int main(int argc, char **argv)
{
int i, c, interlace, frames, err;
int ywidth, yheight, uvwidth, uvheight, ylen, uvlen;
int verbose = 0, fdin;
int NlumaX = 4, NlumaY = 4, NchromaX = 4, NchromaY = 4;
float BWlumaX = 0.8, BWlumaY = 0.8, BWchromaX = 0.7, BWchromaY = 0.7;
struct filter *lumaXtaps, *lumaYtaps, *chromaXtaps, *chromaYtaps;
u_char *yuvinout[3];
float *yuvtmp1,*yuvtmp2;
y4m_stream_info_t istream, ostream;
y4m_frame_info_t iframe;
fdin = fileno(stdin);
y4m_accept_extensions(1);
/* read command line */
opterr = 0;
while ((c = getopt(argc, argv, "hvL:C:x:X:y:Y:")) != EOF)
{
switch (c)
{
case 'L':
sscanf(optarg,"%d,%f,%d,%f",&NlumaX,&BWlumaX,&NlumaY,&BWlumaY);
break;
case 'C':
sscanf(optarg,"%d,%f,%d,%f",&NchromaX,&BWchromaX,&NchromaY,&BWchromaY);
break;
case 'x':
sscanf(optarg,"%d,%f",&NchromaX,&BWchromaX);
break;
case 'X':
sscanf(optarg,"%d,%f",&NlumaX,&BWlumaX);
break;
case 'y':
sscanf(optarg,"%d,%f",&NchromaY,&BWchromaY);
break;
case 'Y':
sscanf(optarg,"%d,%f",&NlumaY,&BWlumaY);
break;
case 'v':
verbose++;
break;
case '?':
case 'h':
default:
usage();
}
}
if (BWlumaX <= 0.0 || BWlumaX > 1.0)
mjpeg_error_exit1("Horizontal luma bandwidth '%f' not >0 and <=1.0", BWlumaX);
if (BWlumaY <= 0.0 || BWlumaY > 1.0)
mjpeg_error_exit1("Vertical luma bandwidth '%f' not >0 and <=1.0", BWlumaY);
if (BWchromaX <= 0.0 || BWchromaX > 1.0)
mjpeg_error_exit1("Horizontal chroma bandwidth '%f' not >0 and <=1.0", BWchromaX);
if (BWchromaY <= 0.0 || BWchromaY > 1.0)
mjpeg_error_exit1("Vertical chroma bandwidth '%f' not >0 and <=1.0", BWchromaY);
/* initialize input stream and check chroma subsampling and interlacing */
y4m_init_stream_info(&istream);
y4m_init_frame_info(&iframe);
err = y4m_read_stream_header(fdin, &istream);
if (err != Y4M_OK)
mjpeg_error_exit1("Input stream error: %s\n", y4m_strerr(err));
if (y4m_si_get_plane_count(&istream) != 3)
mjpeg_error_exit1("Only the 3 plane formats supported");
i = y4m_si_get_interlace(&istream);
switch (i)
{
case Y4M_ILACE_NONE:
interlace = 0;
break;
case Y4M_ILACE_BOTTOM_FIRST:
case Y4M_ILACE_TOP_FIRST:
interlace = 1;
break;
default:
mjpeg_warn("Unknown interlacing '%d', assuming non-interlaced", i);
interlace = 0;
break;
}
ywidth = y4m_si_get_width(&istream); /* plane 0 = Y */
yheight = y4m_si_get_height(&istream);
ylen = ywidth * yheight;
uvwidth = y4m_si_get_plane_width(&istream, 1); /* planes 1&2 = U+V */
uvheight = y4m_si_get_plane_height(&istream, 1);
uvlen = y4m_si_get_plane_length(&istream, 1);
/* initialize output stream */
y4m_init_stream_info(&ostream);
y4m_copy_stream_info(&ostream, &istream);
y4m_write_stream_header(fileno(stdout), &ostream);
/* allocate input and output buffers */
yuvinout[0] = my_malloc(ylen*sizeof(u_char));
yuvinout[1] = my_malloc(uvlen*sizeof(u_char));
yuvinout[2] = my_malloc(uvlen*sizeof(u_char));
yuvtmp1 = my_malloc(MAX(ylen,uvlen)*sizeof(float));
yuvtmp2 = my_malloc(MAX(ylen,uvlen)*sizeof(float));
/* get filter taps */
lumaXtaps = get_coeff(NlumaX, BWlumaX);
lumaYtaps = get_coeff(NlumaY, BWlumaY);
chromaXtaps = get_coeff(NchromaX, BWchromaX);
chromaYtaps = get_coeff(NchromaY, BWchromaY);
set_accel(uvwidth,uvheight);
if (verbose)
y4m_log_stream_info(mjpeg_loglev_t("info"), "", &istream);
/* main processing loop */
for (frames=0; y4m_read_frame(fdin,&istream,&iframe,yuvinout) == Y4M_OK; frames++)
{
if (verbose && ((frames % 100) == 0))
mjpeg_info("Frame %d\n", frames);
convolveFrame(yuvinout[0],ywidth,yheight,interlace,lumaXtaps,lumaYtaps,yuvtmp1,yuvtmp2);
convolveFrame(yuvinout[1],uvwidth,uvheight,interlace,chromaXtaps,chromaYtaps,yuvtmp1,yuvtmp2);
convolveFrame(yuvinout[2],uvwidth,uvheight,interlace,chromaXtaps,chromaYtaps,yuvtmp1,yuvtmp2);
y4m_write_frame(fileno(stdout), &ostream, &iframe, yuvinout);
}
/* clean up */
y4m_fini_frame_info(&iframe);
y4m_fini_stream_info(&istream);
y4m_fini_stream_info(&ostream);
exit(0);
}
AP_InertialSensor_HIL::AP_InertialSensor_HIL() : AP_InertialSensor() {
Vector3f accels;
accels.z = -GRAVITY_MSS;
set_accel(accels);
}
