| 1 |
#ifndef lint |
| 2 |
static const char RCSid[] = "$Id: rcode_depth.c,v 2.5 2019/08/13 16:31:35 greg Exp $"; |
| 3 |
#endif |
| 4 |
/* |
| 5 |
* Encode and decode depth map using 16-bit integers |
| 6 |
*/ |
| 7 |
|
| 8 |
#include "copyright.h" |
| 9 |
|
| 10 |
#include <stdlib.h> |
| 11 |
#include <math.h> |
| 12 |
#include <ctype.h> |
| 13 |
#include "platform.h" |
| 14 |
#include "rtio.h" |
| 15 |
#include "fvect.h" |
| 16 |
#include "depthcodec.h" |
| 17 |
|
| 18 |
char *progname; /* set in main() */ |
| 19 |
|
| 20 |
enum {CV_FWD, CV_REV, CV_PTS}; |
| 21 |
|
| 22 |
|
| 23 |
/* Report usage error and exit */ |
| 24 |
static void |
| 25 |
usage_exit(int code) |
| 26 |
{ |
| 27 |
fputs("Usage: ", stderr); |
| 28 |
fputs(progname, stderr); |
| 29 |
fputs( |
| 30 |
" [-d ref_depth/unit][-h[io]][-H[io]][-f[afd]] [input [output.dpt]]\n", |
| 31 |
stderr); |
| 32 |
fputs(" Or: ", stderr); |
| 33 |
fputs(progname, stderr); |
| 34 |
fputs( |
| 35 |
" {-r|-p} [-i][-u][-h[io]][-H[io]][-f[afd]] [input.dpt [output]]\n", |
| 36 |
stderr); |
| 37 |
exit(code); |
| 38 |
} |
| 39 |
|
| 40 |
|
| 41 |
/* Encode depths from input stream */ |
| 42 |
static int |
| 43 |
encode_depths(DEPTHCODEC *dcp) |
| 44 |
{ |
| 45 |
long nexpected = (long)dcp->res.xr * dcp->res.yr; |
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|
| 47 |
if (dcp->inpfmt[0]) { |
| 48 |
if (strstr(dcp->inpfmt, "ascii") != NULL) |
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dcp->format = 'a'; |
| 50 |
else if (strstr(dcp->inpfmt, "float") != NULL) |
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dcp->format = 'f'; |
| 52 |
else if (strstr(dcp->inpfmt, "double") != NULL) |
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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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|
| 63 |
do { |
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int ok = 0; |
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float f; |
| 66 |
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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|
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loc2pix(xy, &dcp->res, |
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(xy[0]+.5)/dcp->res.xr, (xy[1]+.5)/dcp->res.yr); |
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|
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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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|
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output_depth(dcp, d); |
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|
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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, |
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(xy[0]+.5)/dcp->res.xr, (xy[1]+.5)/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 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]) { |
| 295 |
case 'd': |
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strlcpy(dc.depth_unit, argv[++a], sizeof(dc.depth_unit)); |
| 297 |
dc.refdepth = atof(dc.depth_unit); |
| 298 |
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; |
| 302 |
} |
| 303 |
break; |
| 304 |
case 'r': |
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conversion = CV_REV; |
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break; |
| 307 |
case 'p': |
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conversion = CV_PTS; |
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break; |
| 310 |
case 'f': |
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switch (argv[a][2]) { |
| 312 |
case 'f': |
| 313 |
case 'd': |
| 314 |
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); |
| 320 |
usage_exit(1); |
| 321 |
} |
| 322 |
break; |
| 323 |
case 'h': |
| 324 |
switch (argv[a][2]) { |
| 325 |
case '\0': |
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dc.hdrflags &= ~(HF_HEADIN|HF_HEADOUT); |
| 327 |
break; |
| 328 |
case 'i': |
| 329 |
case 'I': |
| 330 |
dc.hdrflags &= ~HF_HEADIN; |
| 331 |
break; |
| 332 |
case 'o': |
| 333 |
case 'O': |
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dc.hdrflags &= ~HF_HEADOUT; |
| 335 |
break; |
| 336 |
default: |
| 337 |
usage_exit(1); |
| 338 |
} |
| 339 |
break; |
| 340 |
case 'H': |
| 341 |
switch (argv[a][2]) { |
| 342 |
case '\0': |
| 343 |
dc.hdrflags &= ~(HF_RESIN|HF_RESOUT); |
| 344 |
break; |
| 345 |
case 'i': |
| 346 |
case 'I': |
| 347 |
dc.hdrflags &= ~HF_RESIN; |
| 348 |
break; |
| 349 |
case 'o': |
| 350 |
case 'O': |
| 351 |
dc.hdrflags &= ~HF_RESOUT; |
| 352 |
break; |
| 353 |
default: |
| 354 |
usage_exit(1); |
| 355 |
} |
| 356 |
break; |
| 357 |
case 'i': |
| 358 |
bypixel++; |
| 359 |
break; |
| 360 |
case 'u': |
| 361 |
unbuffered++; |
| 362 |
break; |
| 363 |
default: |
| 364 |
usage_exit(1); |
| 365 |
} |
| 366 |
dc.hdrflags |= (conversion == CV_FWD) * HF_ENCODE; |
| 367 |
|
| 368 |
if ((dc.hdrflags & (HF_RESIN|HF_RESOUT)) == HF_RESOUT) { |
| 369 |
fputs(progname, stderr); |
| 370 |
fputs(": unknown resolution for output\n", stderr); |
| 371 |
return 1; |
| 372 |
} |
| 373 |
if (bypixel) { |
| 374 |
if (conversion == CV_FWD) { |
| 375 |
fputs(progname, stderr); |
| 376 |
fputs(": -i only supported with -r or -p option\n", |
| 377 |
stderr); |
| 378 |
usage_exit(1); |
| 379 |
} |
| 380 |
if (a >= argc) { |
| 381 |
fputs(progname, stderr); |
| 382 |
fputs(": -i option requires input file\n", stderr); |
| 383 |
usage_exit(1); |
| 384 |
} |
| 385 |
if (!(dc.hdrflags & HF_RESIN)) { |
| 386 |
fputs(progname, stderr); |
| 387 |
fputs(": -i option requires input resolution\n", stderr); |
| 388 |
usage_exit(1); |
| 389 |
} |
| 390 |
dc.hdrflags &= ~HF_RESOUT; |
| 391 |
} |
| 392 |
if (a < argc-2) { |
| 393 |
fputs(progname, stderr); |
| 394 |
fputs(": too many file arguments\n", stderr); |
| 395 |
usage_exit(1); |
| 396 |
} |
| 397 |
if (a < argc && !(dc.finp = fopen(dc.inpname=argv[a], "r"))) { |
| 398 |
fputs(dc.inpname, stderr); |
| 399 |
fputs(": cannot open for reading\n", stderr); |
| 400 |
return 1; |
| 401 |
} |
| 402 |
if (a+1 < argc && !freopen(argv[a+1], "w", stdout)) { |
| 403 |
fputs(argv[a+1], stderr); |
| 404 |
fputs(": cannot open for writing\n", stderr); |
| 405 |
return 1; |
| 406 |
} |
| 407 |
SET_FILE_BINARY(dc.finp); |
| 408 |
if ((conversion != CV_FWD) | (dc.format != 'a')) |
| 409 |
SET_FILE_BINARY(stdout); |
| 410 |
#ifdef getc_unlocked /* avoid stupid semaphores */ |
| 411 |
flockfile(dc.finp); |
| 412 |
flockfile(stdout); |
| 413 |
#endif |
| 414 |
/* read/copy header */ |
| 415 |
if (!process_dc_header(&dc, a, argv)) |
| 416 |
return 1; |
| 417 |
/* process data */ |
| 418 |
switch (conversion) { |
| 419 |
case CV_FWD: /* distance -> depth code */ |
| 420 |
if (!encode_depths(&dc)) |
| 421 |
return 1; |
| 422 |
break; |
| 423 |
case CV_REV: /* depth code -> distance */ |
| 424 |
if (!(bypixel ? pixel_depths(&dc, unbuffered) : |
| 425 |
decode_depths(&dc))) |
| 426 |
return 1; |
| 427 |
break; |
| 428 |
case CV_PTS: /* depth code -> world points */ |
| 429 |
if (!(bypixel ? pixel_points(&dc, unbuffered) : |
| 430 |
decode_points(&dc))) |
| 431 |
return 1; |
| 432 |
break; |
| 433 |
} |
| 434 |
if (fflush(stdout) == EOF) { |
| 435 |
fputs(progname, stderr); |
| 436 |
fputs(": error writing output\n", stderr); |
| 437 |
return 1; |
| 438 |
} |
| 439 |
return 0; |
| 440 |
} |
