int main(int argc,char* argv[])
{
/* Open the depth stream file: */
IO::FilePtr depthFrameFile(IO::openFile("/work/okreylos/3DVideo/Kinect/DepthFrames.dat"));
depthFrameFile->setEndianness(Misc::LittleEndian);
/* Read the file header: */
unsigned int size[2];
depthFrameFile->read(size,2);
/* Create a background frame: */
unsigned short* backgroundFrame=new unsigned short[size[1]*size[0]];
unsigned short* bfPtr=backgroundFrame;
for(unsigned int y=0;y<size[1];++y)
for(unsigned int x=0;x<size[0];++x,++bfPtr)
*bfPtr=0x07ffU;
unsigned int numCaptureFrames=150;
/* Create the depth frame writer: */
IO::FilePtr compressedDepthFrameFile(IO::openFile("/work/okreylos/3DVideo/Kinect/CompressedDepthFrames.dat",IO::File::WriteOnly));
Kinect::DepthFrameWriter depthFrameWriter(*compressedDepthFrameFile,size);
/* Process all frames from the depth frame file: */
size_t totalSize=0;
double totalTime=0.0;
double maxTime=0.0;
unsigned int numFrames=0;
while(!depthFrameFile->eof())
{
/* Read the next frame's time stamp: */
double timeStamp=depthFrameFile->read<double>();
/* Read the next depth frame: */
Kinect::FrameBuffer frame(size[0],size[1],size[1]*size[0]*sizeof(unsigned short));
unsigned short* frameBuffer=static_cast<unsigned short*>(frame.getBuffer());
depthFrameFile->read(frameBuffer,size[1]*size[0]);
if(numCaptureFrames>0)
{
/* Add the depth frame to the background frame: */
unsigned short* bfPtr=backgroundFrame;
const unsigned short* dfPtr=frameBuffer;
for(unsigned int y=0;y<size[1];++y)
for(unsigned int x=0;x<size[0];++x,++bfPtr,++dfPtr)
if(*bfPtr>*dfPtr-2)
*bfPtr=*dfPtr-2;
--numCaptureFrames;
}
else
{
/* Remove background from the depth frame: */
const unsigned short* bfPtr=backgroundFrame;
unsigned short* dfPtr=frameBuffer;
for(unsigned int y=0;y<size[1];++y)
for(unsigned int x=0;x<size[0];++x,++bfPtr,++dfPtr)
if(*dfPtr>=*bfPtr)
*dfPtr=0x07ffU;
}
/* Compress and save the depth frame: */
Misc::Timer compressTime;
compressedDepthFrameFile->write<double>(timeStamp);
size_t compressedSize=depthFrameWriter.writeFrame(frame);
compressTime.elapse();
double time=compressTime.getTime();
totalSize+=compressedSize;
totalTime+=time;
if(maxTime<time)
maxTime=time;
++numFrames;
}
std::cout<<"Total compression time: "<<totalTime*1000.0<<" ms, total file size: "<<totalSize<<", "<<numFrames<<" frames"<<std::endl;
std::cout<<"Maximum compression time: "<<maxTime*1000.0<<" ms"<<std::endl;
std::cout<<"Compression frame rate: "<<double(numFrames)/totalTime<<" Hz"<<std::endl;
std::cout<<"Bandwidth: "<<double(totalSize)*30.0/double(numFrames)/(1024.0*1024.0)<<"MB/s"<<std::endl;
return 0;
}
int main(int argc,char* argv[])
{
/* Open the uncompressed depth stream file: */
IO::FilePtr depthFrameFile(IO::openFile("/work/okreylos/3DVideo/Kinect/DepthFrames.dat"));
depthFrameFile->setEndianness(Misc::LittleEndian);
/* Read the file header: */
unsigned int size[2];
depthFrameFile->read(size,2);
/* Create a background frame: */
unsigned short* backgroundFrame=new unsigned short[size[1]*size[0]];
unsigned short* bfPtr=backgroundFrame;
for(unsigned int y=0;y<size[1];++y)
for(unsigned int x=0;x<size[0];++x,++bfPtr)
*bfPtr=0x07ffU;
unsigned int numCaptureFrames=150;
/* Create the depth frame writer and reader: */
IO::FilePtr compressedDepthFrameFile(IO::openFile("/work/okreylos/3DVideo/Kinect/CompressedDepthFrames.dat",IO::File::ReadWrite));
Kinect::DepthFrameWriter depthFrameWriter(*compressedDepthFrameFile,size);
compressedDepthFrameFile->flush();
Kinect::DepthFrameReader depthFrameReader(*compressedDepthFrameFile);
/* Process all frames from the two depth frame files: */
double totalTime=0.0;
double maxTime=0.0;
unsigned int numFrames=0;
while(!depthFrameFile->eof())
{
/* Read the next uncompressed depth frame: */
Kinect::FrameBuffer frame0(size[0],size[1],size[1]*size[0]*sizeof(unsigned short));
frame0.timeStamp=depthFrameFile->read<double>();
unsigned short* frameBuffer0=frame0.getData<unsigned short>();
depthFrameFile->read(frameBuffer0,size[1]*size[0]);
if(numCaptureFrames>0)
{
/* Add the depth frame to the background frame: */
unsigned short* bfPtr=backgroundFrame;
const unsigned short* dfPtr=frameBuffer0;
for(unsigned int y=0;y<size[1];++y)
for(unsigned int x=0;x<size[0];++x,++bfPtr,++dfPtr)
if(*bfPtr>*dfPtr-2)
*bfPtr=*dfPtr-2;
--numCaptureFrames;
}
else
{
/* Remove background from the depth frame: */
const unsigned short* bfPtr=backgroundFrame;
unsigned short* dfPtr=frameBuffer0;
for(unsigned int y=0;y<size[1];++y)
for(unsigned int x=0;x<size[0];++x,++bfPtr,++dfPtr)
if(*dfPtr>=*bfPtr)
*dfPtr=0x07ffU;
}
/* Write the compressed depth frame: */
depthFrameWriter.writeFrame(frame0);
compressedDepthFrameFile->flush();
/* Read the next compressed depth frame: */
Misc::Timer uncompressTime;
Kinect::FrameBuffer frame1=depthFrameReader.readNextFrame();
uncompressTime.elapse();
double time=uncompressTime.getTime();
totalTime+=time;
if(maxTime<time)
maxTime=time;
++numFrames;
/* Compare the two frames: */
unsigned int numPixels=size[0]*size[1];
const unsigned short* f0Ptr=frameBuffer0;
const unsigned short* f1Ptr=frame1.getData<unsigned short>();
while(numPixels>0)
{
if(*f0Ptr!=*f1Ptr)
std::cerr<<"Difference in frame "<<numFrames-1<<", "<<numPixels<<" pixels left"<<std::endl;
++f0Ptr;
++f1Ptr;
--numPixels;
}
}
std::cout<<"Total decompression time: "<<totalTime*1000.0<<" ms, "<<numFrames<<" frames"<<std::endl;
std::cout<<"Maximum decompression time: "<<maxTime*1000.0<<" ms"<<std::endl;
std::cout<<"Decompression frame rate: "<<double(numFrames)/totalTime<<" Hz"<<std::endl;
return 0;
}