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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // The following code is a C++ wrapper of the code presented by | ||
| // Andrew D. Wilson in "Fast Lossless Depth Image Compression" at SIGCHI'17. | ||
| // The original code is licensed under the MIT License. | ||
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| #ifndef RVL_CODEC_H_ | ||
| #define RVL_CODEC_H_ | ||
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| #include <cstdint> | ||
| #include "rtabmap/core/rtabmap_core_export.h" | ||
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| namespace rtabmap | ||
| { | ||
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| class RTABMAP_CORE_EXPORT RvlCodec { | ||
| public: | ||
| RvlCodec(); | ||
| // Compress input data into output. The size of output can be equal to (1.5 * numPixels + 4) in the worst case. | ||
| int CompressRVL(const uint16_t * input, unsigned char * output, int numPixels); | ||
| // Decompress input data into output. The size of output must be equal to numPixels. | ||
| void DecompressRVL(const unsigned char * input, uint16_t * output, int numPixels); | ||
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| private: | ||
| RvlCodec(const RvlCodec &); | ||
| RvlCodec & operator=(const RvlCodec &); | ||
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| void EncodeVLE(int value); | ||
| int DecodeVLE(); | ||
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| int *buffer_; | ||
| int *pBuffer_; | ||
| int word_; | ||
| int nibblesWritten_; | ||
| }; | ||
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| } // namespace rtabmap | ||
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| #endif // RVL_CODEC_H_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| // The following code is a C++ wrapper of the code presented by | ||
| // Andrew D. Wilson in "Fast Lossless Depth Image Compression" at SIGCHI'17. | ||
| // The original code is licensed under the MIT License. | ||
|
|
||
| #include <rtabmap/core/rvl_codec.h> | ||
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| namespace rtabmap | ||
| { | ||
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| RvlCodec::RvlCodec() {} | ||
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| void RvlCodec::EncodeVLE(int value) | ||
| { | ||
| do | ||
| { | ||
| int nibble = value & 0x7; // lower 3 bits | ||
| if (value >>= 3) | ||
| nibble |= 0x8; // more to come | ||
| word_ <<= 4; | ||
| word_ |= nibble; | ||
| if (++nibblesWritten_ == 8) // output word | ||
| { | ||
| *pBuffer_++ = word_; | ||
| nibblesWritten_ = 0; | ||
| word_ = 0; | ||
| } | ||
| } while (value); | ||
| } | ||
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| int RvlCodec::DecodeVLE() | ||
| { | ||
| unsigned int nibble; | ||
| int value = 0, bits = 29; | ||
| do | ||
| { | ||
| if (!nibblesWritten_) | ||
| { | ||
| word_ = *pBuffer_++; // load word | ||
| nibblesWritten_ = 8; | ||
| } | ||
| nibble = word_ & 0xf0000000; | ||
| value |= (nibble << 1) >> bits; | ||
| word_ <<= 4; | ||
| nibblesWritten_--; | ||
| bits -= 3; | ||
| } while (nibble & 0x80000000); | ||
| return value; | ||
| } | ||
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| int RvlCodec::CompressRVL(const uint16_t * input, unsigned char * output, int numPixels) | ||
| { | ||
| buffer_ = pBuffer_ = reinterpret_cast<int *>(output); | ||
| nibblesWritten_ = 0; | ||
| const uint16_t * end = input + numPixels; | ||
| uint16_t previous = 0; | ||
| while (input != end) | ||
| { | ||
| int zeros = 0, nonzeros = 0; | ||
| for (; (input != end) && !*input; input++, zeros++) {} | ||
| EncodeVLE(zeros); // number of zeros | ||
| for (const uint16_t * p = input; (p != end) && *p++; nonzeros++) {} | ||
| EncodeVLE(nonzeros); // number of nonzeros | ||
| for (int i = 0; i < nonzeros; i++) | ||
| { | ||
| uint16_t current = *input++; | ||
| int delta = current - previous; | ||
| int positive = (delta << 1) ^ (delta >> 31); | ||
| EncodeVLE(positive); // nonzero value | ||
| previous = current; | ||
| } | ||
| } | ||
| if (nibblesWritten_) // last few values | ||
| *pBuffer_++ = word_ << 4 * (8 - nibblesWritten_); | ||
| return static_cast<int>((unsigned char *)pBuffer_ - (unsigned char *)buffer_); // num bytes | ||
| } | ||
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| void RvlCodec::DecompressRVL(const unsigned char * input, uint16_t * output, int numPixels) | ||
| { | ||
| buffer_ = pBuffer_ = const_cast<int *>(reinterpret_cast<const int *>(input)); | ||
| nibblesWritten_ = 0; | ||
| uint16_t current, previous = 0; | ||
| int numPixelsToDecode = numPixels; | ||
| while (numPixelsToDecode) | ||
| { | ||
| int zeros = DecodeVLE(); // number of zeros | ||
| numPixelsToDecode -= zeros; | ||
| for (; zeros; zeros--) | ||
| *output++ = 0; | ||
| int nonzeros = DecodeVLE(); // number of nonzeros | ||
| numPixelsToDecode -= nonzeros; | ||
| for (; nonzeros; nonzeros--) | ||
| { | ||
| int positive = DecodeVLE(); // nonzero value | ||
| int delta = (positive >> 1) ^ -(positive & 1); | ||
| current = previous + delta; | ||
| *output++ = current; | ||
| previous = current; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| } // namespace rtabmap |
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