| 1 |
#ifndef lint |
| 2 |
static const char RCSid[] = "$Id: fltdepth.c,v 3.4 2019/11/11 16:45:30 greg Exp $"; |
| 3 |
#endif |
| 4 |
/* |
| 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 |
fprintf(stderr, "%s: cannot open for reading\n", fname); |
| 27 |
return(-1); |
| 28 |
} |
| 29 |
if (expected_length > 0) { |
| 30 |
off_t flen = lseek(fd, 0, SEEK_END); |
| 31 |
if (flen != expected_length*sizeof(float)) { |
| 32 |
fprintf(stderr, "%s: expected length is %ld, actual length is %ld\n", |
| 33 |
fname, expected_length, (long)(flen/sizeof(float))); |
| 34 |
close(fd); |
| 35 |
return(-1); |
| 36 |
} |
| 37 |
lseek(fd, 0, SEEK_SET); |
| 38 |
} |
| 39 |
return(fd); |
| 40 |
} |
| 41 |
|
| 42 |
#else /* ! defined(_WIN32) || defined(_WIN64) */ |
| 43 |
|
| 44 |
#include <ctype.h> |
| 45 |
#include "fvect.h" |
| 46 |
#include "depthcodec.h" |
| 47 |
|
| 48 |
#define FBUFLEN 1024 /* depth conversion batch size */ |
| 49 |
|
| 50 |
/* Return file descriptor for open raw float file, or -1 on error */ |
| 51 |
/* Set expected_length to width*height, or 0 if unknown */ |
| 52 |
int |
| 53 |
open_float_depth(const char *fname, long expected_length) |
| 54 |
{ |
| 55 |
char buf[FBUFLEN*sizeof(float)]; |
| 56 |
DEPTHCODEC dc; |
| 57 |
ssize_t n, nleft; |
| 58 |
int fd = open(fname, O_RDONLY); |
| 59 |
|
| 60 |
if (fd < 0) { |
| 61 |
perror(fname); |
| 62 |
return(-1); |
| 63 |
} |
| 64 |
dc.finp = NULL; |
| 65 |
if (expected_length <= 0) { /* need to sniff file? */ |
| 66 |
extern const char HDRSTR[]; |
| 67 |
const int len = strlen(HDRSTR); |
| 68 |
if (read(fd, buf, len+1) < len+1) |
| 69 |
goto badEOF; |
| 70 |
if (lseek(fd, 0, SEEK_SET) != 0) |
| 71 |
goto seek_error; |
| 72 |
for (n = 0; n < len; n++) |
| 73 |
if (buf[n] != HDRSTR[n]) |
| 74 |
break; |
| 75 |
if ((n < len) | !isprint(buf[len])) |
| 76 |
return(fd); /* unknown length raw float... */ |
| 77 |
} else { |
| 78 |
off_t flen = lseek(fd, 0, SEEK_END); |
| 79 |
if (flen < 0 || lseek(fd, 0, SEEK_SET) != 0) |
| 80 |
goto seek_error; |
| 81 |
if (flen == expected_length*sizeof(float)) |
| 82 |
return(fd); /* it's the right length for raw */ |
| 83 |
} |
| 84 |
/* We're thinking it's an encoded depth file at this point... */ |
| 85 |
set_dc_defaults(&dc); /* load & convert if we can */ |
| 86 |
dc.finp = fdopen(fd, "r"); |
| 87 |
if (!dc.finp) { /* out of memory?? */ |
| 88 |
perror("fdopen"); |
| 89 |
close(fd); |
| 90 |
return(-1); |
| 91 |
} |
| 92 |
dc.inpname = fname; /* check encoded depth header */ |
| 93 |
dc.hdrflags = HF_HEADIN|HF_RESIN|HF_STDERR; |
| 94 |
if (!process_dc_header(&dc, 0, NULL) || !check_decode_depths(&dc)) { |
| 95 |
fclose(dc.finp); /* already reported error */ |
| 96 |
return(-1); |
| 97 |
} |
| 98 |
if ((expected_length > 0) & |
| 99 |
((long)dc.res.xr*dc.res.yr != expected_length)) { |
| 100 |
fprintf(stderr, "%s: expected length is %ld, actual length is %ld\n", |
| 101 |
fname, expected_length, (long)dc.res.xr*dc.res.yr); |
| 102 |
fclose(dc.finp); |
| 103 |
return(-1); |
| 104 |
} |
| 105 |
strcpy(buf, TEMPLATE); /* create temporary file to hold raw */ |
| 106 |
fd = mkstemp(buf); |
| 107 |
if (fd < 0) { |
| 108 |
perror(buf); |
| 109 |
fclose(dc.finp); |
| 110 |
return(-1); |
| 111 |
} |
| 112 |
unlink(buf); /* preemptive remove (Windows forbids) */ |
| 113 |
for (nleft = (ssize_t)dc.res.xr*dc.res.yr; nleft > 0; nleft -= FBUFLEN) { |
| 114 |
for (n = 0; n < FBUFLEN; n++) { |
| 115 |
double d = decode_depth_next(&dc); |
| 116 |
if (d < -FTINY) { |
| 117 |
if (n < nleft) |
| 118 |
goto badEOF; |
| 119 |
break; |
| 120 |
} |
| 121 |
((float *)buf)[n] = d; |
| 122 |
} |
| 123 |
n *= sizeof(float); |
| 124 |
if (write(fd, buf, n) != n) { |
| 125 |
perror("write"); |
| 126 |
fclose(dc.finp); |
| 127 |
close(fd); |
| 128 |
return(-1); |
| 129 |
} |
| 130 |
} |
| 131 |
fclose(dc.finp); /* all done -- clean up */ |
| 132 |
if (lseek(fd, 0, SEEK_SET) == 0) |
| 133 |
return(fd); |
| 134 |
seek_error: |
| 135 |
perror("lseek"); |
| 136 |
close(fd); |
| 137 |
return(-1); |
| 138 |
badEOF: |
| 139 |
fputs(fname, stderr); |
| 140 |
fputs(": unexpected end-of-file\n", stderr); |
| 141 |
if (dc.finp) fclose(dc.finp); |
| 142 |
close(fd); |
| 143 |
return(-1); |
| 144 |
} |
| 145 |
|
| 146 |
#endif |
