceNumber) {
    // If the number of received data packets equals the end frame's SN (sequence number),
    // it indicates that all RTP packets for the frame have been successfully received. Otherwise,
    // it means that some RTP packets for the frame are still missing, and you will need to wait
    // for 10ms to receive additional data before proceeding.
    if(fameSequenceNumberCount_ == (uint32_t)(sequenceNumber + 1)) {
        if(rtpType_ == OB_STREAM_DEPTH) {
            convertBigEndianToLittleEndian(getFrameData(), getFrameDataSize());
        }
        revDataComplete_ = true;
        revDataError_    = false;
        ++frameNumber_;
    }
    else {
        revDataComplete_ = false;
        revDataError_    = true;
        LOG_WARN("Received rtp packet count does not match sequenceNumber!");
    }
}

void ObRTPPacketProcessor::convertBigEndianToLittleEndian(uint8_t *recvData, uint32_t size) {
    uint16_t *data      = reinterpret_cast<uint16_t *>(recvData);
    uint32_t  numPixels = size / 2;
    for(uint32_t i = 0; i < numPixels; ++i) {
        data[i] = (data[i] >> 8) | (data[i] << 8);
    }
}

uint8_t *ObRTPPacketProcessor::getMetaData() {
    uint32_t *data      = reinterpret_cast<uint32_t *>(rtpBuffer_ + RTP_FIX_METADATA_OFFSET);
    uint32_t  numPixels = RTP_FIX_METADATA_SIZE / 4;
    for(uint32_t i = 0; i < numPixels; ++i) {
        data[i] = ((data[i] >> 24) & 0x000000FF) | ((data[i] >> 8) & 0x0000FF00) | ((data[i] << 8) & 0x00FF0000) | ((data[i] << 24) & 0xFF000000);
    }
    return rtpBuffer_;
}

bool ObRTPPacketProcessor::processError() {
    return revDataError_;
}

bool ObRTPPacketProcessor::processComplete() {
    return revDataComplete_;
}

void ObRTPPacketProcessor::reset() {
    foundStartPacket_        = false;
    revDataComplete_         = false;
    revDataError_            = false;
    dataSize_                = 0;
    fameSequenceNumberCount_ = 0;
    memset(rtpBuffer_, 0, maxCacheSize_);
}

void ObRTPPacketProcessor::release() {
    if(rtpBuffer_ != nullptr) {
        delete rtpBuffer_;
        rtpBuffer_ = nullptr;
    }
}

}