void V4L2CaptureInterface::decodeData(V4L2CameraDescriptor *camera, V4L2BufferDescriptor *buffer, G12Buffer **output)
{
if (!buffer->isFilled)
{
// SYNC_PRINT(("V4L2CaptureInterface::decodeData(): Buffer is not filled. Returning empty\n"));
*output = new G12Buffer(formatH, formatW, false);
return;
}
//SYNC_PRINT(("V4L2CaptureInterface::decodeData(): Decoding buffer\n"));
uint8_t *ptrL = (uint8_t*)(camera->buffers[buffer->index].start);
switch(decoder)
{
case UNCOMPRESSED:
*output = new G12Buffer(formatH, formatW, false);
(*output)->fillWithYUYV((uint16_t *)ptrL);
break;
case COMPRESSED_JPEG:
{
uint16_t *ptrDecoded = decodeMjpeg(ptrL);
*output = new G12Buffer(formatH, formatW, false);
(*output)->fillWithYUYV(ptrDecoded);
free(ptrDecoded);
}
break;
case CODEC_NUMBER:
case COMPRESSED_FAST_JPEG:
{
MjpegDecoderLazy lazyDecoder;
*output = lazyDecoder.decode(ptrL);
if (*output == NULL) {
// SYNC_PRINT(("V4L2CaptureInterface::decodeData(): Decoded to buffer that is NULL\n"));
}
}
break;
}
}
ALIGN_STACK_SSE void DirectShowCaptureInterface::memberCallback(DSCapDeviceId dev, FrameData data)
{
//SYNC_PRINT(("Received new frame in a member %d\n", dev));
mProtectFrame.lock();
DirectShowCameraDescriptor *camera = NULL;
if (mCameras[0].deviceHandle == dev) camera = &mCameras[0];
else
if (mCameras[1].deviceHandle == dev) camera = &mCameras[1];
else
goto exit;
{
PreciseTimer timer = PreciseTimer::currentTime();
camera->gotBuffer = true;
camera->timestamp = (data.timestamp + 5) / 10;
delete_safe (camera->buffer);
delete_safe (camera->buffer24);
if (data.format.type == CAP_YUV)
{
if (mIsRgb) {
camera->buffer24 = new RGB24Buffer(data.format.height, data.format.width, false);
camera->buffer24->fillWithYUYV((uint8_t *)data.data);
}
else {
camera->buffer = new G12Buffer(data.format.height, data.format.width, false);
camera->buffer->fillWithYUYV((uint16_t *)data.data);
}
}
else if (data.format.type == CAP_MJPEG)
{
MjpegDecoderLazy *lazyDecoder = new MjpegDecoderLazy; // don't place it at stack, it's too huge!
if (mIsRgb)
camera->buffer24 = lazyDecoder->decodeRGB24((uchar *)data.data);
else
camera->buffer = lazyDecoder->decode((uchar *)data.data);
delete lazyDecoder;
}
else if (data.format.type == CAP_RGB)
{
if (mIsRgb) {
camera->buffer24 = new RGB24Buffer(data.format.height, data.format.width, true);
int w = camera->buffer24->w;
int h = camera->buffer24->h;
for (int i = 0; i < h; i++) {
uint8_t *rgbData = ((uint8_t *)data.data) + 3 * (h - i - 1) * w;
RGBColor *rgb24Data = &(camera->buffer24->element(i, 0));
for (int j = 0; j < w; j++) {
RGBColor rgb(rgbData[2], rgbData[1], rgbData[0]); // the given data format has B,G,R order
*rgb24Data++ = rgb;
rgbData += 3;
}
}
}
else {
camera->buffer = new G12Buffer(data.format.height, data.format.width, false);
int w = camera->buffer->w;
int h = camera->buffer->h;
for (int i = 0; i < h; i++) {
uint8_t *rgbData = ((uint8_t *)data.data) + 3 * (h - i - 1) * w;
uint16_t *greyData = &(camera->buffer->element(i, 0));
for (int j = 0; j < w; j++) {
RGBColor rgb(rgbData[2], rgbData[1], rgbData[0]); // the given data format has B,G,R order
*greyData++ = rgb.luma12();
rgbData += 3;
}
}
}
}
else {
camera->buffer = new G12Buffer(data.format.height, data.format.width, false);
}
camera->decodeTime = timer.usecsToNow();
/* If both frames are in place */
if (mCameras[0].gotBuffer && mCameras[1].gotBuffer)
{
mCameras[0].gotBuffer = false;
mCameras[1].gotBuffer = false;
CaptureStatistics stats;
int64_t desync = mCameras[0].timestamp - mCameras[1].timestamp;
stats.values[CaptureStatistics::DESYNC_TIME] = desync > 0 ? desync : -desync;
stats.values[CaptureStatistics::DECODING_TIME] = mCameras[0].decodeTime + mCameras[1].decodeTime;
if (lastFrameTime.usecsTo(PreciseTimer()) != 0)
{
stats.values[CaptureStatistics::INTERFRAME_DELAY] = lastFrameTime.usecsToNow();
}
lastFrameTime = PreciseTimer::currentTime();
frame_data_t frameData;
frameData.timestamp = mCameras[0].timestamp / 2 + mCameras[1].timestamp / 2;
newFrameReady(frameData);
newStatisticsReady(stats);
}
else {
frame_data_t frameData;
frameData.timestamp = mCameras[0].timestamp;
newFrameReady(frameData);
//newStatisticsReady(stats);
skippedCount++;
}
}
exit:
mProtectFrame.unlock();
}
