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greg |
2.8 |
/* RCSid $Id: depthcodec.h,v 2.7 2020/01/25 05:35:34 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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greg |
2.7 |
(d) > .0 ? (int)(32767.*(d)/(dref) - 32768.999) : -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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greg |
2.6 |
(c) < -1 ? (dref)*(32768.5 + (c))*(1./32767.) : \
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greg |
2.3 |
(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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#ifdef __cplusplus
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}
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#endif
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#endif /* _RAD_DEPTHCODEC_H_ */
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