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greg |
2.5 |
/* RCSid $Id: depthcodec.h,v 2.4 2019/08/14 21:00:14 greg Exp $ */ |
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greg |
2.1 |
/* |
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* Definitions and declarations for 16-bit depth encode/decode |
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* |
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greg |
2.5 |
* Include after rtio.h and fvect.h |
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greg |
2.1 |
* Includes view.h |
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*/ |
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#ifndef _RAD_DEPTHCODEC_H_ |
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#define _RAD_DEPTHCODEC_H_ |
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#include "view.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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#define DEPTHSTR "REFDEPTH=" |
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#define LDEPTHSTR 9 |
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#define DEPTH16FMT "16-bit_encoded_depth" |
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greg |
2.2 |
#define HF_HEADIN 0x1 /* expect input header */ |
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#define HF_HEADOUT 0x2 /* write header to stdout */ |
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#define HF_RESIN 0x4 /* expect resolution string */ |
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#define HF_RESOUT 0x8 /* write resolution to stdout */ |
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#define HF_STDERR 0x10 /* report errors to stderr */ |
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#define HF_ALL 0x1f /* all flags above */ |
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#define HF_ENCODE 0x20 /* we are encoding */ |
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greg |
2.1 |
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/* Structure for encoding/decoding depths and world points */ |
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typedef struct { |
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FILE *finp; /* input stream */ |
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const char *inpname; /* input name */ |
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greg |
2.4 |
short format; /* decoded format */ |
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short swapped; /* byte-swapped input */ |
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greg |
2.5 |
short last_dc; /* last depth-code read */ |
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short use_last; /* use last depth-code next */ |
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greg |
2.1 |
long dstart; /* start of data */ |
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long curpos; /* current input position */ |
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double refdepth; /* reference depth */ |
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char depth_unit[32]; /* string including units */ |
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greg |
2.5 |
short hdrflags; /* header i/o flags */ |
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greg |
2.1 |
char inpfmt[MAXFMTLEN]; /* format from header */ |
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greg |
2.5 |
short gotview; /* got input view? */ |
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greg |
2.1 |
VIEW vw; /* input view parameters */ |
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RESOLU res; /* input resolution */ |
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} DEPTHCODEC; |
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/* Encode depth as 16-bit signed integer */ |
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greg |
2.3 |
#if 1 |
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greg |
2.1 |
#define depth2code(d, dref) \ |
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( (d) > (dref) ? (int)(32768.001 - 32768.*(dref)/(d))-1 : \ |
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(d) > .0 ? (int)(32767.*(d)/(dref) - 32768.) : -32768 ) |
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greg |
2.3 |
#else |
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extern int depth2code(double d, double dref); |
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#endif |
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greg |
2.1 |
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/* Decode depth from 16-bit signed integer */ |
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greg |
2.3 |
#if 1 |
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#define code2depth(c, dref) \ |
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( (c) <= -32768 ? .0 : (c) >= 32767 ? FHUGE : \ |
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(c) < 0 ? (dref)*(32767.5 + (c))*(1./32767.) : \ |
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(dref)*32768./(32766.5 - (c)) ) |
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#else |
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greg |
2.1 |
extern double code2depth(int c, double dref); |
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greg |
2.3 |
#endif |
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greg |
2.1 |
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/* Set codec defaults */ |
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extern void set_dc_defaults(DEPTHCODEC *dcp); |
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/* Load/copy header */ |
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extern int process_dc_header(DEPTHCODEC *dcp, int ac, char *av[]); |
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/* Check that we have what we need to decode depths */ |
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extern int check_decode_depths(DEPTHCODEC *dcp); |
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/* Decode next depth pixel from input */ |
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extern double decode_depth_next(DEPTHCODEC *dcp); |
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/* Seek to the indicated pixel position */ |
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extern int seek_dc_pix(DEPTHCODEC *dcp, int x, int y); |
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/* Read and decode depth for the given pixel */ |
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extern double decode_depth_pix(DEPTHCODEC *dcp, int x, int y); |
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/* Check that we have what we need to decode world positions */ |
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extern int check_decode_worldpos(DEPTHCODEC *dcp); |
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/* Compute world position from pixel position and depth */ |
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extern int compute_worldpos(FVECT wpos, DEPTHCODEC *dcp, |
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int x, int y, double d); |
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/* Decode the next world position from input */ |
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int decode_worldpos_next(FVECT wpos, DEPTHCODEC *dcp); |
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/* Decode depth and compute world position for the given pixel */ |
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extern int get_worldpos_pix(FVECT wpos, DEPTHCODEC *dcp, int x, int y); |
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extern char *progname; /* global argv[0] (set by main) */ |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* _RAD_DEPTHCODEC_H_ */ |
