pcl::PointCloud<pcl::PointXYZRGB>::Ptr
convertBytesToPointCloud(char* buffer,int buffer_point_size){
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
uint8_t r(255), g(15), b(15);
for(int k=0;k<buffer_point_size;k+=12) {
pcl::PointXYZRGB point;
point.x = bytesToFloat(buffer[k], buffer[k+1], buffer[k+2], buffer[k+3]);
point.y = bytesToFloat(buffer[k+4], buffer[k+5], buffer[k+6], buffer[k+7]);
point.z = bytesToFloat(buffer[k+8], buffer[k+9], buffer[k+10], buffer[k+11]);
printf("%f,%f,%f\n ", point.x,point.y,point.z);
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 |
static_cast<uint32_t>(b) );
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
r -= 5;
g += 5;
}
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
return point_cloud_ptr;
}
void compute_segment_precisions_float_2D(float *oriData, float* pwrErrBound,
int r1, int r2, int R2, int edgeSize, unsigned char* pwrErrBoundBytes, float Min, float Max)
{
int i = 0, j = 0, k = 0, p = 0, index = 0, J; //I=-1,J=-1 if they are needed
float realPrecision;
float approxPrecision;
unsigned char realPrecBytes[4];
float curValue, curAbsValue;
float* minAbsValues = (float*)malloc(R2*sizeof(float));
float max = fabs(Min)<fabs(Max)?fabs(Max):fabs(Min); //get the max abs value.
for(i=0;i<R2;i++)
minAbsValues[i] = max;
for(i=0;i<r1;i++)
{
for(j=0;j<r2;j++)
{
index = i*r2+j;
curValue = oriData[index];
if(((i%edgeSize==edgeSize-1 || i==r1-1) &&j%edgeSize==0&&j>0) || (i%edgeSize==0&&j==0&&i>0))
{
realPrecision = pw_relBoundRatio*minAbsValues[J];
floatToBytes(realPrecBytes, realPrecision);
realPrecBytes[2] = realPrecBytes[3] = 0;
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[p++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
pwrErrBoundBytes[k++] = realPrecBytes[0];
pwrErrBoundBytes[k++] = realPrecBytes[1];
minAbsValues[J] = max;
}
if(j==0)
J = 0;
else if(j%edgeSize==0)
J++;
if(curValue!=0)
{
curAbsValue = fabs(curValue);
if(minAbsValues[J]>curAbsValue)
minAbsValues[J] = curAbsValue;
}
}
}
realPrecision = pw_relBoundRatio*minAbsValues[J];
floatToBytes(realPrecBytes, realPrecision);
realPrecBytes[2] = realPrecBytes[3] = 0;
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[p++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
pwrErrBoundBytes[k++] = realPrecBytes[0];
pwrErrBoundBytes[k++] = realPrecBytes[1];
free(minAbsValues);
}
void compute_segment_precisions_float_1D(float *oriData, int dataLength, float* pwrErrBound, unsigned char* pwrErrBoundBytes)
{
int i = 0, j = 0, k = 0;
float realPrecision = oriData[0]!=0?fabs(pw_relBoundRatio*oriData[0]):pw_relBoundRatio;
float approxPrecision;
unsigned char realPrecBytes[4];
float curPrecision;
float curValue;
for(i=0;i<dataLength;i++)
{
curValue = oriData[i];
if(i%segment_size==0&&i>0)
{
//get two first bytes of the realPrecision
floatToBytes(realPrecBytes, realPrecision);
realPrecBytes[2] = realPrecBytes[3] = 0;
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[j++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
pwrErrBoundBytes[k++] = realPrecBytes[0];
pwrErrBoundBytes[k++] = realPrecBytes[1];
realPrecision = curValue!=0?fabs(pw_relBoundRatio*curValue):pw_relBoundRatio;
}
else if(curValue!=0)
{
curPrecision = fabs(pw_relBoundRatio*curValue);
if(realPrecision>curPrecision)
realPrecision = curPrecision;
}
}
floatToBytes(realPrecBytes, realPrecision);
realPrecBytes[2] = realPrecBytes[3] = 0;
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[j++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
pwrErrBoundBytes[k++] = realPrecBytes[0];
pwrErrBoundBytes[k++] = realPrecBytes[1];
}
void dostuff (int sock)
{
//printf("---------------------%f\n", cloud->points[0].x );
int n;
char* buffer=new char [4];
if (read(sock,buffer,4) < 0) error("ERROR reading from socket");
int points_no =(int)bytesToFloat(buffer[0], buffer[1], buffer[2], buffer[3]) - 1;
delete [] buffer;
int buffer_point_size=points_no*(int)sizeof(float);
buffer=new char[buffer_point_size];
if (read(sock,buffer,buffer_point_size) < 0) error("ERROR reading from socket");
printf("%d\n", buffer_point_size );
printf("Message from client:\n");
//convertBytesToPointCloud(buffer,buffer_point_size);
*shared_buffer_size=points_no;
int j;
for(int k=0;k<buffer_point_size;k+=4) {
sharedbuffer[j]=bytesToFloat(buffer[k], buffer[k+1], buffer[k+2], buffer[k+3]);
std::cout<<" "<<sharedbuffer[j]<<std::endl;
j++;
}
printf("\n");
n = write(sock,"I got your message",18);
if (n < 0) error("ERROR writing to socket");
}
template<class Type> Type readbuffer4(int *newsockfd,const char* chars){
char* buffer=new char [4];
bzero(buffer,4);
int n=read(*newsockfd,buffer,4);
if ( n< 0) error("ERROR reading from socket");
//point no
Type res =(Type)bytesToFloat(buffer[0], buffer[1], buffer[2], buffer[3]);
std::cout << chars<<res << std::endl;
delete [] buffer;
return res;
}
void compute_segment_precisions_float_3D(float *oriData, float* pwrErrBound,
int r1, int r2, int r3, int R2, int R3, int edgeSize, unsigned char* pwrErrBoundBytes, float Min, float Max)
{
int i = 0, j = 0, k = 0, p = 0, q = 0, index = 0, J = 0, K = 0; //I=-1,J=-1 if they are needed
int r23 = r2*r3, ir, jr;
float realPrecision;
float approxPrecision;
unsigned char realPrecBytes[4];
float curValue, curAbsValue;
float** minAbsValues = create2DArray_float(R2, R3);
float max = fabs(Min)<fabs(Max)?fabs(Max):fabs(Min); //get the max abs value.
for(i=0;i<R2;i++)
for(j=0;j<R3;j++)
minAbsValues[i][j] = max;
for(i=0;i<r1;i++)
{
ir = i*r23;
if(i%edgeSize==0&&i>0)
{
realPrecision = pw_relBoundRatio*minAbsValues[J][K];
floatToBytes(realPrecBytes, realPrecision);
memset(&realPrecBytes[2], 0, 2);
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[p++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
//printf("q=%d, i=%d, j=%d, k=%d\n",q,i,j,k);
pwrErrBoundBytes[q++] = realPrecBytes[0];
pwrErrBoundBytes[q++] = realPrecBytes[1];
minAbsValues[J][K] = max;
}
for(j=0;j<r2;j++)
{
jr = j*r3;
if((i%edgeSize==edgeSize-1 || i == r1-1)&&j%edgeSize==0&&j>0)
{
realPrecision = pw_relBoundRatio*minAbsValues[J][K];
floatToBytes(realPrecBytes, realPrecision);
memset(&realPrecBytes[2], 0, 2);
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[p++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
//printf("q=%d, i=%d, j=%d, k=%d\n",q,i,j,k);
pwrErrBoundBytes[q++] = realPrecBytes[0];
pwrErrBoundBytes[q++] = realPrecBytes[1];
minAbsValues[J][K] = max;
}
if(j==0)
J = 0;
else if(j%edgeSize==0)
J++;
for(k=0;k<r3;k++)
{
index = ir+jr+k;
curValue = oriData[index];
if((i%edgeSize==edgeSize-1 || i == r1-1)&&(j%edgeSize==edgeSize-1||j==r2-1)&&k%edgeSize==0&&k>0)
{
realPrecision = pw_relBoundRatio*minAbsValues[J][K];
floatToBytes(realPrecBytes, realPrecision);
memset(&realPrecBytes[2], 0, 2);
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[p++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
//printf("q=%d, i=%d, j=%d, k=%d\n",q,i,j,k);
pwrErrBoundBytes[q++] = realPrecBytes[0];
pwrErrBoundBytes[q++] = realPrecBytes[1];
minAbsValues[J][K] = max;
}
if(k==0)
K = 0;
else if(k%edgeSize==0)
K++;
if(curValue!=0)
{
curAbsValue = fabs(curValue);
if(minAbsValues[J][K]>curAbsValue)
minAbsValues[J][K] = curAbsValue;
}
}
}
}
realPrecision = pw_relBoundRatio*minAbsValues[J][K];
floatToBytes(realPrecBytes, realPrecision);
realPrecBytes[2] = realPrecBytes[3] = 0;
approxPrecision = bytesToFloat(realPrecBytes);
//put the realPrecision in float* pwrErBound
pwrErrBound[p++] = approxPrecision;
//put the two bytes in pwrErrBoundBytes
pwrErrBoundBytes[q++] = realPrecBytes[0];
pwrErrBoundBytes[q++] = realPrecBytes[1];
free2DArray_float(minAbsValues, R2);
}
/**
*
*
* @return status SUCCESSFUL (SZ_SCES) or not (other error codes)
* */
int SZ_decompress_args_float(float** newData, int r5, int r4, int r3, int r2, int r1, unsigned char* cmpBytes, int cmpSize)
{
int status = SZ_SCES;
int dataLength = computeDataLength(r5,r4,r3,r2,r1);
//unsigned char* tmpBytes;
int targetUncompressSize = dataLength <<2; //i.e., *4
//tmpSize must be "much" smaller than dataLength
int tmpSize = 12, i;
unsigned char* szTmpBytes;
if(cmpSize!=12)
{
int isZlib = isZlibFormat(cmpBytes[0], cmpBytes[1]);
if(isZlib)
szMode = SZ_BEST_COMPRESSION;
else
szMode = SZ_BEST_SPEED;
if(szMode==SZ_BEST_SPEED)
{
tmpSize = cmpSize;
szTmpBytes = cmpBytes;
}
else if(szMode==SZ_BEST_COMPRESSION || szMode==SZ_DEFAULT_COMPRESSION)
{
if(targetUncompressSize<MIN_ZLIB_DEC_ALLOMEM_BYTES) //Considering the minimum size
targetUncompressSize = MIN_ZLIB_DEC_ALLOMEM_BYTES;
tmpSize = zlib_uncompress2(cmpBytes, (unsigned long)cmpSize, &szTmpBytes, (unsigned long)targetUncompressSize);
//szTmpBytes = (unsigned char*)malloc(sizeof(unsigned char)*tmpSize);
//memcpy(szTmpBytes, tmpBytes, tmpSize);
//free(tmpBytes); //release useless memory
}
else
{
printf("Wrong value of szMode in the double compressed bytes.\n");
status = SZ_MERR;
return status;
}
}
else
szTmpBytes = cmpBytes;
//TODO: convert szTmpBytes to data array.
TightDataPointStorageF* tdps;
int errBoundMode = new_TightDataPointStorageF_fromFlatBytes(&tdps, szTmpBytes, tmpSize);
//writeByteData(tdps->typeArray, tdps->typeArray_size, "decompress-typebytes.tbt");
int dim = computeDimension(r5,r4,r3,r2,r1);
int floatSize = sizeof(float);
if(tdps->isLossless)
{
*newData = (float*)malloc(floatSize*dataLength);
if(sysEndianType==BIG_ENDIAN_SYSTEM)
{
memcpy(*newData, szTmpBytes+8, dataLength*floatSize);
}
else
{
unsigned char* p = szTmpBytes+8;
for(i=0;i<dataLength;i++,p+=floatSize)
(*newData)[i] = bytesToFloat(p);
}
}
else if (dim == 1)
getSnapshotData_float_1D(newData,r1,tdps, errBoundMode);
else
if (dim == 2)
getSnapshotData_float_2D(newData,r2,r1,tdps, errBoundMode);
else
if (dim == 3)
getSnapshotData_float_3D(newData,r3,r2,r1,tdps, errBoundMode);
else
if (dim == 4)
getSnapshotData_float_3D(newData,r4*r3,r2,r1,tdps, errBoundMode);
else
{
printf("Error: currently support only at most 4 dimensions!\n");
status = SZ_DERR;
}
free_TightDataPointStorageF(tdps);
if(szMode!=SZ_BEST_SPEED && cmpSize!=12)
free(szTmpBytes);
SZ_ReleaseHuffman();
return status;
}
