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static const char RCSid[] = "$Id$"; |
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#endif |
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/* |
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* Encode and decode depth values using 16-bit integers |
5 |
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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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#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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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]] [input [output]]\n", |
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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 [output]]\n", |
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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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static int |
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encode_depths(DEPTHCODEC *dcp) |
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{ |
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long nexpected = 0; |
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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 (strcasestr(dcp->inpfmt, "ascii") != NULL) |
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if (!strcmp(dcp->inpfmt, "ascii")) |
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dcp->format = 'a'; |
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else if (strcasestr(dcp->inpfmt, "float") != NULL) |
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else if (!strcmp(dcp->inpfmt, "float")) |
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dcp->format = 'f'; |
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else if (strcasestr(dcp->inpfmt, "double") != NULL) |
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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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return 0; |
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} |
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} |
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if (dcp->hdrflags & HF_RESIN) |
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nexpected = (long)dcp->res.xr * dcp->res.yr; |
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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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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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} |
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|
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|
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/* Convert and output the given depth code to stdout */ |
102 |
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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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static int |
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decode_depths(DEPTHCODEC *dcp) |
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{ |
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< |
long nexpected = 0; |
127 |
> |
long nexpected = (long)dcp->res.xr * dcp->res.yr; |
128 |
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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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if (dcp->hdrflags & HF_RESIN) |
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nexpected = (long)dcp->res.xr * dcp->res.yr; |
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do { |
133 |
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double d = decode_depth_next(dcp); |
133 |
> |
double d = decode_depth_next(dcp); |
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if (d < -FTINY) |
135 |
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break; |
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output_depth(dcp, d); |
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return 0; |
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|
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while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
165 |
+ |
|
166 |
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loc2pix(xy, &dcp->res, |
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(xy[0]+.5)/dcp->res.xr, (xy[1]+.5)/dcp->res.yr); |
168 |
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|
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d = decode_depth_pix(dcp, xy[0], xy[1]); |
170 |
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if (d < -FTINY) |
171 |
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return 0; |
172 |
+ |
|
173 |
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output_depth(dcp, d); |
174 |
+ |
|
175 |
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if (unbuf && fflush(stdout) == EOF) { |
176 |
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fputs(progname, stderr); |
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fputs(": write error on output\n", stderr); |
187 |
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} |
188 |
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|
189 |
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|
190 |
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/* Output the given world position */ |
190 |
> |
/* Output the given world position to stdout */ |
191 |
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static void |
192 |
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output_worldpos(DEPTHCODEC *dcp, FVECT wpos) |
193 |
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{ |
194 |
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switch (dcp->format) { |
195 |
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case 'a': |
196 |
< |
fprintf(stdout, "%.5e %.5e %.5e\n", |
186 |
< |
wpos[0], wpos[1], wpos[2]); |
196 |
> |
printf("%.5e %.5e %.5e\n", wpos[0], wpos[1], wpos[2]); |
197 |
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break; |
198 |
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#ifdef SMLFLT |
199 |
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case 'f': |
258 |
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} |
259 |
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if (!check_decode_worldpos(dcp)) |
260 |
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return 0; |
261 |
< |
|
261 |
> |
|
262 |
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while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
263 |
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loc2pix(xy, &dcp->res, |
264 |
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(xy[0]+.5)/dcp->res.xr, (xy[1]+.5)/dcp->res.yr); |
283 |
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int |
284 |
|
main(int argc, char *argv[]) |
285 |
|
{ |
286 |
+ |
int xres=0, yres=0; |
287 |
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int conversion = CV_FWD; |
288 |
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int bypixel = 0; |
289 |
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int unbuffered = 0; |
357 |
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usage_exit(1); |
358 |
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} |
359 |
|
break; |
360 |
+ |
case 'x': |
361 |
+ |
xres = atoi(argv[++a]); |
362 |
+ |
break; |
363 |
+ |
case 'y': |
364 |
+ |
yres = atoi(argv[++a]); |
365 |
+ |
break; |
366 |
|
case 'i': |
367 |
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bypixel++; |
368 |
|
break; |
374 |
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} |
375 |
|
dc.hdrflags |= (conversion == CV_FWD) * HF_ENCODE; |
376 |
|
|
377 |
< |
if ((dc.hdrflags & (HF_RESIN|HF_RESOUT)) == HF_RESOUT) { |
377 |
> |
if ((xres > 0) & (yres > 0)) { |
378 |
> |
dc.hdrflags &= ~HF_RESIN; |
379 |
> |
dc.res.rt = PIXSTANDARD; |
380 |
> |
dc.res.xr = xres; |
381 |
> |
dc.res.yr = yres; |
382 |
> |
} else if ((dc.hdrflags & (HF_RESIN|HF_RESOUT)) == HF_RESOUT) { |
383 |
|
fputs(progname, stderr); |
384 |
|
fputs(": unknown resolution for output\n", stderr); |
385 |
|
return 1; |
401 |
|
fputs(": -i option requires input resolution\n", stderr); |
402 |
|
usage_exit(1); |
403 |
|
} |
404 |
< |
dc.hdrflags &= ~(HF_HEADOUT|HF_RESOUT); |
404 |
> |
dc.hdrflags &= ~HF_RESOUT; |
405 |
|
} |
406 |
|
if (a < argc-2) { |
407 |
|
fputs(progname, stderr); |
418 |
|
fputs(": cannot open for writing\n", stderr); |
419 |
|
return 1; |
420 |
|
} |
421 |
< |
SET_FILE_BINARY(dc.finp); |
421 |
> |
SET_FILE_BINARY(dc.finp); /* starting assumption */ |
422 |
|
SET_FILE_BINARY(stdout); |
423 |
|
#ifdef getc_unlocked /* avoid stupid semaphores */ |
424 |
|
flockfile(dc.finp); |
425 |
|
flockfile(stdout); |
426 |
|
#endif |
427 |
|
/* read/copy header */ |
428 |
< |
if (!process_dc_header(&dc, argc, argv)) |
428 |
> |
if (!process_dc_header(&dc, a, argv)) |
429 |
|
return 1; |
430 |
+ |
|
431 |
+ |
if ((conversion != CV_FWD) & (dc.format == 'a')) |
432 |
+ |
SET_FILE_TEXT(stdout); |
433 |
|
/* process data */ |
434 |
|
switch (conversion) { |
435 |
|
case CV_FWD: /* distance -> depth code */ |
436 |
+ |
if (!strcmp(dc.depth_unit, "1")) { |
437 |
+ |
fputs(progname, stderr); |
438 |
+ |
fputs(": warning - using reference depth of 1.0\n", |
439 |
+ |
stderr); |
440 |
+ |
} |
441 |
|
if (!encode_depths(&dc)) |
442 |
|
return 1; |
443 |
|
break; |