int main (){
OMXCAM_ERROR error;
long ms;
int diff;
int frames = 30;
int width = 640;
int height = 480;
printf ("frames: %d\n", frames);
printf ("width: %d\n", width);
printf ("height: %d\n", height);
ms = now ();
if ((error = rgb (frames, width, height))) return logError (error);
diff = now () - ms;
printf ("rgb: %.2f fps (%d ms)\n", frames/(diff/1000.0), diff);
ms = now ();
if ((error = yuv (frames, width, height))) return logError (error);
diff = now () - ms;
printf ("yuv: %.2f fps (%d ms)\n", frames/(diff/1000.0), diff);
return 0;
}
HRESULT TimgFilterLogoaway::process(TfilterQueue::iterator it,TffPict &pict,const TfilterSettingsVideo *cfg0)
{
if (is(pict,cfg0)) {
const TlogoawaySettings *cfg=(const TlogoawaySettings*)cfg0;
init(pict,cfg->full,cfg->half);
bool cspChanged;
if (cfg->lumaonly) {
cspChanged=getCurNext(FF_CSPS_MASK_YUV_PLANAR,pict,cfg->full,COPYMODE_DEF,&plane[0].dst,NULL,NULL,NULL);
} else {
cspChanged=getCurNext(FF_CSPS_MASK_YUV_PLANAR,pict,cfg->full,COPYMODE_DEF,&plane[0].dst,&plane[1].dst,&plane[2].dst,NULL);
}
if (cspChanged || logotemp.rectFull.dx!=(unsigned int)cfg->dx || logotemp.rectFull.dy!=(unsigned int)cfg->dy || !plane[0] || oldLumaOnly!=cfg->lumaonly || oldBlur!=cfg->blur || oldMode!=cfg->mode || stricmp(oldparambitmap,cfg->parambitmap)!=0) {
oldLumaOnly=cfg->lumaonly;
oldBlur=cfg->blur;
oldMode=cfg->mode;
ff_strncpy(oldparambitmap, cfg->parambitmap, countof(oldparambitmap));
done();
if (cfg->mode==TlogoawaySettings::MODE_SHAPEXY || cfg->mode==TlogoawaySettings::MODE_SHAPEUGLARM) {
parambitmap=new TffPict(csp2,cfg->parambitmap,parambitmapbuf,deci);
if (parambitmap->rectFull.dx!=(unsigned int)cfg->dx || parambitmap->rectFull.dy!=(unsigned int)cfg->dy) {
delete parambitmap;
parambitmap=NULL;
}
}
for (int i=0; i<(cfg->lumaonly?1:3); i++) {
plane[i].shiftX=pict.cspInfo.shiftX[i];
plane[i].shiftY=pict.cspInfo.shiftY[i];
plane[i].w=cfg->dx>>plane[i].shiftX;
plane[i].h=cfg->dy>>plane[i].shiftY;
if (parambitmap) {
plane[i].parambitmapdata=parambitmap->data[i];
plane[i].parambitmapstride=parambitmap->stride[i];
} else {
plane[i].parambitmapdata=NULL;
plane[i].parambitmapstride=0;
}
plane[i].init(cfg);
}
}
Trect tempR(cfg->x,cfg->y,cfg->dx,cfg->dy);
logotemp.copyFrom(pict,logotempbuf,&tempR);
YUVcolor yuv(cfg->solidcolor);
for (int i=0; i<(cfg->lumaonly?1:3); i++) {
plane[i].stride2=stride2[i];
plane[i].logotempdata=logotemp.data[i];
plane[i].logotempstride=logotemp.stride[i];
plane[i].solidcolor=(i==0?yuv.Y:(i==1?yuv.V+128:yuv.U+128));
plane[i].process(cfg);
}
}
int main(int argc, char** argv){
uint frames = 0;
float t_Y, entropy_Y = 0.0f;
float t_U, entropy_U = 0.0f;
float t_V, entropy_V = 0.0f;
FILE* fp = fopen("output", "wb");
if( argc < 2 ) {
fprintf( stderr, "Usage: YuvEntropy filename\n" );
return 1;
}
YUV yuv(argv[argc - 1]);
while (yuv.readFrame()!=-1){
//~ reduce.apply(orig, reduced);
//~ expand.apply(reduced, expanded);
//~ reduced.displayFrame();
//~ expanded.displayFrame();
t_Y = frameEntropy(yuv, 0);
t_U = frameEntropy(yuv, 1);
t_V = frameEntropy(yuv, 2);
fprintf(fp,"%f %f %f\n", t_Y, t_V, t_V);
entropy_Y += t_Y;
entropy_U += t_U;
entropy_V += t_V;
frames++;
}
fclose(fp);
printf("Y: %f, U:%f, V:%f\n", entropy_Y/(float)frames, entropy_U/(float)frames, entropy_V/(float)frames);
return 0;
}
void GLLUTWidget::drawSlice(Slice * s, LUT3D * lut, int idx, bool draw_bg, bool draw_selection, bool draw_sampler) {
if (lut->getColorSpace()==CSPACE_YUV) {
unsigned char xn=lut->getSizeY();
unsigned char yn=lut->getSizeZ();
//printf("size: %d max: %d bits: %d shift: %d \n"
//,lut->getSizeZ(),lut->getMaxZ(),lut->Z_BITS,lut->Z_SHIFT);
for (unsigned char x=0;x<xn;x++) {
for (unsigned char y=0;y<yn;y++) {
//printf("yn: %d\n",(yn/2)-1);
//printf("lut: %d\n",lut->lut2normZ((yn/2)-1));
if (draw_bg) s->bg->surface.setPixel( x,y,Conversions::rgb2rgba(Conversions::yuv2rgb(yuv(lut->lut2normX(idx),lut->lut2normY(x),lut->lut2normZ(y))),128));
if (draw_selection) {
if ((_mode==LUTChannelMode_Bitwise) && (actionViewToggleOtherChannels->isChecked()==false)) {
s->selection->surface.setPixel( x,y,maskToRGBA(lut,(0x01 << state.channel) & lut->get_preshrunk(idx,x,y)));
} else {
s->selection->surface.setPixel( x,y,maskToRGBA(lut,lut->get_preshrunk(idx,x,y)));
}
}
//s->bg->surface.setPixel( x,y,rgba(255,0,255,128));
}
}
if (draw_bg) s->bg_update_pending=true;
if (draw_selection) s->selection_update_pending=true;
if (draw_sampler) s->sampler_update_pending=true;
} else {
printf("currently only YUV colorspace-luts are supported\n");
}
}
void XtionGrabber::read_thread()
{
fd_set fds;
while(!m_shouldExit)
{
FD_ZERO(&fds);
FD_SET(m_depth_fd, &fds);
FD_SET(m_color_fd, &fds);
int ret = select(std::max(m_depth_fd, m_color_fd)+1, &fds, 0, 0, 0);
if(ret < 0)
{
perror("Could not select()");
return;
}
if(FD_ISSET(m_color_fd, &fds))
{
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
if(ioctl(m_color_fd, VIDIOC_DQBUF, &buf) != 0)
{
if(errno == EAGAIN)
continue;
perror("Could not dequeue buffer");
return;
}
ColorBuffer* buffer = &m_color_buffers[buf.index];
sensor_msgs::ImagePtr img = m_color_pool->create();
img->width = m_colorWidth;
img->height = m_colorHeight;
img->step = img->width * 4;
img->data.resize(img->step * img->height);
img->header.stamp = timeFromTimeval(buf.timestamp);
img->header.frame_id = "/camera_optical";
img->encoding = sensor_msgs::image_encodings::BGRA8;
#if HAVE_LIBYUV
libyuv::ConvertToARGB(
buffer->data.data(), buffer->data.size(),
img->data.data(),
m_colorWidth*4, 0, 0, m_colorWidth, m_colorHeight, m_colorWidth, m_colorHeight,
libyuv::kRotate0, libyuv::FOURCC_UYVY
);
#else
uint32_t* dptr = (uint32_t*)img->data.data();
for(size_t y = 0; y < img->height; ++y)
{
for(size_t x = 0; x < img->width-1; x += 2)
{
unsigned char* base = &buffer->data[y*m_colorWidth*2+x*2];
float y1 = base[1];
float u = base[0];
float y2 = base[3];
float v = base[2];
uint32_t rgb1 = yuv(y1, u, v);
uint32_t rgb2 = yuv(y2, u, v);
dptr[y*img->width + x + 0] = rgb1;
dptr[y*img->width + x + 1] = rgb2;
}
}
#endif
m_lastColorImage = img;
m_lastColorSeq = buf.sequence;
m_color_info.header.stamp = img->header.stamp;
m_pub_color.publish(img, boost::make_shared<sensor_msgs::CameraInfo>(m_color_info));
if(ioctl(m_color_fd, VIDIOC_QBUF, &buffer->buf) != 0)
{
perror("Could not queue buffer");
return;
}
}
if(FD_ISSET(m_depth_fd, &fds))
{
v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
if(ioctl(m_depth_fd, VIDIOC_DQBUF, &buf) != 0)
{
if(errno == EAGAIN)
continue;
perror("Could not dequeue buffer");
return;
}
DepthBuffer* buffer = &m_depth_buffers[buf.index];
buffer->image->header.stamp = timeFromTimeval(buf.timestamp);
m_lastDepthImage = buffer->image;
m_lastDepthSeq = buf.sequence;
m_depth_info.header.stamp = buffer->image->header.stamp;
m_pub_depth.publish(buffer->image, boost::make_shared<sensor_msgs::CameraInfo>(m_depth_info));
buffer->image.reset();
buffer->image = createDepthImage();
buffer->buf.m.userptr = (long unsigned int)buffer->image->data.data();
if(ioctl(m_depth_fd, VIDIOC_QBUF, &buffer->buf) != 0)
{
perror("Could not queue buffer");
return;
}
}
if(m_lastColorSeq == m_lastDepthSeq)
{
if(m_pub_cloud.getNumSubscribers() != 0)
publishPointCloud(m_lastDepthImage, &m_cloudGenerator, &m_pub_cloud);
if(m_pub_filledCloud.getNumSubscribers() != 0)
{
sensor_msgs::ImagePtr filledDepth = m_depthFiller.fillDepth(
m_lastDepthImage, m_lastColorImage
);
publishPointCloud(filledDepth, &m_filledCloudGenerator, &m_pub_filledCloud);
}
}
}
fprintf(stderr, "read thread exit now\n");
}
