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137 lines
4.7 KiB
137 lines
4.7 KiB
// License: Apache 2.0. See LICENSE file in root directory.
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// Copyright(c) 2018 Intel Corporation. All Rights Reserved.
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#ifndef __RS_CONVERTER_CONVERTER_BIN_H
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#define __RS_CONVERTER_CONVERTER_BIN_H
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#include <fstream>
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#include <cmath>
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#include "../converter.hpp"
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namespace rs2 {
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namespace tools {
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namespace converter {
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class converter_bin : public converter_base {
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rs2_stream _streamType;
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std::string _filePath;
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protected:
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static void* to_ieee754_32(float f, uint8_t* buffer)
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{
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uint32_t ieee754 = 0;
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if (f != 0.) {
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uint32_t sign = 0;
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if (f < 0) {
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sign = 1;
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f = -f;
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}
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int shift = 0;
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while (f >= 2.0) {
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f /= 2.0;
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shift++;
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}
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while (f < 1.0) {
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f *= 2.0;
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shift--;
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}
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f = f - 1.f;
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uint32_t mantissa = uint32_t(f * ((1U << 23) + 0.5f));
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uint32_t exponent = shift + ((1 << 7) - 1);
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ieee754 = (sign << 31) | (exponent << 23) | mantissa;
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}
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buffer[0] = ieee754 & 0xff;
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buffer[1] = (ieee754 >> 8) & 0xff;
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buffer[2] = (ieee754 >> 16) & 0xff;
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buffer[3] = (ieee754 >> 24) & 0xff;
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return buffer;
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}
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public:
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converter_bin(const std::string& filePath, rs2_stream streamType = rs2_stream::RS2_STREAM_ANY)
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: _filePath(filePath)
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, _streamType(streamType)
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{
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}
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std::string name() const override
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{
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return "BIN converter";
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}
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void convert(rs2::frame& frame) override
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{
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rs2::depth_frame depthframe = frame.as<rs2::depth_frame>();
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if (!depthframe || !(_streamType == rs2_stream::RS2_STREAM_ANY || depthframe.get_profile().stream_type() == _streamType)) {
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return;
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}
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if (frames_map_get_and_set(depthframe.get_profile().stream_type(), depthframe.get_frame_number())) {
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return;
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}
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start_worker(
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[this, &frame] {
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rs2::depth_frame depthframe = frame.as<rs2::depth_frame>();
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std::stringstream filename;
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filename << _filePath
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<< "_" << depthframe.get_profile().stream_name()
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<< "_" << std::setprecision(14) << std::fixed << depthframe.get_timestamp()
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<< ".bin";
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std::stringstream metadata_file;
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metadata_file << _filePath
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<< "_" << depthframe.get_profile().stream_name()
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<< "_metadata_" << std::setprecision(14) << std::fixed << depthframe.get_timestamp()
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<< ".txt";
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std::string filenameS = filename.str();
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std::string metadataS = metadata_file.str();
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add_sub_worker(
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[filenameS, metadataS, depthframe] {
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std::ofstream fs(filenameS, std::ios::binary | std::ios::trunc);
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if (fs) {
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uint8_t buffer[4];
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for (int y = 0; y < depthframe.get_height(); y++) {
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for (int x = 0; x < depthframe.get_width(); x++) {
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fs.write(
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static_cast<const char *>(to_ieee754_32(depthframe.get_distance(x, y), buffer))
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, sizeof buffer);
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}
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}
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fs.flush();
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}
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metadata_to_txtfile(depthframe, metadataS);
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});
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wait_sub_workers();
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});
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}
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};
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}
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}
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}
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#endif
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