unsigned char* macvdCamera::getFrame()
{
OSErr err;
int isUpdated = 0;
if (!vdgIsGrabbing(pVdg)) return NULL;
if (err = vdgIdle( pVdg, &isUpdated))
{
printf("could not grab frame\n");
return NULL;
}
if (isUpdated)
{
unsigned char *src = (unsigned char*)pDstData;
unsigned char *dest = buffer;
switch (colour) {
case true: {
uyvy2rgb(width,height,src,dest);
break;
}
case false: {
uyvy2gray(width,height,src,dest);
break;
}
}
return buffer;
}
return NULL;
}
static void process_image(const void * src, int len, usb_cam_camera_image_t *dest)
{
if(pixelformat==V4L2_PIX_FMT_YUYV)
yuyv2rgb((char*)src, dest->image, dest->width*dest->height);
else if(pixelformat==V4L2_PIX_FMT_UYVY)
uyvy2rgb((char*)src, dest->image, dest->width*dest->height);
else if(pixelformat==V4L2_PIX_FMT_MJPEG)
mjpeg2rgb((char*)src, len, dest->image, dest->width*dest->height);
}
Image ColorConvert::apply(Image im, string from, string to) {
// check for the trivial case
assert(from != to, "color conversion from %s to %s is pointless\n", from.c_str(), to.c_str());
// unsupported destination color spaces
if (to == "yuyv" ||
to == "uyvy") {
panic("Unsupported destination color space: %s\n", to.c_str());
}
// direct conversions that don't have to go via rgb
if (from == "yuyv" && to == "yuv") {
return yuyv2yuv(im);
} else if (from == "uyvy" && to == "yuv") {
return uyvy2yuv(im);
} else if (from == "xyz" && to == "lab") {
return xyz2lab(im);
} else if (from == "lab" && to == "xyz") {
return lab2xyz(im);
} else if (from == "argb" && to == "xyz") {
return argb2xyz(im);
} else if (from == "xyz" && to == "argb") {
return xyz2argb(im);
} else if (from != "rgb" && to != "rgb") {
// conversions that go through rgb
Image halfway = apply(im, from, "rgb");
return apply(halfway, "rgb", to);
} else if (from == "rgb") { // from rgb
if (to == "hsv" || to == "hsl" || to == "hsb") {
return rgb2hsv(im);
} else if (to == "yuv") {
return rgb2yuv(im);
} else if (to == "xyz") {
return rgb2xyz(im);
} else if (to == "y" || to == "gray" ||
to == "grayscale" || to == "luminance") {
return rgb2y(im);
} else if (to == "lab") {
return rgb2lab(im);
} else if (to == "argb") {
return rgb2argb(im);
} else {
panic("Unknown color space %s\n", to.c_str());
}
} else { //(to == "rgb")
if (from == "hsv" || from == "hsl" || from == "hsb") {
return hsv2rgb(im);
} else if (from == "yuv") {
return yuv2rgb(im);
} else if (from == "xyz") {
return xyz2rgb(im);
} else if (from == "y" || from == "gray" ||
from == "grayscale" || from == "luminance") {
return y2rgb(im);
} else if (from == "lab") {
return lab2rgb(im);
} else if (from == "uyvy") {
return uyvy2rgb(im);
} else if (from == "yuyv") {
return yuyv2rgb(im);
} else if (from == "argb") {
return argb2rgb(im);
} else {
panic("Unknown color space %s\n", from.c_str());
}
}
// keep the compiler happy
return Image();
}
unsigned char* V4Linux2Camera::getFrame() {
if (dev_handle<0) return NULL;
if (ioctl(dev_handle, VIDIOC_DQBUF, &v4l2_buf)<0) {
running = false;
return NULL;
}
unsigned char *raw_buffer = (unsigned char*)buffers[v4l2_buf.index].start;
if (raw_buffer==NULL) return NULL;
if(cfg->color) {
if (cfg->frame) {
if (pixelformat==V4L2_PIX_FMT_YUYV)
crop_yuyv2rgb(cfg->cam_width,raw_buffer,frm_buffer);
else if (pixelformat==V4L2_PIX_FMT_UYVY)
crop_uyvy2rgb(cfg->cam_width,raw_buffer,frm_buffer);
else if (pixelformat==V4L2_PIX_FMT_YUV420) { //TODO
} else if (pixelformat==V4L2_PIX_FMT_YUV410) { //TODO
} else if (pixelformat==V4L2_PIX_FMT_GREY)
crop_gray2rgb(cfg->cam_width,raw_buffer, frm_buffer);
else if ((pixelformat == V4L2_PIX_FMT_MJPEG) || (pixelformat == V4L2_PIX_FMT_JPEG)) {
int jpegSubsamp;
tjDecompressHeader2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, &cfg->cam_width, &cfg->cam_height, &jpegSubsamp);
tjDecompress2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, cam_buffer, cfg->cam_width, 0, cfg->cam_height, TJPF_RGB, TJFLAG_FASTDCT);
crop(cfg->cam_width, cfg->cam_height,cam_buffer,frm_buffer,3);
}
} else {
if (pixelformat==V4L2_PIX_FMT_YUYV)
yuyv2rgb(cfg->cam_width,cfg->cam_height,raw_buffer,cam_buffer);
else if (pixelformat==V4L2_PIX_FMT_UYVY)
uyvy2rgb(cfg->cam_width,cfg->cam_height,raw_buffer,cam_buffer);
else if (pixelformat==V4L2_PIX_FMT_YUV420) { //TODO
} else if (pixelformat==V4L2_PIX_FMT_YUV410) { //TODO
} else if (pixelformat==V4L2_PIX_FMT_GREY)
gray2rgb(cfg->cam_width,cfg->cam_height,raw_buffer,cam_buffer);
else if ((pixelformat == V4L2_PIX_FMT_MJPEG) || (pixelformat == V4L2_PIX_FMT_JPEG)) {
int jpegSubsamp;
tjDecompressHeader2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, &cfg->cam_width, &cfg->cam_height, &jpegSubsamp);
tjDecompress2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, cam_buffer, cfg->cam_width, 0, cfg->cam_height, TJPF_RGB, TJFLAG_FASTDCT);
}
}
} else {
if (cfg->frame) {
if (pixelformat==V4L2_PIX_FMT_YUYV)
crop_yuyv2gray(cfg->cam_width,raw_buffer,frm_buffer);
else if (pixelformat==V4L2_PIX_FMT_UYVY)
crop_uyvy2gray(cfg->cam_width,raw_buffer,frm_buffer);
else if (pixelformat==V4L2_PIX_FMT_YUV420)
crop(cfg->cam_width, cfg->cam_height,raw_buffer,frm_buffer,1);
else if (pixelformat==V4L2_PIX_FMT_YUV410)
crop(cfg->cam_width, cfg->cam_height,raw_buffer,frm_buffer,1);
else if (pixelformat==V4L2_PIX_FMT_GREY)
crop(cfg->cam_width, cfg->cam_height,raw_buffer,frm_buffer,1);
else if ((pixelformat == V4L2_PIX_FMT_MJPEG) || (pixelformat == V4L2_PIX_FMT_JPEG)) {
int jpegSubsamp;
tjDecompressHeader2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, &cfg->cam_width, &cfg->cam_height, &jpegSubsamp);
tjDecompress2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, cam_buffer, cfg->cam_width, 0, cfg->cam_height, TJPF_GRAY, TJFLAG_FASTDCT);
crop(cfg->cam_width, cfg->cam_height,cam_buffer,frm_buffer,1);
}
} else {
if (pixelformat==V4L2_PIX_FMT_YUYV) yuyv2gray(cfg->cam_width, cfg->cam_height, raw_buffer, cam_buffer);
else if (pixelformat==V4L2_PIX_FMT_UYVY) uyvy2gray(cfg->cam_width, cfg->cam_height, raw_buffer, cam_buffer);
else if (pixelformat==V4L2_PIX_FMT_YUV420) memcpy(cam_buffer,raw_buffer,cfg->cam_width*cfg->cam_height);
else if (pixelformat==V4L2_PIX_FMT_YUV410) memcpy(cam_buffer,raw_buffer,cfg->cam_width*cfg->cam_height);
//else if (pixelformat==V4L2_PIX_FMT_GREY) memcpy(cam_buffer,raw_buffer,cam_width*cam_height);
else if ((pixelformat == V4L2_PIX_FMT_MJPEG) || (pixelformat == V4L2_PIX_FMT_JPEG)) {
int jpegSubsamp;
tjDecompressHeader2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, &cfg->cam_width, &cfg->cam_height, &jpegSubsamp);
tjDecompress2(_jpegDecompressor, raw_buffer, v4l2_buf.bytesused, cam_buffer, cfg->cam_width, 0, cfg->cam_height, TJPF_GRAY, TJFLAG_FASTDCT);
}
}
}
if (-1 == ioctl (dev_handle, VIDIOC_QBUF, &v4l2_buf)) {
printf("cannot unqueue buffer: %s\n", strerror(errno));
return NULL;
}
if (cfg->frame) return frm_buffer;
else if ((!cfg->color) && (pixelformat==V4L2_PIX_FMT_GREY)) return raw_buffer;
else return cam_buffer;
}
