reader_raw.hpp

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/*
 * SPDX-FileCopyrightText: 2014 University of Edinburgh, Imperial College London, University of Manchester
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2022 Nils Funk
 * SPDX-FileCopyrightText: 2020-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: MIT
 */

#ifndef __READER_RAW_HPP
#define __READER_RAW_HPP

#include <Eigen/Dense>
#include <cstdint>
#include <fstream>
#include <string>

#include "reader_base.hpp"
#include "se/image/image.hpp"



namespace se {

class RAWReader : public Reader {
    public:
    RAWReader(const ReaderConfig& c);

    void restart();

    std::string name() const;

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    private:
    std::ifstream raw_fs_;
    size_t depth_image_total_;
    size_t rgba_image_total_;
    size_t depth_data_size_;
    size_t rgba_data_size_;
    size_t depth_total_size_;
    size_t rgba_total_size_;
    static constexpr size_t depth_pixel_size_ = sizeof(uint16_t);
    static constexpr size_t rgba_pixel_size_ = 3 * sizeof(uint8_t);
    static constexpr size_t res_size_ = 2 * sizeof(uint32_t);

    bool readResolution(std::ifstream& fs, Eigen::Vector2i& res);

    ReaderStatus nextDepth(Image<float>& depth_image);

    ReaderStatus nextRGBA(Image<uint32_t>& rgba_image);
};

} // namespace se

#endif