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#ifndef lint |
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static const char RCSid[] = "$Id: rcode_depth.c,v 2.11 2020/07/20 15:53:30 greg Exp $"; |
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#endif |
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/* |
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* Encode and decode depth map using 16-bit integers |
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*/ |
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|
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#include "copyright.h" |
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|
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#include <stdlib.h> |
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#include <math.h> |
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#include <ctype.h> |
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#include "platform.h" |
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#include "rtio.h" |
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#include "fvect.h" |
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#include "depthcodec.h" |
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|
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char *progname; /* set in main() */ |
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|
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enum {CV_FWD, CV_REV, CV_PTS}; |
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|
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|
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/* Report usage error and exit */ |
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static void |
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usage_exit(int code) |
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{ |
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fputs("Usage: ", stderr); |
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fputs(progname, stderr); |
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fputs( |
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" [-d ref_depth/unit][-h[io]][-H[io]][-f[afd]][-x xr -y yr] [input [output.dpt]]\n", |
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stderr); |
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fputs(" Or: ", stderr); |
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fputs(progname, stderr); |
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fputs( |
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" {-r|-p} [-i][-u][-h[io]][-H[io]][-f[afd]] [input.dpt [output]]\n", |
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stderr); |
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exit(code); |
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} |
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|
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|
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/* Encode depths from input stream */ |
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static int |
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encode_depths(DEPTHCODEC *dcp) |
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{ |
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long nexpected = (long)dcp->res.xr * dcp->res.yr; |
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|
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if (dcp->inpfmt[0]) { |
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if (!strcmp(dcp->inpfmt, "ascii")) |
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dcp->format = 'a'; |
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else if (!strcmp(dcp->inpfmt, "float")) |
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dcp->format = 'f'; |
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else if (!strcmp(dcp->inpfmt, "double")) |
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dcp->format = 'd'; |
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else { |
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fputs(dcp->inpname, stderr); |
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fputs(": unsupported input format: ", stderr); |
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fputs(dcp->inpfmt, stderr); |
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fputc('\n', stderr); |
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return 0; |
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} |
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} |
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if (dcp->format == 'a') |
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SET_FILE_TEXT(dcp->finp); |
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|
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do { |
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int ok = 0; |
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float f; |
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double d; |
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|
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switch (dcp->format) { |
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case 'a': |
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ok = (fscanf(dcp->finp, "%lf", &d) == 1); |
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break; |
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case 'f': |
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ok = (getbinary(&f, sizeof(f), 1, dcp->finp) == 1); |
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if (dcp->swapped) |
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swap32((char *)&f, 1); |
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d = f; |
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break; |
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case 'd': |
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ok = (getbinary(&d, sizeof(d), 1, dcp->finp) == 1); |
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if (dcp->swapped) |
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swap64((char *)&d, 1); |
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break; |
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} |
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if (!ok) |
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break; |
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|
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putint(depth2code(d, dcp->refdepth), 2, stdout); |
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|
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} while (--nexpected); |
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|
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if (nexpected > 0) { |
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fputs(dcp->inpname, stderr); |
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fputs(": fewer depths than expected\n", stderr); |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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/* Convert and output the given depth to stdout */ |
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static void |
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output_depth(DEPTHCODEC *dcp, double d) |
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{ |
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float f; |
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|
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switch (dcp->format) { |
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case 'a': |
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printf("%.5e\n", d); |
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break; |
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case 'f': |
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f = d; |
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putbinary(&f, sizeof(f), 1, stdout); |
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break; |
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case 'd': |
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putbinary(&d, sizeof(d), 1, stdout); |
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break; |
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} |
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} |
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|
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|
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/* Decode depths from input stream */ |
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static int |
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decode_depths(DEPTHCODEC *dcp) |
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{ |
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long nexpected = (long)dcp->res.xr * dcp->res.yr; |
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|
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if (!check_decode_depths(dcp)) |
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return 0; |
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|
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do { |
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double d = decode_depth_next(dcp); |
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if (d < -FTINY) |
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break; |
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output_depth(dcp, d); |
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|
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} while (--nexpected); |
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|
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if (nexpected > 0) { |
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fputs(dcp->inpname, stderr); |
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fputs(": unexpected EOF\n", stderr); |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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/* Decode depths at particular pixels given on standard input */ |
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static int |
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pixel_depths(DEPTHCODEC *dcp, int unbuf) |
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{ |
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int xy[2]; |
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double d; |
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|
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if (dcp->finp == stdin) { |
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fputs(progname, stderr); |
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fputs(": <stdin> used for encoded depths\n", stderr); |
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return 0; |
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} |
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if (!check_decode_depths(dcp)) |
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return 0; |
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|
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while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
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loc2pix(xy, &dcp->res, xy[0]/(double)dcp->res.xr, |
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xy[1]/(double)dcp->res.yr); |
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d = decode_depth_pix(dcp, xy[0], xy[1]); |
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if (d < -FTINY) |
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return 0; |
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output_depth(dcp, d); |
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if (unbuf && fflush(stdout) == EOF) { |
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fputs(progname, stderr); |
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fputs(": write error on output\n", stderr); |
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return 0; |
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} |
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} |
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if (!feof(stdin)) { |
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fputs(progname, stderr); |
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fputs(": non-integer as pixel index\n", stderr); |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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/* Output the given world position to stdout */ |
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static void |
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output_worldpos(DEPTHCODEC *dcp, FVECT wpos) |
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{ |
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switch (dcp->format) { |
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case 'a': |
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printf("%.5e %.5e %.5e\n", wpos[0], wpos[1], wpos[2]); |
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break; |
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#ifdef SMLFLT |
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case 'f': |
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putbinary(wpos, sizeof(*wpos), 3, stdout); |
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break; |
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case 'd': { |
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double wpd[3]; |
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VCOPY(wpd, wpos); |
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putbinary(wpd, sizeof(*wpd), 3, stdout); |
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} |
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break; |
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#else |
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case 'f': { |
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float wpf[3]; |
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VCOPY(wpf, wpos); |
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putbinary(wpf, sizeof(*wpf), 3, stdout); |
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} |
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break; |
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case 'd': |
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putbinary(wpos, sizeof(*wpos), 3, stdout); |
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break; |
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#endif |
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} |
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} |
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|
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|
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/* Decode world points from input stream */ |
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static int |
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decode_points(DEPTHCODEC *dcp) |
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{ |
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long n = (long)dcp->res.xr * dcp->res.yr; |
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|
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if (!check_decode_worldpos(dcp)) |
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return 0; |
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|
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while (n-- > 0) { |
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FVECT wpos; |
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if (decode_worldpos_next(wpos, dcp) < 0) { |
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if (feof(dcp->finp)) { |
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fputs(dcp->inpname, stderr); |
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fputs(": unexpected EOF\n", stderr); |
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} |
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return 0; |
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} |
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output_worldpos(dcp, wpos); |
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} |
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return 1; |
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} |
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|
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|
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/* Decode world points at particular pixels given on standard input */ |
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static int |
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pixel_points(DEPTHCODEC *dcp, int unbuf) |
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{ |
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int xy[2]; |
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FVECT wpos; |
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|
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if (dcp->finp == stdin) { |
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fputs(progname, stderr); |
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fputs(": <stdin> used for encoded depths\n", stderr); |
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return 0; |
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} |
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if (!check_decode_worldpos(dcp)) |
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return 0; |
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|
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while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
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loc2pix(xy, &dcp->res, xy[0]/(double)dcp->res.xr, |
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xy[1]/(double)dcp->res.yr); |
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if (get_worldpos_pix(wpos, dcp, xy[0], xy[1]) < 0) |
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return 0; |
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output_worldpos(dcp, wpos); |
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if (unbuf && fflush(stdout) == EOF) { |
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fputs(progname, stderr); |
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fputs(": write error on output\n", stderr); |
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return 0; |
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} |
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} |
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if (!feof(stdin)) { |
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fputs(progname, stderr); |
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fputs(": non-integer as pixel index\n", stderr); |
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return 0; |
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} |
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return 1; |
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} |
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|
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|
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int |
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main(int argc, char *argv[]) |
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{ |
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int xres=0, yres=0; |
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int conversion = CV_FWD; |
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int bypixel = 0; |
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int unbuffered = 0; |
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DEPTHCODEC dc; |
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int a; |
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|
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progname = argv[0]; |
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set_dc_defaults(&dc); |
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dc.hdrflags = HF_ALL; |
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for (a = 1; a < argc && argv[a][0] == '-'; a++) |
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switch (argv[a][1]) { |
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case 'd': |
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strlcpy(dc.depth_unit, argv[++a], sizeof(dc.depth_unit)); |
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dc.refdepth = atof(dc.depth_unit); |
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if (dc.refdepth <= .0) { |
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fputs(progname, stderr); |
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fputs(": illegal -d reference depth\n", stderr); |
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return 1; |
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} |
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break; |
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case 'r': |
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conversion = CV_REV; |
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break; |
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case 'p': |
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conversion = CV_PTS; |
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break; |
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case 'f': |
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switch (argv[a][2]) { |
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case 'f': |
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case 'd': |
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case 'a': |
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dc.format = argv[a][2]; |
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break; |
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default: |
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fputs(progname, stderr); |
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fputs(": unsupported -f? format\n", stderr); |
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usage_exit(1); |
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} |
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break; |
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case 'h': |
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switch (argv[a][2]) { |
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case '\0': |
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dc.hdrflags &= ~(HF_HEADIN|HF_HEADOUT); |
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break; |
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case 'i': |
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case 'I': |
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dc.hdrflags &= ~HF_HEADIN; |
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break; |
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case 'o': |
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case 'O': |
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dc.hdrflags &= ~HF_HEADOUT; |
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break; |
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default: |
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usage_exit(1); |
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} |
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break; |
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case 'H': |
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switch (argv[a][2]) { |
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case '\0': |
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dc.hdrflags &= ~(HF_RESIN|HF_RESOUT); |
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break; |
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case 'i': |
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case 'I': |
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dc.hdrflags &= ~HF_RESIN; |
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break; |
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case 'o': |
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case 'O': |
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dc.hdrflags &= ~HF_RESOUT; |
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break; |
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default: |
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usage_exit(1); |
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} |
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break; |
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case 'x': |
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xres = atoi(argv[++a]); |
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break; |
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case 'y': |
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yres = atoi(argv[++a]); |
361 |
break; |
362 |
case 'i': |
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bypixel++; |
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break; |
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case 'u': |
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unbuffered++; |
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break; |
368 |
default: |
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usage_exit(1); |
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} |
371 |
dc.hdrflags |= (conversion == CV_FWD) * HF_ENCODE; |
372 |
|
373 |
if ((xres > 0) & (yres > 0)) { |
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dc.hdrflags &= ~HF_RESIN; |
375 |
dc.res.rt = PIXSTANDARD; |
376 |
dc.res.xr = xres; |
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dc.res.yr = yres; |
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} else if ((dc.hdrflags & (HF_RESIN|HF_RESOUT)) == HF_RESOUT) { |
379 |
fputs(progname, stderr); |
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fputs(": unknown resolution for output\n", stderr); |
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return 1; |
382 |
} |
383 |
if (bypixel) { |
384 |
if (conversion == CV_FWD) { |
385 |
fputs(progname, stderr); |
386 |
fputs(": -i only supported with -r or -p option\n", |
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stderr); |
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usage_exit(1); |
389 |
} |
390 |
if (a >= argc) { |
391 |
fputs(progname, stderr); |
392 |
fputs(": -i option requires input file\n", stderr); |
393 |
usage_exit(1); |
394 |
} |
395 |
if (!(dc.hdrflags & HF_RESIN)) { |
396 |
fputs(progname, stderr); |
397 |
fputs(": -i option requires input resolution\n", stderr); |
398 |
usage_exit(1); |
399 |
} |
400 |
dc.hdrflags &= ~HF_RESOUT; |
401 |
} |
402 |
if (a < argc-2) { |
403 |
fputs(progname, stderr); |
404 |
fputs(": too many file arguments\n", stderr); |
405 |
usage_exit(1); |
406 |
} |
407 |
if (a < argc && !(dc.finp = fopen(dc.inpname=argv[a], "r"))) { |
408 |
fputs(dc.inpname, stderr); |
409 |
fputs(": cannot open for reading\n", stderr); |
410 |
return 1; |
411 |
} |
412 |
if (a+1 < argc && !freopen(argv[a+1], "w", stdout)) { |
413 |
fputs(argv[a+1], stderr); |
414 |
fputs(": cannot open for writing\n", stderr); |
415 |
return 1; |
416 |
} |
417 |
SET_FILE_BINARY(dc.finp); /* starting assumption */ |
418 |
SET_FILE_BINARY(stdout); |
419 |
#ifdef getc_unlocked /* avoid stupid semaphores */ |
420 |
flockfile(dc.finp); |
421 |
flockfile(stdout); |
422 |
#endif |
423 |
/* read/copy header */ |
424 |
if (!process_dc_header(&dc, a, argv)) |
425 |
return 1; |
426 |
|
427 |
if ((conversion != CV_FWD) & (dc.format == 'a')) |
428 |
SET_FILE_TEXT(stdout); |
429 |
/* process data */ |
430 |
switch (conversion) { |
431 |
case CV_FWD: /* distance -> depth code */ |
432 |
if (!strcmp(dc.depth_unit, "1")) { |
433 |
fputs(progname, stderr); |
434 |
fputs(": warning - using reference depth of 1.0\n", |
435 |
stderr); |
436 |
} |
437 |
if (!encode_depths(&dc)) |
438 |
return 1; |
439 |
break; |
440 |
case CV_REV: /* depth code -> distance */ |
441 |
if (!(bypixel ? pixel_depths(&dc, unbuffered) : |
442 |
decode_depths(&dc))) |
443 |
return 1; |
444 |
break; |
445 |
case CV_PTS: /* depth code -> world points */ |
446 |
if (!(bypixel ? pixel_points(&dc, unbuffered) : |
447 |
decode_points(&dc))) |
448 |
return 1; |
449 |
break; |
450 |
} |
451 |
if (fflush(stdout) == EOF) { |
452 |
fputs(progname, stderr); |
453 |
fputs(": error writing output\n", stderr); |
454 |
return 1; |
455 |
} |
456 |
return 0; |
457 |
} |