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#ifndef lint |
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static const char RCSid[] = "$Id: fltdepth.c,v 3.2 2019/11/07 23:33:45 greg Exp $"; |
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#endif |
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/* |
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* Function to open floating-point depth file, making sure it's |
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* the correct length, and converting from encoded 16-bit |
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* depth into a temporary file if needed |
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*/ |
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|
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#include "rtio.h" |
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#include "paths.h" |
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|
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#if defined(_WIN32) || defined(_WIN64) |
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|
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#include "platform.h" |
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|
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/* Return file descriptor for open raw float file, or -1 on error */ |
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/* Set expected_length to width*height, or 0 if unknown */ |
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/* We don't translate encoded depth under Windows because of temp file issue */ |
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int |
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open_float_depth(const char *fname, long expected_length) |
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{ |
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int fd = open(fname, O_RDONLY|O_BINARY); |
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|
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if (fd < 0) |
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return(-1); |
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if (expected_length > 0) { |
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off_t flen = lseek(fd, 0, SEEK_END); |
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if (flen != expected_length*sizeof(float)) { |
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fprintf(stderr, "%s: expected length is %ld, actual length is %ld\n", |
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fname, expected_length, (long)(flen/sizeof(float))); |
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close(fd); |
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return(-1); |
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} |
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lseek(fd, 0, SEEK_SET); |
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} |
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return(fd); |
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} |
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|
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#else /* ! defined(_WIN32) || defined(_WIN64) */ |
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|
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#include <ctype.h> |
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#include "fvect.h" |
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#include "depthcodec.h" |
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|
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#define FBUFLEN 1024 /* depth conversion batch size */ |
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|
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/* Return file descriptor for open raw float file, or -1 on error */ |
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/* Set expected_length to width*height, or 0 if unknown */ |
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int |
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open_float_depth(const char *fname, long expected_length) |
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{ |
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char buf[FBUFLEN*sizeof(float)]; |
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DEPTHCODEC dc; |
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ssize_t n, nleft; |
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int fd = open(fname, O_RDONLY); |
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|
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if (fd < 0) |
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return(-1); |
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dc.finp = NULL; |
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if (expected_length <= 0) { /* need to sniff file? */ |
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extern const char HDRSTR[]; |
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const int len = strlen(HDRSTR); |
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if (read(fd, buf, len+1) < len+1) |
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goto gotEOF; |
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if (lseek(fd, 0, SEEK_SET) != 0) |
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goto seek_error; |
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for (n = 0; n < len; n++) |
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if (buf[n] != HDRSTR[n]) |
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break; |
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if ((n < len) | !isprint(buf[len])) |
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return(fd); /* unknown length raw float... */ |
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} else { |
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off_t flen = lseek(fd, 0, SEEK_END); |
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if (flen < 0 || lseek(fd, 0, SEEK_SET) != 0) |
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goto seek_error; |
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if (flen == expected_length*sizeof(float)) |
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return(fd); /* it's the right length for raw */ |
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} |
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/* We're thinking it's an encoded depth file at this point... */ |
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set_dc_defaults(&dc); /* load & convert if we can */ |
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dc.finp = fdopen(fd, "r"); |
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if (!dc.finp) { /* out of memory?? */ |
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perror("fdopen"); |
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close(fd); |
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return(-1); |
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} |
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dc.inpname = fname; /* check encoded depth header */ |
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dc.hdrflags = HF_HEADIN|HF_RESIN|HF_STDERR; |
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if (!process_dc_header(&dc, 0, NULL) || !check_decode_depths(&dc)) { |
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fclose(dc.finp); /* already reported error */ |
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return(-1); |
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} |
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if ((expected_length > 0) & |
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((long)dc.res.xr*dc.res.yr != expected_length)) { |
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fprintf(stderr, "%s: expected length is %ld, actual length is %ld\n", |
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fname, expected_length, (long)dc.res.xr*dc.res.yr); |
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fclose(dc.finp); |
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return(-1); |
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} |
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strcpy(buf, TEMPLATE); /* create temporary file to hold raw */ |
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fd = mkstemp(buf); |
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if (fd < 0) { |
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perror(buf); |
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fclose(dc.finp); |
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return(-1); |
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} |
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unlink(buf); /* preemptive remove (Windows forbids) */ |
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for (nleft = (ssize_t)dc.res.xr*dc.res.yr; nleft > 0; nleft -= FBUFLEN) { |
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for (n = 0; n < FBUFLEN; n++) { |
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double d = decode_depth_next(&dc); |
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if (d < 0) { |
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if (n < nleft) |
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goto gotEOF; |
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break; |
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} |
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((float *)buf)[n] = d; |
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} |
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n *= sizeof(float); |
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if (write(fd, buf, n) != n) { |
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perror("write"); |
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fclose(dc.finp); |
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close(fd); |
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return(-1); |
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} |
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} |
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fclose(dc.finp); /* all done -- clean up */ |
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if (lseek(fd, 0, SEEK_SET) != 0) |
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goto seek_error; |
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return(fd); |
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gotEOF: |
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fputs(fname, stderr); |
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fputs(": unexpected end-of-file\n", stderr); |
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if (dc.finp) fclose(dc.finp); |
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close(fd); |
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return(-1); |
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seek_error: |
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perror("lseek"); |
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close(fd); |
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return(-1); |
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} |
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|
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#endif |
