Enabled implicit stride in k4a_image_create

include/k4a/k4a.h

@@ -595,6 +595,7 @@ K4A_EXPORT float k4a_capture_get_temperature_c(k4a_capture_t capture_handle);
  *
  * \param stride_bytes
  * The number of bytes per horizontal line of the image.
+ * If set to 0, the stride will be set to the minimum size given the \p format and \p width_pixels.
  *
  * \param image_handle
  * Pointer to store image handle in.

src/csharp/SDK/Image.cs

@@ -46,8 +46,8 @@ public class Image : IMemoryOwner<byte>, IDisposable
         /// <param name="format">The pixel format of the image. Must be a format with a constant pixel size.</param>
         /// <param name="widthPixels">Width of the image in pixels.</param>
         /// <param name="heightPixels">Height of the image in pixels.</param>
-        /// <param name="strideBytes">Stride of the image in bytes. Must be as large as the width times the size of a pixel.</param>
-        public Image(ImageFormat format, int widthPixels, int heightPixels, int strideBytes)
+        /// <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>
+        public Image(ImageFormat format, int widthPixels, int heightPixels, int strideBytes = 0)
         {
             // Hook the native allocator and register this object.
             // .Dispose() will be called on this object when the allocator is shut down.
@@ -61,48 +61,6 @@ public Image(ImageFormat format, int widthPixels, int heightPixels, int strideBy
                 out this.handle));
         }
 
-        /// <summary>
-        /// Initializes a new instance of the <see cref="Image"/> class.
-        /// </summary>
-        /// <param name="format">The pixel format of the image. Must be a format with a constant pixel size.</param>
-        /// <param name="widthPixels">Width of the image in pixels.</param>
-        /// <param name="heightPixels">Height of the image in pixels.</param>
-        public Image(ImageFormat format, int widthPixels, int heightPixels)
-        {
-            int pixelSize;
-            switch (format)
-            {
-                case ImageFormat.ColorBGRA32:
-                    pixelSize = 4;
-                    break;
-                case ImageFormat.Depth16:
-                case ImageFormat.IR16:
-                case ImageFormat.Custom16:
-                    pixelSize = 2;
-                    break;
-                case ImageFormat.Custom8:
-                    pixelSize = 1;
-                    break;
-                default:
-                    throw new AzureKinectException($"Unable to allocate array for format {format}");
-            }
-
-            int stride_bytes = widthPixels * pixelSize;
-
-            // Hook the native allocator and register this object.
-            // .Dispose() will be called on this object when the allocator is shut down.
-            Allocator.Singleton.RegisterForDisposal(this);
-
-#pragma warning disable CA2000 // Dispose objects before losing scope
-            AzureKinectException.ThrowIfNotSuccess(() => NativeMethods.k4a_image_create(
-                format,
-                widthPixels,
-                heightPixels,
-                stride_bytes,
-                image_handle: out this.handle));
-#pragma warning restore CA2000 // Dispose objects before losing scope
-        }
-
         /// <summary>
         /// Initializes a new instance of the <see cref="Image"/> class.
         /// </summary>

src/image/image.c

@@ -186,6 +186,12 @@ k4a_result_t image_create(k4a_image_format_t format,
 
     case K4A_IMAGE_FORMAT_COLOR_NV12:
     {
+        if (stride_bytes == 0)
+        {
+            // If stride isn't specified, assume the minimum stride
+            stride_bytes = width_pixels;
+        }
+
         if (height_pixels % 2 != 0)
         {
             LOG_ERROR("NV12 requires an even number of lines. Height %d is invalid.", height_pixels);
@@ -215,6 +221,12 @@ k4a_result_t image_create(k4a_image_format_t format,
     // 1 Byte per pixel
     case K4A_IMAGE_FORMAT_CUSTOM8:
     {
+        if (stride_bytes == 0)
+        {
+            // If stride isn't specified, assume the minimum stride
+            stride_bytes = width_pixels;
+        }
+
         if (stride_bytes < 1 * width_pixels)
         {
             LOG_ERROR("Insufficient stride (%d bytes) to represent image width (%d pixels).",
@@ -235,6 +247,12 @@ k4a_result_t image_create(k4a_image_format_t format,
     case K4A_IMAGE_FORMAT_IR16:
     case K4A_IMAGE_FORMAT_CUSTOM16:
     {
+        if (stride_bytes == 0)
+        {
+            // If stride isn't specified, assume the minimum stride
+            stride_bytes = width_pixels * 2;
+        }
+
         if (stride_bytes < 2 * width_pixels)
         {
             LOG_ERROR("Insufficient stride (%d bytes) to represent image width (%d pixels).",
@@ -253,6 +271,12 @@ k4a_result_t image_create(k4a_image_format_t format,
     // 2 Bytes per pixel
     case K4A_IMAGE_FORMAT_COLOR_YUY2:
     {
+        if (stride_bytes == 0)
+        {
+            // If stride isn't specified, assume the minimum stride
+            stride_bytes = width_pixels * 2;
+        }
+
         if (width_pixels % 2 != 0)
         {
             LOG_ERROR("YUY2 requires an even number of pixels per line. Width of %d is invalid.", width_pixels);
@@ -276,6 +300,12 @@ k4a_result_t image_create(k4a_image_format_t format,
     // 4 Bytes per pixel
     case K4A_IMAGE_FORMAT_COLOR_BGRA32:
     {
+        if (stride_bytes == 0)
+        {
+            // If stride isn't specified, assume the minimum stride
+            stride_bytes = width_pixels * 4;
+        }
+
         if (stride_bytes < 4 * width_pixels)
         {
             LOG_ERROR("Insufficient stride (%d bytes) to represent image width (%d pixels).",

tests/UnitTests/allocator_ut/allocator.cpp

@@ -190,10 +190,6 @@ TEST(allocator_ut, image_api_validation)
         ASSERT_EQ(K4A_RESULT_FAILED,
                   image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 10, 10, 1, ALLOCATION_SOURCE_USER, NULL));
 
-        // Stride of zero
-        ASSERT_EQ(K4A_RESULT_FAILED,
-                  image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
-
         // Stride length
         // Validate a valid length and an invalid length
 
@@ -217,6 +213,11 @@ TEST(allocator_ut, image_api_validation)
         //   Odd number of columns
         ASSERT_EQ(K4A_RESULT_FAILED,
                   image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 11, 10, 20, ALLOCATION_SOURCE_USER, &image));
+        // Stride of zero (should succeed and infer the minimum stride)
+        ASSERT_EQ(K4A_RESULT_SUCCEEDED,
+                  image_create(K4A_IMAGE_FORMAT_COLOR_NV12, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
+        ASSERT_EQ(10, image_get_stride_bytes(image));
+        image_dec_ref(image);
 
         // YUY2
         //   Minimum stride
@@ -240,6 +241,11 @@ TEST(allocator_ut, image_api_validation)
         //   Odd number of columns
         ASSERT_EQ(K4A_RESULT_FAILED,
                   image_create(K4A_IMAGE_FORMAT_COLOR_YUY2, 11, 10, 20, ALLOCATION_SOURCE_USER, &image));
+        // Stride of zero (should succeed and infer the minimum stride)
+        ASSERT_EQ(K4A_RESULT_SUCCEEDED,
+                  image_create(K4A_IMAGE_FORMAT_COLOR_YUY2, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
+        ASSERT_EQ(10 * 2, image_get_stride_bytes(image));
+        image_dec_ref(image);
 
         // BGRA32
         //   Minimum stride
@@ -250,6 +256,11 @@ TEST(allocator_ut, image_api_validation)
         //   Insufficient stride
         ASSERT_EQ(K4A_RESULT_FAILED,
                   image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, 10, 10, 39, ALLOCATION_SOURCE_USER, &image));
+        // Stride of zero (should succeed and infer the minimum stride)
+        ASSERT_EQ(K4A_RESULT_SUCCEEDED,
+                  image_create(K4A_IMAGE_FORMAT_COLOR_BGRA32, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
+        ASSERT_EQ(10 * 4, image_get_stride_bytes(image));
+        image_dec_ref(image);
 
         // MJPEG (no length is valid)
         ASSERT_EQ(K4A_RESULT_FAILED,
@@ -264,6 +275,11 @@ TEST(allocator_ut, image_api_validation)
         //   Insufficient stride
         ASSERT_EQ(K4A_RESULT_FAILED,
                   image_create(K4A_IMAGE_FORMAT_DEPTH16, 10, 10, 19, ALLOCATION_SOURCE_USER, &image));
+        // Stride of zero (should succeed and infer the minimum stride)
+        ASSERT_EQ(K4A_RESULT_SUCCEEDED,
+                  image_create(K4A_IMAGE_FORMAT_DEPTH16, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
+        ASSERT_EQ(10 * 2, image_get_stride_bytes(image));
+        image_dec_ref(image);
 
         // Custom8
         //   Minimum stride
@@ -274,6 +290,11 @@ TEST(allocator_ut, image_api_validation)
         //   Insufficient stride
         ASSERT_EQ(K4A_RESULT_FAILED,
                   (int)image_create(K4A_IMAGE_FORMAT_CUSTOM8, 10, 10, 9, ALLOCATION_SOURCE_USER, &image));
+        // Stride of zero (should succeed and infer the minimum stride)
+        ASSERT_EQ(K4A_RESULT_SUCCEEDED,
+                  image_create(K4A_IMAGE_FORMAT_CUSTOM8, 10, 10, 0, ALLOCATION_SOURCE_USER, &image));
+        ASSERT_EQ(10 * 1, image_get_stride_bytes(image));
+        image_dec_ref(image);
 
         // Height of zero
         ASSERT_EQ(K4A_RESULT_FAILED,