1 |
greg |
3.2 |
#ifndef lint |
2 |
greg |
3.3 |
static const char RCSid[] = "$Id: fltdepth.c,v 3.2 2019/11/07 23:33:45 greg Exp $"; |
3 |
greg |
3.2 |
#endif |
4 |
greg |
3.1 |
/* |
5 |
|
|
* Function to open floating-point depth file, making sure it's |
6 |
|
|
* the correct length, and converting from encoded 16-bit |
7 |
|
|
* depth into a temporary file if needed |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#include "rtio.h" |
11 |
|
|
#include "paths.h" |
12 |
|
|
|
13 |
|
|
#if defined(_WIN32) || defined(_WIN64) |
14 |
|
|
|
15 |
|
|
#include "platform.h" |
16 |
|
|
|
17 |
|
|
/* Return file descriptor for open raw float file, or -1 on error */ |
18 |
|
|
/* Set expected_length to width*height, or 0 if unknown */ |
19 |
|
|
/* We don't translate encoded depth under Windows because of temp file issue */ |
20 |
|
|
int |
21 |
|
|
open_float_depth(const char *fname, long expected_length) |
22 |
|
|
{ |
23 |
|
|
int fd = open(fname, O_RDONLY|O_BINARY); |
24 |
|
|
|
25 |
|
|
if (fd < 0) |
26 |
|
|
return(-1); |
27 |
|
|
if (expected_length > 0) { |
28 |
|
|
off_t flen = lseek(fd, 0, SEEK_END); |
29 |
|
|
if (flen != expected_length*sizeof(float)) { |
30 |
|
|
fprintf(stderr, "%s: expected length is %ld, actual length is %ld\n", |
31 |
|
|
fname, expected_length, (long)(flen/sizeof(float))); |
32 |
|
|
close(fd); |
33 |
|
|
return(-1); |
34 |
|
|
} |
35 |
|
|
lseek(fd, 0, SEEK_SET); |
36 |
|
|
} |
37 |
|
|
return(fd); |
38 |
|
|
} |
39 |
|
|
|
40 |
|
|
#else /* ! defined(_WIN32) || defined(_WIN64) */ |
41 |
|
|
|
42 |
|
|
#include <ctype.h> |
43 |
|
|
#include "fvect.h" |
44 |
|
|
#include "depthcodec.h" |
45 |
|
|
|
46 |
|
|
#define FBUFLEN 1024 /* depth conversion batch size */ |
47 |
|
|
|
48 |
|
|
/* Return file descriptor for open raw float file, or -1 on error */ |
49 |
|
|
/* Set expected_length to width*height, or 0 if unknown */ |
50 |
|
|
int |
51 |
|
|
open_float_depth(const char *fname, long expected_length) |
52 |
|
|
{ |
53 |
|
|
char buf[FBUFLEN*sizeof(float)]; |
54 |
|
|
DEPTHCODEC dc; |
55 |
|
|
ssize_t n, nleft; |
56 |
|
|
int fd = open(fname, O_RDONLY); |
57 |
|
|
|
58 |
|
|
if (fd < 0) |
59 |
|
|
return(-1); |
60 |
|
|
dc.finp = NULL; |
61 |
|
|
if (expected_length <= 0) { /* need to sniff file? */ |
62 |
|
|
extern const char HDRSTR[]; |
63 |
|
|
const int len = strlen(HDRSTR); |
64 |
greg |
3.3 |
if (read(fd, buf, len+1) < len+1) |
65 |
greg |
3.1 |
goto gotEOF; |
66 |
|
|
if (lseek(fd, 0, SEEK_SET) != 0) |
67 |
|
|
goto seek_error; |
68 |
|
|
for (n = 0; n < len; n++) |
69 |
|
|
if (buf[n] != HDRSTR[n]) |
70 |
|
|
break; |
71 |
greg |
3.3 |
if ((n < len) | !isprint(buf[len])) |
72 |
greg |
3.1 |
return(fd); /* unknown length raw float... */ |
73 |
|
|
} else { |
74 |
|
|
off_t flen = lseek(fd, 0, SEEK_END); |
75 |
|
|
if (flen < 0 || lseek(fd, 0, SEEK_SET) != 0) |
76 |
|
|
goto seek_error; |
77 |
|
|
if (flen == expected_length*sizeof(float)) |
78 |
|
|
return(fd); /* it's the right length for raw */ |
79 |
|
|
} |
80 |
|
|
/* We're thinking it's an encoded depth file at this point... */ |
81 |
|
|
set_dc_defaults(&dc); /* load & convert if we can */ |
82 |
|
|
dc.finp = fdopen(fd, "r"); |
83 |
|
|
if (!dc.finp) { /* out of memory?? */ |
84 |
|
|
perror("fdopen"); |
85 |
|
|
close(fd); |
86 |
|
|
return(-1); |
87 |
|
|
} |
88 |
|
|
dc.inpname = fname; /* check encoded depth header */ |
89 |
|
|
dc.hdrflags = HF_HEADIN|HF_RESIN|HF_STDERR; |
90 |
|
|
if (!process_dc_header(&dc, 0, NULL) || !check_decode_depths(&dc)) { |
91 |
|
|
fclose(dc.finp); /* already reported error */ |
92 |
|
|
return(-1); |
93 |
|
|
} |
94 |
greg |
3.3 |
if ((expected_length > 0) & |
95 |
|
|
((long)dc.res.xr*dc.res.yr != expected_length)) { |
96 |
greg |
3.1 |
fprintf(stderr, "%s: expected length is %ld, actual length is %ld\n", |
97 |
greg |
3.3 |
fname, expected_length, (long)dc.res.xr*dc.res.yr); |
98 |
greg |
3.1 |
fclose(dc.finp); |
99 |
|
|
return(-1); |
100 |
|
|
} |
101 |
|
|
strcpy(buf, TEMPLATE); /* create temporary file to hold raw */ |
102 |
|
|
fd = mkstemp(buf); |
103 |
|
|
if (fd < 0) { |
104 |
greg |
3.3 |
perror(buf); |
105 |
greg |
3.1 |
fclose(dc.finp); |
106 |
|
|
return(-1); |
107 |
|
|
} |
108 |
greg |
3.3 |
unlink(buf); /* preemptive remove (Windows forbids) */ |
109 |
greg |
3.1 |
for (nleft = (ssize_t)dc.res.xr*dc.res.yr; nleft > 0; nleft -= FBUFLEN) { |
110 |
|
|
for (n = 0; n < FBUFLEN; n++) { |
111 |
|
|
double d = decode_depth_next(&dc); |
112 |
|
|
if (d < 0) { |
113 |
|
|
if (n < nleft) |
114 |
|
|
goto gotEOF; |
115 |
|
|
break; |
116 |
|
|
} |
117 |
greg |
3.3 |
((float *)buf)[n] = d; |
118 |
greg |
3.1 |
} |
119 |
|
|
n *= sizeof(float); |
120 |
|
|
if (write(fd, buf, n) != n) { |
121 |
|
|
perror("write"); |
122 |
|
|
fclose(dc.finp); |
123 |
|
|
close(fd); |
124 |
|
|
return(-1); |
125 |
|
|
} |
126 |
|
|
} |
127 |
|
|
fclose(dc.finp); /* all done -- clean up */ |
128 |
|
|
if (lseek(fd, 0, SEEK_SET) != 0) |
129 |
|
|
goto seek_error; |
130 |
|
|
return(fd); |
131 |
|
|
gotEOF: |
132 |
|
|
fputs(fname, stderr); |
133 |
|
|
fputs(": unexpected end-of-file\n", stderr); |
134 |
|
|
if (dc.finp) fclose(dc.finp); |
135 |
|
|
close(fd); |
136 |
|
|
return(-1); |
137 |
|
|
seek_error: |
138 |
|
|
perror("lseek"); |
139 |
|
|
close(fd); |
140 |
|
|
return(-1); |
141 |
|
|
} |
142 |
|
|
|
143 |
greg |
3.2 |
#endif |