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addon.cpp
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addon.cpp
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// Copyright (c) 2017 Intel Corporation. All rights reserved.
// Use of this source code is governed by an Apache 2.0 license
// that can be found in the LICENSE file.
#include <librealsense2/rs.h>
#include <librealsense2/h/rs_internal.h>
#include <librealsense2/h/rs_pipeline.h>
#include <librealsense2/hpp/rs_types.hpp>
#include <nan.h>
#include <iostream>
#include <list>
#include <memory>
#include <sstream>
#include <string>
#include <utility>
#include <vector>
class DictBase {
public:
explicit DictBase(v8::Local<v8::Object> source) : v8obj_(source) {}
DictBase() {
v8obj_ = v8::Object::New(v8::Isolate::GetCurrent());
}
~DictBase() {}
v8::Local<v8::Value> GetMember(const char* name) const {
return v8obj_->Get(Nan::New(name).ToLocalChecked());
}
v8::Local<v8::Value> GetMember(const std::string& name) const {
return GetMember(name.c_str());
}
void SetMemberUndefined(const char* name) {
v8obj_->Set(Nan::New(name).ToLocalChecked(), Nan::Undefined());
}
void DeleteMember(const char* name) {
v8obj_->Delete(Nan::New(name).ToLocalChecked());
}
void SetMember(const char* name, const char* value) {
v8obj_->Set(Nan::New(name).ToLocalChecked(),
Nan::New(value).ToLocalChecked());
}
void SetMember(const char* name, v8::Local<v8::Value> value) {
v8obj_->Set(Nan::New(name).ToLocalChecked(), value);
}
void SetMember(const char* name, const std::string& value) {
v8obj_->Set(Nan::New(name).ToLocalChecked(),
Nan::New(value.c_str()).ToLocalChecked());
}
template <typename T, typename V, uint32_t len>
void SetMemberArray(const char* name, V value[len]) {
v8::Local<v8::Array> array = Nan::New<v8::Array>(len);
for (uint32_t i = 0; i < len; i++) {
array->Set(Nan::GetCurrentContext(), i, Nan::New<T>(value[i]));
}
SetMember(name, array);
}
template <typename T>
void SetMemberT(const char* name, const T& value) {
v8obj_->Set(Nan::New(name).ToLocalChecked(), Nan::New(value));
}
bool IsMemberPresent(const char* name) const {
v8::Local<v8::Value> v = v8obj_->Get(Nan::New(name).ToLocalChecked());
return !(v->IsUndefined() || v->IsNull());
}
bool IsMemberPresent(const std::string& name) const {
return IsMemberPresent(name.c_str());
}
v8::Local<v8::Object> GetObject() const {
return v8obj_;
}
protected:
mutable v8::Local<v8::Object> v8obj_;
};
class ErrorUtil {
public:
class ErrorInfo {
public:
ErrorInfo() : is_error_(false), recoverable_(false) {}
~ErrorInfo() {}
void Update(bool is_error, bool recoverable, std::string description,
std::string function) {
is_error_ = is_error;
recoverable_ = recoverable;
description_ = description;
native_function_ = function;
}
void Reset() { Update(false, false, "", ""); }
// set value to js attributes only when this method is called
v8::Local<v8::Object> GetJSObject() {
DictBase obj;
obj.SetMemberT("recoverable", recoverable_);
obj.SetMember("description", description_);
obj.SetMember("nativeFunction", native_function_);
return obj.GetObject();
}
private:
bool is_error_;
bool recoverable_;
std::string description_;
std::string native_function_;
friend class ErrorUtil;
};
~ErrorUtil() {}
static void Init() {
if (!singleton_) singleton_ = new ErrorUtil();
}
static void UpdateJSErrorCallback(
const Nan::FunctionCallbackInfo<v8::Value>& info) {
singleton_->js_error_container_.Reset(info[0]->ToObject());
v8::String::Utf8Value value(info[1]->ToString());
singleton_->js_error_callback_name_ = std::string(*value);
}
static void AnalyzeError(rs2_error* err) {
if (!err) return;
auto function = std::string(rs2_get_failed_function(err));
auto type = rs2_get_librealsense_exception_type(err);
auto msg = std::string(rs2_get_error_message(err));
bool recoverable = false;
if (type == RS2_EXCEPTION_TYPE_INVALID_VALUE ||
type == RS2_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE ||
type == RS2_EXCEPTION_TYPE_NOT_IMPLEMENTED) {
recoverable = true;
}
singleton_->MarkError(recoverable, msg, function);
}
static void ResetError() {
singleton_->error_info_.Reset();
}
static v8::Local<v8::Value> GetJSErrorObject() {
if (singleton_->error_info_.is_error_)
return singleton_->error_info_.GetJSObject();
return Nan::Undefined();
}
private:
// Save detailed error info to the js object
void MarkError(bool recoverable, std::string description,
std::string native_function) {
error_info_.Update(true, recoverable, description, native_function);
v8::Local<v8::Value> args[1] = { GetJSErrorObject() };
auto container = Nan::New<v8::Object>(js_error_container_);
Nan::MakeCallback(container, js_error_callback_name_.c_str(),
1, args);
}
static ErrorUtil* singleton_;
ErrorInfo error_info_;
Nan::Persistent<v8::Object> js_error_container_;
std::string js_error_callback_name_;
};
ErrorUtil* ErrorUtil::singleton_ = nullptr;
template<typename R, typename F, typename... arguments>
R GetNativeResult(F func, rs2_error** error, arguments... params) {
// reset the error pointer for each call.
*error = nullptr;
ErrorUtil::ResetError();
R val = func(params...);
ErrorUtil::AnalyzeError(*error);
return val;
}
template<typename F, typename... arguments>
void CallNativeFunc(F func, rs2_error** error, arguments... params) {
// reset the error pointer for each call.
*error = nullptr;
ErrorUtil::ResetError();
func(params...);
ErrorUtil::AnalyzeError(*error);
}
class MainThreadCallbackInfo {
public:
MainThreadCallbackInfo() : consumed_(false) {
pending_infos_.push_back(this);
}
virtual ~MainThreadCallbackInfo() {
pending_infos_.erase(
std::find(pending_infos_.begin(), pending_infos_.end(), this));
}
virtual void Run() {}
virtual void Release() {}
void SetConsumed() { consumed_ = true; }
static bool InfoExist(MainThreadCallbackInfo* info) {
auto result = std::find(pending_infos_.begin(), pending_infos_.end(), info);
return (result != pending_infos_.end());
}
static void ReleasePendingInfos() {
while (pending_infos_.size()) { delete *(pending_infos_.begin()); }
}
protected:
static std::list<MainThreadCallbackInfo*> pending_infos_;
bool consumed_;
};
std::list<MainThreadCallbackInfo*> MainThreadCallbackInfo::pending_infos_;
class MainThreadCallback {
public:
class LockGuard {
public:
LockGuard() {
MainThreadCallback::Lock();
}
~LockGuard() {
MainThreadCallback::Unlock();
}
};
static void Init() {
if (!singleton_)
singleton_ = new MainThreadCallback();
}
static void Destroy() {
if (singleton_) {
delete singleton_;
singleton_ = nullptr;
MainThreadCallbackInfo::ReleasePendingInfos();
}
}
~MainThreadCallback() {
uv_close(reinterpret_cast<uv_handle_t*>(async_),
[](uv_handle_t* ptr) -> void {
free(ptr);
});
uv_mutex_destroy(&mutex_);
}
static void NotifyMainThread(MainThreadCallbackInfo* info) {
if (singleton_) {
LockGuard guard;
if (singleton_->async_->data) {
MainThreadCallbackInfo* info =
reinterpret_cast<MainThreadCallbackInfo*>(singleton_->async_->data);
info->Release();
delete info;
}
singleton_->async_->data = static_cast<void*>(info);
uv_async_send(singleton_->async_);
}
}
private:
MainThreadCallback() {
async_ = static_cast<uv_async_t*>(malloc(sizeof(uv_async_t)));
async_->data = nullptr;
uv_async_init(uv_default_loop(), async_, AsyncProc);
uv_mutex_init(&mutex_);
}
static void Lock() {
if (singleton_) uv_mutex_lock(&(singleton_->mutex_));
}
static void Unlock() {
if (singleton_) uv_mutex_unlock(&(singleton_->mutex_));
}
static void AsyncProc(uv_async_t* async) {
MainThreadCallbackInfo* info = nullptr;
{
LockGuard guard;
if (!(async->data))
return;
info = reinterpret_cast<MainThreadCallbackInfo*>(async->data);
async->data = nullptr;
}
info->Run();
// As the above info->Run() enters js world and during that, any code
// such as cleanup() could be called to release everything. So this info
// may has been released, we need to check before releasing it.
if (MainThreadCallbackInfo::InfoExist(info)) delete info;
}
static MainThreadCallback* singleton_;
uv_async_t* async_;
uv_mutex_t mutex_;
};
MainThreadCallback* MainThreadCallback::singleton_ = nullptr;
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
class RSExtrinsics : public DictBase {
public:
explicit RSExtrinsics(rs2_extrinsics extrinsics) {
SetMemberArray<v8::Number, float, 9>("rotation", extrinsics.rotation);
SetMemberArray<v8::Number, float, 3>("translation", extrinsics.translation);
}
};
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
class RSIntrinsics : public DictBase {
public:
explicit RSIntrinsics(rs2_intrinsics intrinsics) {
SetMemberT("width", intrinsics.width);
SetMemberT("height", intrinsics.height);
SetMemberT("ppx", intrinsics.ppx);
SetMemberT("ppy", intrinsics.ppy);
SetMemberT("fx", intrinsics.fx);
SetMemberT("fy", intrinsics.fy);
SetMemberT("model", intrinsics.model);
SetMemberArray<v8::Number, float, 5>("coeffs", intrinsics.coeffs);
}
};
class RSMotionIntrinsics : public DictBase {
public:
explicit RSMotionIntrinsics(rs2_motion_device_intrinsic* intri) {
v8::Local<v8::Array> data_array = Nan::New<v8::Array>(3);
int32_t index = 0;
for (int32_t i = 0; i < 3; i++) {
for (int32_t j = 0; j < 4; j++) {
data_array->Set(Nan::GetCurrentContext(),
index++, Nan::New(intri->data[i][j]));
}
}
SetMember("data", data_array);
SetMemberArray<v8::Number, float, 3>("noiseVariances",
intri->noise_variances);
SetMemberArray<v8::Number, float, 3>("biasVariances",
intri->bias_variances);
}
};
class RSOptionRange : public DictBase {
public:
RSOptionRange(float min, float max, float step, float def) {
SetMemberT("minValue", min);
SetMemberT("maxValue", max);
SetMemberT("step", step);
SetMemberT("defaultValue", def);
}
};
class RSNotification : public DictBase {
public:
RSNotification(const std::string& des, rs2_time_t time,
rs2_log_severity severity, rs2_notification_category category,
const std::string& serialized_data) {
SetMember("descr", des);
SetMemberT("timestamp", time);
SetMemberT("severity", (int32_t)severity);
SetMemberT("category", (int32_t)category);
SetMember("serializedData", serialized_data);
}
};
class RSRegionOfInterest : public DictBase {
public:
RSRegionOfInterest(int32_t minx, int32_t miny, int32_t maxx, int32_t maxy) {
SetMemberT("minX", minx);
SetMemberT("minY", miny);
SetMemberT("maxX", maxx);
SetMemberT("maxY", maxy);
}
};
class RSStreamProfile : public Nan::ObjectWrap {
public:
static void Init(v8::Local<v8::Object> exports) {
v8::Local<v8::FunctionTemplate> tpl = Nan::New<v8::FunctionTemplate>(New);
tpl->SetClassName(Nan::New("RSStreamProfile").ToLocalChecked());
tpl->InstanceTemplate()->SetInternalFieldCount(1);
Nan::SetPrototypeMethod(tpl, "destroy", Destroy);
Nan::SetPrototypeMethod(tpl, "stream", Stream);
Nan::SetPrototypeMethod(tpl, "format", Format);
Nan::SetPrototypeMethod(tpl, "fps", Fps);
Nan::SetPrototypeMethod(tpl, "index", Index);
Nan::SetPrototypeMethod(tpl, "uniqueID", UniqueID);
Nan::SetPrototypeMethod(tpl, "isDefault", IsDefault);
Nan::SetPrototypeMethod(tpl, "isVideoProfile", IsVideoProfile);
Nan::SetPrototypeMethod(tpl, "isMotionProfile", IsMotionProfile);
Nan::SetPrototypeMethod(tpl, "width", Width);
Nan::SetPrototypeMethod(tpl, "height", Height);
Nan::SetPrototypeMethod(tpl, "getExtrinsicsTo", GetExtrinsicsTo);
Nan::SetPrototypeMethod(tpl, "getVideoStreamIntrinsics",
GetVideoStreamIntrinsics);
Nan::SetPrototypeMethod(tpl, "getMotionIntrinsics", GetMotionIntrinsics);
constructor_.Reset(tpl->GetFunction());
exports->Set(Nan::New("RSStreamProfile").ToLocalChecked(),
tpl->GetFunction());
}
static v8::Local<v8::Object> NewInstance(
rs2_stream_profile* p, bool own = false) {
Nan::EscapableHandleScope scope;
v8::Local<v8::Function> cons = Nan::New<v8::Function>(constructor_);
v8::Local<v8::Context> context =
v8::Isolate::GetCurrent()->GetCurrentContext();
v8::Local<v8::Object> instance =
cons->NewInstance(context, 0, nullptr).ToLocalChecked();
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(instance);
me->profile_ = p;
me->own_profile_ = own;
CallNativeFunc(rs2_get_stream_profile_data, &me->error_, p, &me->stream_,
&me->format_, &me->index_, &me->unique_id_, &me->fps_, &me->error_);
me->is_default_ = rs2_is_stream_profile_default(p, &me->error_);
if (GetNativeResult<bool>(rs2_stream_profile_is, &me->error_, p,
RS2_EXTENSION_VIDEO_PROFILE, &me->error_)) {
me->is_video_ = true;
CallNativeFunc(rs2_get_video_stream_resolution, &me->error_, p,
&me->width_, &me->height_, &me->error_);
} else if (GetNativeResult<bool>(rs2_stream_profile_is, &me->error_, p,
RS2_EXTENSION_MOTION_PROFILE, &me->error_)) {
me->is_motion_ = true;
}
return scope.Escape(instance);
}
private:
RSStreamProfile() : error_(nullptr), profile_(nullptr), index_(0),
unique_id_(0), fps_(0), format_(static_cast<rs2_format>(0)),
stream_(static_cast<rs2_stream>(0)), is_video_(false), width_(0),
height_(0), is_default_(false), own_profile_(false), is_motion_(false) {}
~RSStreamProfile() {
DestroyMe();
}
void DestroyMe() {
if (error_) rs2_free_error(error_);
error_ = nullptr;
if (profile_ && own_profile_) rs2_delete_stream_profile(profile_);
profile_ = nullptr;
}
static NAN_METHOD(Destroy) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
me->DestroyMe();
}
info.GetReturnValue().Set(Nan::Undefined());
}
static void New(const Nan::FunctionCallbackInfo<v8::Value>& info) {
if (info.IsConstructCall()) {
RSStreamProfile* obj = new RSStreamProfile();
obj->Wrap(info.This());
info.GetReturnValue().Set(info.This());
}
}
static NAN_METHOD(Stream) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->stream_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(Format) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->format_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(Fps) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->fps_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(Index) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->index_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(UniqueID) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->unique_id_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(IsDefault) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->is_default_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(IsVideoProfile) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->is_video_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(IsMotionProfile) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
info.GetReturnValue().Set(Nan::Undefined());
if (!me) return;
info.GetReturnValue().Set(Nan::New(me->is_motion_));
}
static NAN_METHOD(Width) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->width_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(Height) {
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (me) {
info.GetReturnValue().Set(Nan::New(me->height_));
return;
}
info.GetReturnValue().Set(Nan::Undefined());
}
static NAN_METHOD(GetExtrinsicsTo) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
auto to = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info[0]->ToObject());
if (!me || !to) return;
rs2_extrinsics res;
CallNativeFunc(rs2_get_extrinsics, &me->error_, me->profile_, to->profile_,
&res, &me->error_);
if (me->error_) return;
RSExtrinsics rsres(res);
info.GetReturnValue().Set(rsres.GetObject());
}
static NAN_METHOD(GetVideoStreamIntrinsics) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (!me) return;
rs2_intrinsics intr;
CallNativeFunc(rs2_get_video_stream_intrinsics, &me->error_, me->profile_,
&intr, &me->error_);
if (me->error_) return;
RSIntrinsics res(intr);
info.GetReturnValue().Set(res.GetObject());
}
static NAN_METHOD(GetMotionIntrinsics) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSStreamProfile>(info.Holder());
if (!me) return;
rs2_motion_device_intrinsic output;
CallNativeFunc(rs2_get_motion_intrinsics, &me->error_, me->profile_,
&output, &me->error_);
if (me->error_) return;
RSMotionIntrinsics intrinsics(&output);
info.GetReturnValue().Set(intrinsics.GetObject());
}
private:
static Nan::Persistent<v8::Function> constructor_;
rs2_error* error_;
rs2_stream_profile* profile_;
int32_t index_;
int32_t unique_id_;
int32_t fps_;
rs2_format format_;
rs2_stream stream_;
bool is_video_;
int32_t width_;
int32_t height_;
bool is_default_;
bool own_profile_;
bool is_motion_;
friend class RSSensor;
};
Nan::Persistent<v8::Function> RSStreamProfile::constructor_;
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
// //
// 8888888b. .d8888b. 8888888888 //
// 888 Y88b d88P Y88b 888 //
// 888 888 Y88b. 888 //
// 888 d88P "Y888b. 8888888 888d888 8888b. 88888b.d88b. .d88b. //
// 8888888P" "Y88b. 888 888P" "88b 888 "888 "88b d8P Y8b //
// 888 T88b "888 888 888 .d888888 888 888 888 88888888 //
// 888 T88b Y88b d88P 888 888 888 888 888 888 888 Y8b. //
// 888 T88b "Y8888P" 888 888 "Y888888 888 888 888 "Y8888 //
// //
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
class RSFrame : public Nan::ObjectWrap {
public:
static void Init(v8::Local<v8::Object> exports) {
v8::Local<v8::FunctionTemplate> tpl = Nan::New<v8::FunctionTemplate>(New);
tpl->SetClassName(Nan::New("RSFrame").ToLocalChecked());
tpl->InstanceTemplate()->SetInternalFieldCount(1);
Nan::SetPrototypeMethod(tpl, "destroy", Destroy);
Nan::SetPrototypeMethod(tpl, "getStreamProfile", GetStreamProfile);
Nan::SetPrototypeMethod(tpl, "getData", GetData);
Nan::SetPrototypeMethod(tpl, "writeData", WriteData);
Nan::SetPrototypeMethod(tpl, "getWidth", GetWidth);
Nan::SetPrototypeMethod(tpl, "getHeight", GetHeight);
Nan::SetPrototypeMethod(tpl, "getStrideInBytes", GetStrideInBytes);
Nan::SetPrototypeMethod(tpl, "getBitsPerPixel", GetBitsPerPixel);
Nan::SetPrototypeMethod(tpl, "getTimestamp", GetTimestamp);
Nan::SetPrototypeMethod(tpl, "getTimestampDomain", GetTimestampDomain);
Nan::SetPrototypeMethod(tpl, "getFrameNumber", GetFrameNumber);
Nan::SetPrototypeMethod(tpl, "getFrameMetadata", GetFrameMetadata);
Nan::SetPrototypeMethod(tpl, "supportsFrameMetadata",
SupportsFrameMetadata);
Nan::SetPrototypeMethod(tpl, "isVideoFrame", IsVideoFrame);
Nan::SetPrototypeMethod(tpl, "isDepthFrame", IsDepthFrame);
Nan::SetPrototypeMethod(tpl, "isDisparityFrame", IsDisparityFrame);
Nan::SetPrototypeMethod(tpl, "isMotionFrame", IsMotionFrame);
Nan::SetPrototypeMethod(tpl, "isPoseFrame", IsPoseFrame);
// Points related APIs
Nan::SetPrototypeMethod(tpl, "canGetPoints", CanGetPoints);
Nan::SetPrototypeMethod(tpl, "getVertices", GetVertices);
Nan::SetPrototypeMethod(tpl, "getVerticesBufferLen", GetVerticesBufferLen);
Nan::SetPrototypeMethod(tpl, "getTexCoordBufferLen", GetTexCoordBufferLen);
Nan::SetPrototypeMethod(tpl, "writeVertices", WriteVertices);
Nan::SetPrototypeMethod(tpl, "getTextureCoordinates",
GetTextureCoordinates);
Nan::SetPrototypeMethod(tpl, "writeTextureCoordinates",
WriteTextureCoordinates);
Nan::SetPrototypeMethod(tpl, "getPointsCount", GetPointsCount);
Nan::SetPrototypeMethod(tpl, "exportToPly", ExportToPly);
Nan::SetPrototypeMethod(tpl, "isValid", IsValid);
Nan::SetPrototypeMethod(tpl, "getDistance", GetDistance);
Nan::SetPrototypeMethod(tpl, "getBaseLine", GetBaseLine);
Nan::SetPrototypeMethod(tpl, "keep", Keep);
Nan::SetPrototypeMethod(tpl, "getMotionData", GetMotionData);
Nan::SetPrototypeMethod(tpl, "getPoseData", GetPoseData);
constructor_.Reset(tpl->GetFunction());
exports->Set(Nan::New("RSFrame").ToLocalChecked(), tpl->GetFunction());
}
static v8::Local<v8::Object> NewInstance(rs2_frame* frame) {
Nan::EscapableHandleScope scope;
v8::Local<v8::Function> cons = Nan::New<v8::Function>(constructor_);
v8::Local<v8::Context> context =
v8::Isolate::GetCurrent()->GetCurrentContext();
v8::Local<v8::Object> instance =
cons->NewInstance(context, 0, nullptr).ToLocalChecked();
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(instance);
me->frame_ = frame;
return scope.Escape(instance);
}
void Replace(rs2_frame* value) {
DestroyMe();
frame_ = value;
// As the underlying frame changed, we must clean the js side's buffer
Nan::MakeCallback(handle(), "_internalResetBuffer", 0, nullptr);
}
private:
RSFrame() : frame_(nullptr), error_(nullptr) {}
~RSFrame() {
DestroyMe();
}
void DestroyMe() {
if (error_) rs2_free_error(error_);
if (frame_) rs2_release_frame(frame_);
error_ = nullptr;
frame_ = nullptr;
}
static void SetAFloatInVectorObject(v8::Local<v8::Object> obj, uint32_t index,
float value) {
const char* names[4] = {"x", "y", "z", "w"};
v8::Local<v8::String> name = Nan::New(names[index]).ToLocalChecked();
Nan::Set(obj, name, Nan::New(value));
}
static void FillAFloatVector(v8::Local<v8::Object> obj,
const rs2_vector& vec) {
SetAFloatInVectorObject(obj, 0, vec.x);
SetAFloatInVectorObject(obj, 1, vec.y);
SetAFloatInVectorObject(obj, 2, vec.z);
}
static void FillAFloatQuaternion(v8::Local<v8::Object> obj,
const rs2_quaternion& quaternion) {
SetAFloatInVectorObject(obj, 0, quaternion.x);
SetAFloatInVectorObject(obj, 1, quaternion.y);
SetAFloatInVectorObject(obj, 2, quaternion.z);
SetAFloatInVectorObject(obj, 3, quaternion.w);
}
static void AssemblePoseData(v8::Local<v8::Object> obj,
const rs2_pose& pose) {
auto translation_name = Nan::New("translation").ToLocalChecked();
auto velocity_name = Nan::New("velocity").ToLocalChecked();
auto acceleration_name = Nan::New("acceleration").ToLocalChecked();
auto rotation_name = Nan::New("rotation").ToLocalChecked();
auto angular_velocity_name = Nan::New("angularVelocity").ToLocalChecked();
auto angular_acceleration_name =
Nan::New("angularAcceleration").ToLocalChecked();
auto tracker_confidence_name =
Nan::New("trackerConfidence").ToLocalChecked();
auto mapper_confidence_name = Nan::New("mapperConfidence").ToLocalChecked();
auto translation_obj = Nan::GetRealNamedProperty(
obj, translation_name).ToLocalChecked()->ToObject();
auto velocity_obj = Nan::GetRealNamedProperty(
obj, velocity_name).ToLocalChecked()->ToObject();
auto acceleration_obj = Nan::GetRealNamedProperty(
obj, acceleration_name).ToLocalChecked()->ToObject();
auto rotation_obj = Nan::GetRealNamedProperty(
obj, rotation_name).ToLocalChecked()->ToObject();
auto angular_velocity_obj = Nan::GetRealNamedProperty(
obj, angular_velocity_name).ToLocalChecked()->ToObject();
auto angular_acceleration_obj = Nan::GetRealNamedProperty(
obj, angular_acceleration_name).ToLocalChecked()->ToObject();
FillAFloatVector(translation_obj, pose.translation);
FillAFloatVector(velocity_obj, pose.velocity);
FillAFloatVector(acceleration_obj, pose.acceleration);
FillAFloatQuaternion(rotation_obj, pose.rotation);
FillAFloatVector(angular_velocity_obj, pose.angular_velocity);
FillAFloatVector(angular_acceleration_obj, pose.angular_acceleration);
Nan::Set(obj, tracker_confidence_name, Nan::New(pose.tracker_confidence));
Nan::Set(obj, mapper_confidence_name, Nan::New(pose.mapper_confidence));
}
static void New(const Nan::FunctionCallbackInfo<v8::Value>& info) {
if (info.IsConstructCall()) {
RSFrame* obj = new RSFrame();
obj->Wrap(info.This());
info.GetReturnValue().Set(info.This());
}
}
static NAN_METHOD(GetStreamProfile) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me || !me->frame_) return;
rs2_stream stream;
rs2_format format;
int32_t index = 0;
int32_t unique_id = 0;
int32_t fps = 0;
const rs2_stream_profile* profile_org =
GetNativeResult<const rs2_stream_profile*>(rs2_get_frame_stream_profile,
&me->error_, me->frame_, &me->error_);
CallNativeFunc(rs2_get_stream_profile_data, &me->error_, profile_org,
&stream, &format, &index, &unique_id, &fps, &me->error_);
if (me->error_) return;
rs2_stream_profile* profile = GetNativeResult<rs2_stream_profile*>(
rs2_clone_stream_profile, &me->error_, profile_org, stream, index,
format, &me->error_);
if (!profile) return;
info.GetReturnValue().Set(RSStreamProfile::NewInstance(profile, true));
}
static NAN_METHOD(GetData) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto buffer = GetNativeResult<const void*>(rs2_get_frame_data, &me->error_,
me->frame_, &me->error_);
if (!buffer) return;
const auto stride = GetNativeResult<int>(rs2_get_frame_stride_in_bytes,
&me->error_, me->frame_, &me->error_);
const auto height = GetNativeResult<int>(rs2_get_frame_height, &me->error_,
me->frame_, &me->error_);
const auto length = stride * height;
auto array_buffer = v8::ArrayBuffer::New(
v8::Isolate::GetCurrent(),
static_cast<uint8_t*>(const_cast<void*>(buffer)), length,
v8::ArrayBufferCreationMode::kExternalized);
info.GetReturnValue().Set(array_buffer);
}
static NAN_METHOD(WriteData) {
info.GetReturnValue().Set(Nan::Undefined());
auto array_buffer = v8::Local<v8::ArrayBuffer>::Cast(info[0]);
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
const auto buffer = GetNativeResult<const void*>(rs2_get_frame_data,
&me->error_, me->frame_, &me->error_);
const auto stride = GetNativeResult<int>(rs2_get_frame_stride_in_bytes,
&me->error_, me->frame_, &me->error_);
const auto height = GetNativeResult<int>(rs2_get_frame_height, &me->error_,
me->frame_, &me->error_);
const size_t length = stride * height;
if (buffer && array_buffer->ByteLength() >= length) {
auto contents = array_buffer->GetContents();
memcpy(contents.Data(), buffer, length);
}
}
static NAN_METHOD(GetWidth) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto value = GetNativeResult<int>(rs2_get_frame_width, &me->error_,
me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(GetHeight) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto value = GetNativeResult<int>(rs2_get_frame_height, &me->error_,
me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(GetStrideInBytes) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto value = GetNativeResult<int>(rs2_get_frame_stride_in_bytes,
&me->error_, me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(GetBitsPerPixel) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto value = GetNativeResult<int>(rs2_get_frame_bits_per_pixel, &me->error_,
me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(GetTimestamp) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto value = GetNativeResult<double>(rs2_get_frame_timestamp, &me->error_,
me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(GetTimestampDomain) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
auto value = GetNativeResult<rs2_timestamp_domain>(
rs2_get_frame_timestamp_domain, &me->error_, me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(GetFrameNumber) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
uint32_t value = GetNativeResult<uint32_t>(rs2_get_frame_number,
&me->error_, me->frame_, &me->error_);
info.GetReturnValue().Set(Nan::New(value));
}
static NAN_METHOD(IsVideoFrame) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
bool isVideo = false;
if (GetNativeResult<bool>(rs2_is_frame_extendable_to, &me->error_,
me->frame_, RS2_EXTENSION_VIDEO_FRAME, &me->error_))
isVideo = true;
info.GetReturnValue().Set(Nan::New(isVideo));
}
static NAN_METHOD(IsDepthFrame) {
info.GetReturnValue().Set(Nan::Undefined());
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
if (!me) return;
bool isDepth = false;
if (GetNativeResult<bool>(rs2_is_frame_extendable_to, &me->error_,
me->frame_, RS2_EXTENSION_DEPTH_FRAME, &me->error_))
isDepth = true;
info.GetReturnValue().Set(Nan::New(isDepth));
}
static NAN_METHOD(IsDisparityFrame) {
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
info.GetReturnValue().Set(Nan::Undefined());
if (!me) return;
auto is_disparity = GetNativeResult<int>(rs2_is_frame_extendable_to,
&me->error_, me->frame_, RS2_EXTENSION_DISPARITY_FRAME, &me->error_);
info.GetReturnValue().Set(Nan::New(is_disparity ? true : false));
}
static NAN_METHOD(IsMotionFrame) {
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
info.GetReturnValue().Set(Nan::Undefined());
if (!me) return;
auto val = GetNativeResult<int>(rs2_is_frame_extendable_to, &me->error_,
me->frame_, RS2_EXTENSION_MOTION_FRAME, &me->error_);
info.GetReturnValue().Set(Nan::New(val ? true : false));
}
static NAN_METHOD(IsPoseFrame) {
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
info.GetReturnValue().Set(Nan::Undefined());
if (!me) return;
auto val = GetNativeResult<int>(rs2_is_frame_extendable_to, &me->error_,
me->frame_, RS2_EXTENSION_POSE_FRAME, &me->error_);
info.GetReturnValue().Set(Nan::New(val ? true : false));
}
static NAN_METHOD(GetFrameMetadata) {
info.GetReturnValue().Set(Nan::New(false));
auto me = Nan::ObjectWrap::Unwrap<RSFrame>(info.Holder());
rs2_frame_metadata_value metadata =
(rs2_frame_metadata_value)(info[0]->IntegerValue());
Nan::TypedArrayContents<unsigned char> content(info[1]);
unsigned char* internal_data = *content;
if (!me || !internal_data) return;
rs2_metadata_type output = GetNativeResult<rs2_metadata_type>(
rs2_get_frame_metadata, &me->error_, me->frame_, metadata, &me->error_);
unsigned char* out_ptr = reinterpret_cast<unsigned char*>(&output);