| 1 |
#ifndef lint |
| 2 |
static const char RCSid[] = "$Id: rcode_depth.c,v 2.12 2022/06/30 00:16:49 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 |
enum {CV_FWD, CV_REV, CV_PTS}; |
| 19 |
|
| 20 |
|
| 21 |
/* Report usage error and exit */ |
| 22 |
static void |
| 23 |
usage_exit(int code) |
| 24 |
{ |
| 25 |
fputs("Usage: ", stderr); |
| 26 |
fputs(progname, stderr); |
| 27 |
fputs( |
| 28 |
" [-d ref_depth/unit][-h[io]][-H[io]][-f[afd]][-x xr -y yr] [input [output.dpt]]\n", |
| 29 |
stderr); |
| 30 |
fputs(" Or: ", stderr); |
| 31 |
fputs(progname, stderr); |
| 32 |
fputs( |
| 33 |
" {-r|-p} [-i][-u][-h[io]][-H[io]][-f[afd]] [input.dpt [output]]\n", |
| 34 |
stderr); |
| 35 |
exit(code); |
| 36 |
} |
| 37 |
|
| 38 |
|
| 39 |
/* Encode depths from input stream */ |
| 40 |
static int |
| 41 |
encode_depths(DEPTHCODEC *dcp) |
| 42 |
{ |
| 43 |
long nexpected = (long)dcp->res.xr * dcp->res.yr; |
| 44 |
|
| 45 |
if (dcp->inpfmt[0]) { |
| 46 |
if (!strcmp(dcp->inpfmt, "ascii")) |
| 47 |
dcp->format = 'a'; |
| 48 |
else if (!strcmp(dcp->inpfmt, "float")) |
| 49 |
dcp->format = 'f'; |
| 50 |
else if (!strcmp(dcp->inpfmt, "double")) |
| 51 |
dcp->format = 'd'; |
| 52 |
else { |
| 53 |
fputs(dcp->inpname, stderr); |
| 54 |
fputs(": unsupported input format: ", stderr); |
| 55 |
fputs(dcp->inpfmt, stderr); |
| 56 |
fputc('\n', stderr); |
| 57 |
return 0; |
| 58 |
} |
| 59 |
} |
| 60 |
if (dcp->format == 'a') |
| 61 |
SET_FILE_TEXT(dcp->finp); |
| 62 |
|
| 63 |
do { |
| 64 |
int ok = 0; |
| 65 |
float f; |
| 66 |
double d; |
| 67 |
|
| 68 |
switch (dcp->format) { |
| 69 |
case 'a': |
| 70 |
ok = (fscanf(dcp->finp, "%lf", &d) == 1); |
| 71 |
break; |
| 72 |
case 'f': |
| 73 |
ok = (getbinary(&f, sizeof(f), 1, dcp->finp) == 1); |
| 74 |
if (dcp->swapped) |
| 75 |
swap32((char *)&f, 1); |
| 76 |
d = f; |
| 77 |
break; |
| 78 |
case 'd': |
| 79 |
ok = (getbinary(&d, sizeof(d), 1, dcp->finp) == 1); |
| 80 |
if (dcp->swapped) |
| 81 |
swap64((char *)&d, 1); |
| 82 |
break; |
| 83 |
} |
| 84 |
if (!ok) |
| 85 |
break; |
| 86 |
|
| 87 |
putint(depth2code(d, dcp->refdepth), 2, stdout); |
| 88 |
|
| 89 |
} while (--nexpected); |
| 90 |
|
| 91 |
if (nexpected > 0) { |
| 92 |
fputs(dcp->inpname, stderr); |
| 93 |
fputs(": fewer depths than expected\n", stderr); |
| 94 |
return 0; |
| 95 |
} |
| 96 |
return 1; |
| 97 |
} |
| 98 |
|
| 99 |
|
| 100 |
/* Convert and output the given depth to stdout */ |
| 101 |
static void |
| 102 |
output_depth(DEPTHCODEC *dcp, double d) |
| 103 |
{ |
| 104 |
float f; |
| 105 |
|
| 106 |
switch (dcp->format) { |
| 107 |
case 'a': |
| 108 |
printf("%.5e\n", d); |
| 109 |
break; |
| 110 |
case 'f': |
| 111 |
f = d; |
| 112 |
putbinary(&f, sizeof(f), 1, stdout); |
| 113 |
break; |
| 114 |
case 'd': |
| 115 |
putbinary(&d, sizeof(d), 1, stdout); |
| 116 |
break; |
| 117 |
} |
| 118 |
} |
| 119 |
|
| 120 |
|
| 121 |
/* Decode depths from input stream */ |
| 122 |
static int |
| 123 |
decode_depths(DEPTHCODEC *dcp) |
| 124 |
{ |
| 125 |
long nexpected = (long)dcp->res.xr * dcp->res.yr; |
| 126 |
|
| 127 |
if (!check_decode_depths(dcp)) |
| 128 |
return 0; |
| 129 |
|
| 130 |
do { |
| 131 |
double d = decode_depth_next(dcp); |
| 132 |
if (d < -FTINY) |
| 133 |
break; |
| 134 |
output_depth(dcp, d); |
| 135 |
|
| 136 |
} while (--nexpected); |
| 137 |
|
| 138 |
if (nexpected > 0) { |
| 139 |
fputs(dcp->inpname, stderr); |
| 140 |
fputs(": unexpected EOF\n", stderr); |
| 141 |
return 0; |
| 142 |
} |
| 143 |
return 1; |
| 144 |
} |
| 145 |
|
| 146 |
|
| 147 |
/* Decode depths at particular pixels given on standard input */ |
| 148 |
static int |
| 149 |
pixel_depths(DEPTHCODEC *dcp, int unbuf) |
| 150 |
{ |
| 151 |
int xy[2]; |
| 152 |
double d; |
| 153 |
|
| 154 |
if (dcp->finp == stdin) { |
| 155 |
fputs(progname, stderr); |
| 156 |
fputs(": <stdin> used for encoded depths\n", stderr); |
| 157 |
return 0; |
| 158 |
} |
| 159 |
if (!check_decode_depths(dcp)) |
| 160 |
return 0; |
| 161 |
|
| 162 |
while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
| 163 |
loc2pix(xy, &dcp->res, xy[0]/(double)dcp->res.xr, |
| 164 |
xy[1]/(double)dcp->res.yr); |
| 165 |
d = decode_depth_pix(dcp, xy[0], xy[1]); |
| 166 |
if (d < -FTINY) |
| 167 |
return 0; |
| 168 |
output_depth(dcp, d); |
| 169 |
if (unbuf && fflush(stdout) == EOF) { |
| 170 |
fputs(progname, stderr); |
| 171 |
fputs(": write error on output\n", stderr); |
| 172 |
return 0; |
| 173 |
} |
| 174 |
} |
| 175 |
if (!feof(stdin)) { |
| 176 |
fputs(progname, stderr); |
| 177 |
fputs(": non-integer as pixel index\n", stderr); |
| 178 |
return 0; |
| 179 |
} |
| 180 |
return 1; |
| 181 |
} |
| 182 |
|
| 183 |
|
| 184 |
/* Output the given world position to stdout */ |
| 185 |
static void |
| 186 |
output_worldpos(DEPTHCODEC *dcp, FVECT wpos) |
| 187 |
{ |
| 188 |
switch (dcp->format) { |
| 189 |
case 'a': |
| 190 |
printf("%.5e %.5e %.5e\n", wpos[0], wpos[1], wpos[2]); |
| 191 |
break; |
| 192 |
#ifdef SMLFLT |
| 193 |
case 'f': |
| 194 |
putbinary(wpos, sizeof(*wpos), 3, stdout); |
| 195 |
break; |
| 196 |
case 'd': { |
| 197 |
double wpd[3]; |
| 198 |
VCOPY(wpd, wpos); |
| 199 |
putbinary(wpd, sizeof(*wpd), 3, stdout); |
| 200 |
} |
| 201 |
break; |
| 202 |
#else |
| 203 |
case 'f': { |
| 204 |
float wpf[3]; |
| 205 |
VCOPY(wpf, wpos); |
| 206 |
putbinary(wpf, sizeof(*wpf), 3, stdout); |
| 207 |
} |
| 208 |
break; |
| 209 |
case 'd': |
| 210 |
putbinary(wpos, sizeof(*wpos), 3, stdout); |
| 211 |
break; |
| 212 |
#endif |
| 213 |
} |
| 214 |
} |
| 215 |
|
| 216 |
|
| 217 |
/* Decode world points from input stream */ |
| 218 |
static int |
| 219 |
decode_points(DEPTHCODEC *dcp) |
| 220 |
{ |
| 221 |
long n = (long)dcp->res.xr * dcp->res.yr; |
| 222 |
|
| 223 |
if (!check_decode_worldpos(dcp)) |
| 224 |
return 0; |
| 225 |
|
| 226 |
while (n-- > 0) { |
| 227 |
FVECT wpos; |
| 228 |
if (decode_worldpos_next(wpos, dcp) < 0) { |
| 229 |
if (feof(dcp->finp)) { |
| 230 |
fputs(dcp->inpname, stderr); |
| 231 |
fputs(": unexpected EOF\n", stderr); |
| 232 |
} |
| 233 |
return 0; |
| 234 |
} |
| 235 |
output_worldpos(dcp, wpos); |
| 236 |
} |
| 237 |
return 1; |
| 238 |
} |
| 239 |
|
| 240 |
|
| 241 |
/* Decode world points at particular pixels given on standard input */ |
| 242 |
static int |
| 243 |
pixel_points(DEPTHCODEC *dcp, int unbuf) |
| 244 |
{ |
| 245 |
int xy[2]; |
| 246 |
FVECT wpos; |
| 247 |
|
| 248 |
if (dcp->finp == stdin) { |
| 249 |
fputs(progname, stderr); |
| 250 |
fputs(": <stdin> used for encoded depths\n", stderr); |
| 251 |
return 0; |
| 252 |
} |
| 253 |
if (!check_decode_worldpos(dcp)) |
| 254 |
return 0; |
| 255 |
|
| 256 |
while (scanf("%d %d", &xy[0], &xy[1]) == 2) { |
| 257 |
loc2pix(xy, &dcp->res, xy[0]/(double)dcp->res.xr, |
| 258 |
xy[1]/(double)dcp->res.yr); |
| 259 |
if (get_worldpos_pix(wpos, dcp, xy[0], xy[1]) < 0) |
| 260 |
return 0; |
| 261 |
output_worldpos(dcp, wpos); |
| 262 |
if (unbuf && fflush(stdout) == EOF) { |
| 263 |
fputs(progname, stderr); |
| 264 |
fputs(": write error on output\n", stderr); |
| 265 |
return 0; |
| 266 |
} |
| 267 |
} |
| 268 |
if (!feof(stdin)) { |
| 269 |
fputs(progname, stderr); |
| 270 |
fputs(": non-integer as pixel index\n", stderr); |
| 271 |
return 0; |
| 272 |
} |
| 273 |
return 1; |
| 274 |
} |
| 275 |
|
| 276 |
|
| 277 |
int |
| 278 |
main(int argc, char *argv[]) |
| 279 |
{ |
| 280 |
int xres=0, yres=0; |
| 281 |
int conversion = CV_FWD; |
| 282 |
int bypixel = 0; |
| 283 |
int unbuffered = 0; |
| 284 |
DEPTHCODEC dc; |
| 285 |
int a; |
| 286 |
/* set global progname */ |
| 287 |
fixargv0(argv[0]); |
| 288 |
set_dc_defaults(&dc); |
| 289 |
dc.hdrflags = HF_ALL; |
| 290 |
for (a = 1; a < argc && argv[a][0] == '-'; a++) |
| 291 |
switch (argv[a][1]) { |
| 292 |
case 'd': |
| 293 |
strlcpy(dc.depth_unit, argv[++a], sizeof(dc.depth_unit)); |
| 294 |
dc.refdepth = atof(dc.depth_unit); |
| 295 |
if (dc.refdepth <= .0) { |
| 296 |
fputs(progname, stderr); |
| 297 |
fputs(": illegal -d reference depth\n", stderr); |
| 298 |
return 1; |
| 299 |
} |
| 300 |
break; |
| 301 |
case 'r': |
| 302 |
conversion = CV_REV; |
| 303 |
break; |
| 304 |
case 'p': |
| 305 |
conversion = CV_PTS; |
| 306 |
break; |
| 307 |
case 'f': |
| 308 |
switch (argv[a][2]) { |
| 309 |
case 'f': |
| 310 |
case 'd': |
| 311 |
case 'a': |
| 312 |
dc.format = argv[a][2]; |
| 313 |
break; |
| 314 |
default: |
| 315 |
fputs(progname, stderr); |
| 316 |
fputs(": unsupported -f? format\n", stderr); |
| 317 |
usage_exit(1); |
| 318 |
} |
| 319 |
break; |
| 320 |
case 'h': |
| 321 |
switch (argv[a][2]) { |
| 322 |
case '\0': |
| 323 |
dc.hdrflags &= ~(HF_HEADIN|HF_HEADOUT); |
| 324 |
break; |
| 325 |
case 'i': |
| 326 |
case 'I': |
| 327 |
dc.hdrflags &= ~HF_HEADIN; |
| 328 |
break; |
| 329 |
case 'o': |
| 330 |
case 'O': |
| 331 |
dc.hdrflags &= ~HF_HEADOUT; |
| 332 |
break; |
| 333 |
default: |
| 334 |
usage_exit(1); |
| 335 |
} |
| 336 |
break; |
| 337 |
case 'H': |
| 338 |
switch (argv[a][2]) { |
| 339 |
case '\0': |
| 340 |
dc.hdrflags &= ~(HF_RESIN|HF_RESOUT); |
| 341 |
break; |
| 342 |
case 'i': |
| 343 |
case 'I': |
| 344 |
dc.hdrflags &= ~HF_RESIN; |
| 345 |
break; |
| 346 |
case 'o': |
| 347 |
case 'O': |
| 348 |
dc.hdrflags &= ~HF_RESOUT; |
| 349 |
break; |
| 350 |
default: |
| 351 |
usage_exit(1); |
| 352 |
} |
| 353 |
break; |
| 354 |
case 'x': |
| 355 |
xres = atoi(argv[++a]); |
| 356 |
break; |
| 357 |
case 'y': |
| 358 |
yres = atoi(argv[++a]); |
| 359 |
break; |
| 360 |
case 'i': |
| 361 |
bypixel++; |
| 362 |
break; |
| 363 |
case 'u': |
| 364 |
unbuffered++; |
| 365 |
break; |
| 366 |
default: |
| 367 |
usage_exit(1); |
| 368 |
} |
| 369 |
dc.hdrflags |= (conversion == CV_FWD) * HF_ENCODE; |
| 370 |
|
| 371 |
if ((xres > 0) & (yres > 0)) { |
| 372 |
dc.hdrflags &= ~HF_RESIN; |
| 373 |
dc.res.rt = PIXSTANDARD; |
| 374 |
dc.res.xr = xres; |
| 375 |
dc.res.yr = yres; |
| 376 |
} else if ((dc.hdrflags & (HF_RESIN|HF_RESOUT)) == HF_RESOUT) { |
| 377 |
fputs(progname, stderr); |
| 378 |
fputs(": unknown resolution for output\n", stderr); |
| 379 |
return 1; |
| 380 |
} |
| 381 |
if (bypixel) { |
| 382 |
if (conversion == CV_FWD) { |
| 383 |
fputs(progname, stderr); |
| 384 |
fputs(": -i only supported with -r or -p option\n", |
| 385 |
stderr); |
| 386 |
usage_exit(1); |
| 387 |
} |
| 388 |
if (a >= argc) { |
| 389 |
fputs(progname, stderr); |
| 390 |
fputs(": -i option requires input file\n", stderr); |
| 391 |
usage_exit(1); |
| 392 |
} |
| 393 |
if (!(dc.hdrflags & HF_RESIN)) { |
| 394 |
fputs(progname, stderr); |
| 395 |
fputs(": -i option requires input resolution\n", stderr); |
| 396 |
usage_exit(1); |
| 397 |
} |
| 398 |
dc.hdrflags &= ~HF_RESOUT; |
| 399 |
} |
| 400 |
if (a < argc-2) { |
| 401 |
fputs(progname, stderr); |
| 402 |
fputs(": too many file arguments\n", stderr); |
| 403 |
usage_exit(1); |
| 404 |
} |
| 405 |
if (a < argc && !(dc.finp = fopen(dc.inpname=argv[a], "r"))) { |
| 406 |
fputs(dc.inpname, stderr); |
| 407 |
fputs(": cannot open for reading\n", stderr); |
| 408 |
return 1; |
| 409 |
} |
| 410 |
if (a+1 < argc && !freopen(argv[a+1], "w", stdout)) { |
| 411 |
fputs(argv[a+1], stderr); |
| 412 |
fputs(": cannot open for writing\n", stderr); |
| 413 |
return 1; |
| 414 |
} |
| 415 |
SET_FILE_BINARY(dc.finp); /* starting assumption */ |
| 416 |
SET_FILE_BINARY(stdout); |
| 417 |
#ifdef getc_unlocked /* avoid stupid semaphores */ |
| 418 |
flockfile(dc.finp); |
| 419 |
flockfile(stdout); |
| 420 |
#endif |
| 421 |
/* read/copy header */ |
| 422 |
if (!process_dc_header(&dc, a, argv)) |
| 423 |
return 1; |
| 424 |
|
| 425 |
if ((conversion != CV_FWD) & (dc.format == 'a')) |
| 426 |
SET_FILE_TEXT(stdout); |
| 427 |
/* process data */ |
| 428 |
switch (conversion) { |
| 429 |
case CV_FWD: /* distance -> depth code */ |
| 430 |
if (!strcmp(dc.depth_unit, "1")) { |
| 431 |
fputs(progname, stderr); |
| 432 |
fputs(": warning - using reference depth of 1.0\n", |
| 433 |
stderr); |
| 434 |
} |
| 435 |
if (!encode_depths(&dc)) |
| 436 |
return 1; |
| 437 |
break; |
| 438 |
case CV_REV: /* depth code -> distance */ |
| 439 |
if (!(bypixel ? pixel_depths(&dc, unbuffered) : |
| 440 |
decode_depths(&dc))) |
| 441 |
return 1; |
| 442 |
break; |
| 443 |
case CV_PTS: /* depth code -> world points */ |
| 444 |
if (!(bypixel ? pixel_points(&dc, unbuffered) : |
| 445 |
decode_points(&dc))) |
| 446 |
return 1; |
| 447 |
break; |
| 448 |
} |
| 449 |
if (fflush(stdout) == EOF) { |
| 450 |
fputs(progname, stderr); |
| 451 |
fputs(": error writing output\n", stderr); |
| 452 |
return 1; |
| 453 |
} |
| 454 |
return 0; |
| 455 |
} |
