static gboolean show_camera(gpointer data)
{
read_frame();
if(pixmap) {
g_object_unref(pixmap); // ref count minus one
}
pixmap = gdk_pixmap_new (image_face->window, preview_width, preview_height, -1);
unsigned char *buf2 = (unsigned char *) malloc (sizeof(unsigned char) * width * height * 3);
Pyuv422torgb24((unsigned char*)framebuffer, buf2, width, height);
GdkPixbuf *rgbBuf = gdk_pixbuf_new_from_data(buf2,
GDK_COLORSPACE_RGB,
FALSE, 8,
width, height,
width * 3,
NULL, NULL);
if(rgbBuf != NULL) {
GdkPixbuf* buf = gdk_pixbuf_scale_simple(rgbBuf,
preview_width,
preview_height,
GDK_INTERP_BILINEAR);
gdk_draw_pixbuf(pixmap,
image_face->style->white_gc,
buf,
0, 0, 0, 0,
preview_width, preview_height,
GDK_RGB_DITHER_NONE, 0, 0);
gdk_draw_drawable(image_face->window,
image_face->style->white_gc,
pixmap,
0, 0, 0, 0,
preview_width, preview_height);
g_object_unref(buf);
g_object_unref(rgbBuf);
}
gtk_widget_show(image_face);
free(buf2);
return TRUE;
}
void post_fb(struct fb_dev *dev, void *input, int w, int h, int size, int input_fmt)
{
int src_bpp;
int dst_bpp = dev->var.bits_per_pixel / 8;
void *dst, *src;
int i, j;
if (dev->fd < 0)
return ;
/* only support YUV422 now */
if (input_fmt != V4L2_PIX_FMT_YUYV)
return ;
switch (dev->var.bits_per_pixel) {
case 32:
Pyuv422torgb32(input, dev->tmpbuf, w, h);
src_bpp = 4;
case 24:
Pyuv422torgb24(input, dev->tmpbuf, w, h);
src_bpp = 3;
break;
case 16:
Pyuv422torgb16(input, dev->tmpbuf, w, h);
src_bpp = 2;
break;
default:
return ;
}
for (i = 0; i < h; i++) {
for (j = 0; j < w; j++) {
dst = dev->fbmem + i * dev->var.xres * dst_bpp + j * dst_bpp;
src = dev->tmpbuf + i * w * src_bpp + j * src_bpp;
memcpy(dst, src, src_bpp);
}
}
}
void V4RCamNode::publishCamera()
{
cameraInfo_.header.stamp.sec = timeLastFrame_.tv_sec, cameraInfo_.header.stamp.nsec = timeLastFrame_.tv_usec * 1000;
cameraImage_.header = cameraInfo_.header;
cameraImage_.height = cameraInfo_.height = height_;
cameraImage_.width = cameraInfo_.width = width_;
cameraImage_.is_bigendian = true;
cameraImage_.step = cameraInfo_.width * 2;
switch(convert_image_first_) {
case CONVERT_RAW:
cameraImage_.encoding = "yuv422";
cameraImage_.data.resize(width_ * height_ * 2);
memcpy(&cameraImage_.data[0], pVideoIn_->framebuffer, cameraImage_.data.size());
break;
case CONVERT_YUV422toRGB:
cameraImage_.encoding = "rgb8";
cameraImage_.data.resize(width_ * height_ * 3);
Pyuv422torgb24(pVideoIn_->framebuffer, &cameraImage_.data[0], width_, height_);
break;
case CONVERT_YUV422toBGR:
cameraImage_.encoding = "bgr8";
cameraImage_.data.resize(width_ * height_ * 3);
Pyuv422tobgr24(pVideoIn_->framebuffer, &cameraImage_.data[0], width_, height_);
break;
case CONVERT_YUV422toGray:
cameraImage_.encoding = "mono8";
cameraImage_.data.resize(width_ * height_);
Pyuv422togray8(pVideoIn_->framebuffer, &cameraImage_.data[0], width_, height_);
break;
default:
cameraImage_.encoding = "yuv422";
cameraImage_.data.resize(width_ * height_ * 2);
memcpy(&cameraImage_.data[0], pVideoIn_->framebuffer, cameraImage_.data.size());
}
cameraPublisher_.publish(cameraImage_, cameraInfo_);
}
