int
main (int argc, char *argv[])
{
unsigned char *data;
int len;
JpegDecoder *dec;
char *fn = "biglebowski.jpg";
unsigned char *ptr;
int rowstride;
int width;
int height;
dec = jpeg_decoder_new ();
if (argc > 1)
fn = argv[1];
data = getfile (fn, &len);
jpeg_decoder_addbits (dec, data, len);
jpeg_decoder_decode (dec);
jpeg_decoder_get_component_ptr (dec, 1, &ptr, &rowstride);
jpeg_decoder_get_component_size (dec, 1, &width, &height);
dump_pgm (ptr, rowstride, width, height);
return 0;
}
void task_main(int argc, char *argv[])
{
_is_running = true;
int ret = 0;
struct frame_data frame;
memset(&frame, 0, sizeof(frame));
uint32_t timeout_cnt = 0;
// Main loop
while (!_task_should_exit) {
ret = g_dev->get_frame(frame);
if (ret < 0) {
PX4_ERR("Get Frame failed");
continue;
} else if (ret == 1) {
// No image in buffer
usleep(1000);
++timeout_cnt;
if (timeout_cnt > 1000) {
PX4_WARN("No frames received for 1 sec");
timeout_cnt = 0;
}
continue;
}
timeout_cnt = 0;
// Write images into a file
if (_trigger > 0) {
PX4_INFO("Trigger camera");
dump_pgm(frame.data, frame.bytes, frame.seq, frame.timestamp);
--_trigger;
}
/***************************************************************
*
* Optical Flow computation
*
**************************************************************/
ret = g_dev->put_frame(frame);
if (ret < 0) {
PX4_ERR("Put Frame failed");
}
}
_is_running = false;
}
int
main (int argc, char *argv[])
{
unsigned char *data;
int len;
JpegDecoder *dec;
char *fn = "c:\\data\\liboil\\test.jpg";
unsigned char *ptr;
int rowstride;
int width;
int height;
/*if (argc < 2) {
printf("jpeg_test <file.jpg>\n");
exit(1);
}*/
if (argc > 1)
fn = argv[1];
std_log(LOG_FILENAME_LINE, "Test Started examples_jpeg");
dec = jpeg_decoder_new (); //to create decoder instance
data = getfile (fn, &len);
jpeg_decoder_addbits (dec, data, len);
jpeg_decoder_decode (dec);
jpeg_decoder_get_component_ptr (dec, 1, &ptr, &rowstride);
jpeg_decoder_get_component_size (dec, 1, &width, &height);
dump_pgm (ptr, rowstride, width, height);
std_log(LOG_FILENAME_LINE, "Test Successful");
create_xml(0);
return 0;
}
static void process_image(const void *p, int size)
{
int i, newi, newsize=0;
struct timespec frame_time;
int y_temp, y2_temp, u_temp, v_temp;
unsigned char *pptr = (unsigned char *)p;
// record when process was called
clock_gettime(CLOCK_REALTIME, &frame_time);
framecnt++;
printf("frame %d: ", framecnt);
// This just dumps the frame to a file now, but you could replace with whatever image
// processing you wish.
//
if(fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_GREY)
{
printf("Dump graymap as-is size %d\n", size);
dump_pgm(p, size, framecnt, &frame_time);
}
else if(fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_YUYV)
{
#if defined(COLOR_CONVERT)
printf("Dump YUYV converted to RGB size %d\n", size);
// Pixels are YU and YV alternating, so YUYV which is 4 bytes
// We want RGB, so RGBRGB which is 6 bytes
//
for(i=0, newi=0; i<size; i=i+4, newi=newi+6)
{
y_temp=(int)pptr[i]; u_temp=(int)pptr[i+1]; y2_temp=(int)pptr[i+2]; v_temp=(int)pptr[i+3];
yuv2rgb(y_temp, u_temp, v_temp, &bigbuffer[newi], &bigbuffer[newi+1], &bigbuffer[newi+2]);
yuv2rgb(y2_temp, u_temp, v_temp, &bigbuffer[newi+3], &bigbuffer[newi+4], &bigbuffer[newi+5]);
}
dump_ppm(bigbuffer, ((size*6)/4), framecnt, &frame_time);
#else
printf("Dump YUYV converted to YY size %d\n", size);
// Pixels are YU and YV alternating, so YUYV which is 4 bytes
// We want Y, so YY which is 2 bytes
//
for(i=0, newi=0; i<size; i=i+4, newi=newi+2)
{
// Y1=first byte and Y2=third byte
bigbuffer[newi]=pptr[i];
bigbuffer[newi+1]=pptr[i+2];
}
dump_pgm(bigbuffer, (size/2), framecnt, &frame_time);
#endif
}
else if(fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_RGB24)
{
printf("Dump RGB as-is size %d\n", size);
dump_ppm(p, size, framecnt, &frame_time);
}
else
{
printf("ERROR - unknown dump format\n");
}
fflush(stderr);
//fprintf(stderr, ".");
fflush(stdout);
}
