Enabled implicit stride in k4a_image_create (#819)
* Enabled implicit stride in k4a_image_create * Added note on default parameters to standards.md
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Brent Allen
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85f9b9217f
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@ -46,6 +46,7 @@ allow the reader to quickly and easily tell the difference between internal and
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there is nothing the user can do to resolve the issue, then it is acceptable to crash. If there is action the
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user could take (not including an application restart or PC reboot), then returning an error specific to the recovery
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action is acceptable.
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* Don't use default parameters in public APIs (C++/C#)
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## Clang-format
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@ -595,6 +595,7 @@ K4A_EXPORT float k4a_capture_get_temperature_c(k4a_capture_t capture_handle);
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*
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* \param stride_bytes
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* The number of bytes per horizontal line of the image.
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* If set to 0, the stride will be set to the minimum size given the \p format and \p width_pixels.
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*
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* \param image_handle
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* Pointer to store image handle in.
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@ -46,7 +46,7 @@ namespace Microsoft.Azure.Kinect.Sensor
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/// <param name="format">The pixel format of the image. Must be a format with a constant pixel size.</param>
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/// <param name="widthPixels">Width of the image in pixels.</param>
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/// <param name="heightPixels">Height of the image in pixels.</param>
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/// <param name="strideBytes">Stride of the image in bytes. Must be as large as the width times the size of a pixel.</param>
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/// <param name="strideBytes">Stride of the image in bytes. Must be as large as the width times the size of a pixel. Set to zero for the default if available for that format.</param>
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public Image(ImageFormat format, int widthPixels, int heightPixels, int strideBytes)
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{
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// Hook the native allocator and register this object.
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@ -69,26 +69,6 @@ namespace Microsoft.Azure.Kinect.Sensor
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/// <param name="heightPixels">Height of the image in pixels.</param>
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public Image(ImageFormat format, int widthPixels, int heightPixels)
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{
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int pixelSize;
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switch (format)
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{
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case ImageFormat.ColorBGRA32:
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pixelSize = 4;
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break;
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case ImageFormat.Depth16:
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case ImageFormat.IR16:
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case ImageFormat.Custom16:
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pixelSize = 2;
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break;
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case ImageFormat.Custom8:
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pixelSize = 1;
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break;
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default:
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throw new AzureKinectException($"Unable to allocate array for format {format}");
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}
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int stride_bytes = widthPixels * pixelSize;
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// Hook the native allocator and register this object.
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// .Dispose() will be called on this object when the allocator is shut down.
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Allocator.Singleton.RegisterForDisposal(this);
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@ -98,7 +78,7 @@ namespace Microsoft.Azure.Kinect.Sensor
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format,
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widthPixels,
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heightPixels,
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stride_bytes,
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0,
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image_handle: out this.handle));
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#pragma warning restore CA2000 // Dispose objects before losing scope
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}
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@ -186,6 +186,12 @@ k4a_result_t image_create(k4a_image_format_t format,
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case K4A_IMAGE_FORMAT_COLOR_NV12:
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{
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if (stride_bytes == 0)
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{
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// If stride isn't specified, assume the minimum stride
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stride_bytes = width_pixels;
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}
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if (height_pixels % 2 != 0)
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{
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LOG_ERROR("NV12 requires an even number of lines. Height %d is invalid.", height_pixels);
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@ -215,6 +221,12 @@ k4a_result_t image_create(k4a_image_format_t format,
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// 1 Byte per pixel
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case K4A_IMAGE_FORMAT_CUSTOM8:
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{
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if (stride_bytes == 0)
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{
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// If stride isn't specified, assume the minimum stride
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stride_bytes = width_pixels;
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}
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if (stride_bytes < 1 * width_pixels)
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{
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LOG_ERROR("Insufficient stride (%d bytes) to represent image width (%d pixels).",
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@ -235,6 +247,12 @@ k4a_result_t image_create(k4a_image_format_t format,
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case K4A_IMAGE_FORMAT_IR16:
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case K4A_IMAGE_FORMAT_CUSTOM16:
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{
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if (stride_bytes == 0)
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{
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// If stride isn't specified, assume the minimum stride
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stride_bytes = width_pixels * 2;
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}
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if (stride_bytes < 2 * width_pixels)
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{
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LOG_ERROR("Insufficient stride (%d bytes) to represent image width (%d pixels).",
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@ -253,6 +271,12 @@ k4a_result_t image_create(k4a_image_format_t format,
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// 2 Bytes per pixel
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case K4A_IMAGE_FORMAT_COLOR_YUY2:
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{
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if (stride_bytes == 0)
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{
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// If stride isn't specified, assume the minimum stride
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stride_bytes = width_pixels * 2;
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}
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if (width_pixels % 2 != 0)
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{
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LOG_ERROR("YUY2 requires an even number of pixels per line. Width of %d is invalid.", width_pixels);
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@ -276,6 +300,12 @@ k4a_result_t image_create(k4a_image_format_t format,
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// 4 Bytes per pixel
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case K4A_IMAGE_FORMAT_COLOR_BGRA32:
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{
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if (stride_bytes == 0)
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{
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// If stride isn't specified, assume the minimum stride
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stride_bytes = width_pixels * 4;
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}
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if (stride_bytes < 4 * width_pixels)
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{
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LOG_ERROR("Insufficient stride (%d bytes) to represent image width (%d pixels).",
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@ -190,10 +190,6 @@ TEST(allocator_ut, image_api_validation)
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ASSERT_EQ(K4A_RESULT_FAILED,
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image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 10, 10, 1, ALLOCATION_SOURCE_USER, NULL));
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// Stride of zero
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ASSERT_EQ(K4A_RESULT_FAILED,
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image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
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// Stride length
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// Validate a valid length and an invalid length
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@ -217,6 +213,11 @@ TEST(allocator_ut, image_api_validation)
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// Odd number of columns
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ASSERT_EQ(K4A_RESULT_FAILED,
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image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 11, 10, 20, ALLOCATION_SOURCE_USER, &image));
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// Stride of zero (should succeed and infer the minimum stride)
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
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ASSERT_EQ(10, image_get_stride_bytes(image));
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image_dec_ref(image);
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// YUY2
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// Minimum stride
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@ -240,6 +241,11 @@ TEST(allocator_ut, image_api_validation)
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// Odd number of columns
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ASSERT_EQ(K4A_RESULT_FAILED,
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image_create(K4A_IMAGE_FORMAT_COLOR_YUY2, 11, 10, 20, ALLOCATION_SOURCE_USER, &image));
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// Stride of zero (should succeed and infer the minimum stride)
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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image_create(K4A_IMAGE_FORMAT_COLOR_YUY2, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
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ASSERT_EQ(10 * 2, image_get_stride_bytes(image));
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image_dec_ref(image);
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// BGRA32
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// Minimum stride
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@ -250,6 +256,11 @@ TEST(allocator_ut, image_api_validation)
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// Insufficient stride
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ASSERT_EQ(K4A_RESULT_FAILED,
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image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, 10, 10, 39, ALLOCATION_SOURCE_USER, &image));
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// Stride of zero (should succeed and infer the minimum stride)
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
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ASSERT_EQ(10 * 4, image_get_stride_bytes(image));
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image_dec_ref(image);
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// MJPEG (no length is valid)
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ASSERT_EQ(K4A_RESULT_FAILED,
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@ -264,6 +275,11 @@ TEST(allocator_ut, image_api_validation)
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// Insufficient stride
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ASSERT_EQ(K4A_RESULT_FAILED,
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image_create(K4A_IMAGE_FORMAT_DEPTH16, 10, 10, 19, ALLOCATION_SOURCE_USER, &image));
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// Stride of zero (should succeed and infer the minimum stride)
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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image_create(K4A_IMAGE_FORMAT_DEPTH16, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
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ASSERT_EQ(10 * 2, image_get_stride_bytes(image));
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image_dec_ref(image);
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// Custom8
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// Minimum stride
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@ -274,6 +290,11 @@ TEST(allocator_ut, image_api_validation)
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// Insufficient stride
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ASSERT_EQ(K4A_RESULT_FAILED,
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(int)image_create(K4A_IMAGE_FORMAT_CUSTOM8, 10, 10, 9, ALLOCATION_SOURCE_USER, &image));
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// Stride of zero (should succeed and infer the minimum stride)
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ASSERT_EQ(K4A_RESULT_SUCCEEDED,
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image_create(K4A_IMAGE_FORMAT_CUSTOM8, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
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ASSERT_EQ(10 * 1, image_get_stride_bytes(image));
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image_dec_ref(image);
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// Height of zero
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ASSERT_EQ(K4A_RESULT_FAILED,
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