/*
* decode video stream ( from raw_frame to frame buffer (yuyv format))
* args:
* vd - pointer to device data
* frame - pointer to frame buffer
*
* asserts:
* vd is not null
*
* returns: error code ( 0 - E_OK)
*/
int decode_v4l2_frame(v4l2_dev_t *vd, v4l2_frame_buff_t *frame)
{
/*asserts*/
assert(vd != NULL);
if(!frame->raw_frame || frame->raw_frame_size == 0)
{
fprintf(stderr, "V4L2_CORE: not decoding empty raw frame (frame of size %i at 0x%p)\n", (int) frame->raw_frame_size, frame->raw_frame);
return E_DECODE_ERR;
}
if(verbosity > 3)
printf("V4L2_CORE: decoding raw frame of size %i at 0x%p\n",
(int) frame->raw_frame_size, frame->raw_frame );
int ret = E_OK;
int width = vd->format.fmt.pix.width;
int height = vd->format.fmt.pix.height;
frame->isKeyframe = 0; /*reset*/
/*
* use the requested format since it may differ
* from format.fmt.pix.pixelformat (muxed H264)
*/
int format = vd->requested_fmt;
int framesizeIn =(width * height << 1);//2 bytes per pixel
switch (format)
{
case V4L2_PIX_FMT_H264:
/*
* get the h264 frame in the tmp_buffer
*/
frame->h264_frame_size = demux_h264(
frame->h264_frame,
frame->raw_frame,
frame->raw_frame_size,
frame->h264_frame_max_size);
/*
* store SPS and PPS info (usually the first two NALU)
* and check/store the last IDR frame
*/
store_extra_data(vd, frame);
/*
* check for keyframe and store it
*/
frame->isKeyframe = is_h264_keyframe(vd, frame);
//decode if we already have a IDR frame
if(vd->h264_last_IDR_size > 0)
{
/*no need to convert output*/
h264_decode(frame->yuv_frame, frame->h264_frame, frame->h264_frame_size);
}
break;
case V4L2_PIX_FMT_JPEG:
case V4L2_PIX_FMT_MJPEG:
if(frame->raw_frame_size <= HEADERFRAME1)
{
// Prevent crash on empty image
fprintf(stderr, "V4L2_CORE: (jpeg decoder) Ignoring empty buffer\n");
ret = E_DECODE_ERR;
return (ret);
}
ret = jpeg_decode(frame->yuv_frame, frame->raw_frame, frame->raw_frame_size);
//memcpy(frame->tmp_buffer, frame->raw_frame, frame->raw_frame_size);
//ret = jpeg_decode(&frame->yuv_frame, frame->tmp_buffer, width, height);
//if ( ret < 0)
//{
// fprintf(stderr, "V4L2_CORE: jpeg decoder exit with error (%i) (res: %ix%i - %x)\n", ret, width, height, vd->format.fmt.pix.pixelformat);
// return E_DECODE_ERR;
//}
if(verbosity > 3)
fprintf(stderr, "V4L2_CORE: (jpeg decoder) decode frame of size %i\n", ret);
ret = E_OK;
break;
case V4L2_PIX_FMT_UYVY:
uyvy_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_VYUY:
vyuy_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YVYU:
yvyu_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YYUV:
yyuv_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YUV444:
y444_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YUV555:
yuvo_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YUV565:
yuvp_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YUV32:
yuv4_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YUV420:
if(frame->raw_frame_size > (width * height * 3/2))
frame->raw_frame_size = width * height * 3/2;
memcpy(frame->yuv_frame, frame->raw_frame, frame->raw_frame_size);
break;
case V4L2_PIX_FMT_YUV422P:
yuv422p_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YVU420:
yv12_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_NV12:
nv12_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_NV21:
nv21_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_NV16:
nv16_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_NV61:
nv61_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_NV24:
nv24_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_NV42:
nv42_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_Y41P:
y41p_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_GREY:
grey_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_Y10BPACK:
y10b_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_Y16:
y16_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
#ifdef V4L2_PIX_FMT_Y16_BE
case V4L2_PIX_FMT_Y16_BE:
y16x_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
#endif
case V4L2_PIX_FMT_SPCA501:
s501_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_SPCA505:
s505_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_SPCA508:
s508_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_YUYV:
if(vd->isbayer>0)
{
if (!(frame->tmp_buffer))
{
/* rgb buffer for decoding bayer data*/
frame->tmp_buffer_max_size = width * height * 3;
frame->tmp_buffer = calloc(frame->tmp_buffer_max_size, sizeof(uint8_t));
if(frame->tmp_buffer == NULL)
{
fprintf(stderr, "V4L2_CORE: FATAL memory allocation failure (v4l2core_frame_decode): %s\n", strerror(errno));
exit(-1);
}
}
/*convert raw bayer to iyuv*/
bayer_to_rgb24 (frame->raw_frame, frame->tmp_buffer, width, height, vd->bayer_pix_order);
rgb24_to_yu12(frame->yuv_frame, frame->tmp_buffer, width, height);
}
else
yuyv_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_SGBRG8: //0
bayer_to_rgb24 (frame->raw_frame, frame->tmp_buffer, width, height, 0);
rgb24_to_yu12(frame->yuv_frame, frame->tmp_buffer, width, height);
break;
case V4L2_PIX_FMT_SGRBG8: //1
bayer_to_rgb24 (frame->raw_frame, frame->tmp_buffer, width, height, 1);
rgb24_to_yu12(frame->yuv_frame, frame->tmp_buffer, width, height);
break;
case V4L2_PIX_FMT_SBGGR8: //2
bayer_to_rgb24 (frame->raw_frame, frame->tmp_buffer, width, height, 2);
rgb24_to_yu12(frame->yuv_frame, frame->tmp_buffer, width, height);
break;
case V4L2_PIX_FMT_SRGGB8: //3
bayer_to_rgb24 (frame->raw_frame, frame->tmp_buffer, width, height, 3);
rgb24_to_yu12(frame->yuv_frame, frame->tmp_buffer, width, height);
break;
case V4L2_PIX_FMT_RGB24:
rgb24_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_BGR24:
bgr24_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB332:
rgb1_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB565:
rgbp_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB565X:
rgbr_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB444:
#ifdef V4L2_PIX_FMT_ARGB444
case V4L2_PIX_FMT_ARGB444:
case V4L2_PIX_FMT_XRGB444: //same as above but without alpha channel
#endif
ar12_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB555:
#ifdef V4L2_PIX_FMT_ARGB555
case V4L2_PIX_FMT_ARGB555:
case V4L2_PIX_FMT_XRGB555: //same as above but without alpha channel
#endif
ar15_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB555X:
#ifdef V4L2_PIX_FMT_ARGB4555X
case V4L2_PIX_FMT_ARGB555X:
case V4L2_PIX_FMT_XRGB555X: //same as above but without alpha channel
#endif
ar15x_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_BGR666:
bgrh_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_BGR32:
#ifdef V4L2_PIX_FMT_ABGR32
case V4L2_PIX_FMT_ABGR32:
case V4L2_PIX_FMT_XBGR32: //same as above but without alpha channel
#endif
ar24_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
case V4L2_PIX_FMT_RGB32:
#ifdef V4L2_PIX_FMT_ARGB32
case V4L2_PIX_FMT_ARGB32:
case V4L2_PIX_FMT_XRGB32: //same as above but without alpha channel
#endif
ba24_to_yu12(frame->yuv_frame, frame->raw_frame, width, height);
break;
default:
fprintf(stderr, "V4L2_CORE: error decoding frame: unknown format: %i\n", format);
ret = E_UNKNOWN_ERR;
break;
}
return ret;
}
/* Grab frame in YUYV mode */
void V4L2Camera::GrabRawFrame (void *frameBuffer, int maxSize)
{
LOG_FRAME("V4L2Camera::GrabRawFrame: frameBuffer:%p, len:%d",frameBuffer,maxSize);
int ret;
/* DQ */
memset(&videoIn->buf,0,sizeof(videoIn->buf));
videoIn->buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
videoIn->buf.memory = V4L2_MEMORY_MMAP;
ret = ioctl(fd, VIDIOC_DQBUF, &videoIn->buf);
if (ret < 0) {
LOGE("GrabPreviewFrame: VIDIOC_DQBUF Failed");
return;
}
nDequeued++;
// Calculate the stride of the output image (YUYV) in bytes
int strideOut = videoIn->outWidth << 1;
// And the pointer to the start of the image
uint8_t* src = (uint8_t*)videoIn->mem[videoIn->buf.index] + videoIn->capCropOffset;
LOG_FRAME("V4L2Camera::GrabRawFrame - Got Raw frame (%dx%d) (buf:%d@0x%p, len:%d)",videoIn->format.fmt.pix.width,videoIn->format.fmt.pix.height,videoIn->buf.index,src,videoIn->buf.bytesused);
/* Avoid crashing! - Make sure there is enough room in the output buffer! */
if (maxSize < videoIn->outFrameSize) {
LOGE("V4L2Camera::GrabRawFrame: Insufficient space in output buffer: Required: %d, Got %d - DROPPING FRAME",videoIn->outFrameSize,maxSize);
} else {
switch (videoIn->format.fmt.pix.pixelformat)
{
case V4L2_PIX_FMT_JPEG:
case V4L2_PIX_FMT_MJPEG:
if(videoIn->buf.bytesused <= HEADERFRAME1) {
// Prevent crash on empty image
LOGE("Ignoring empty buffer ...\n");
break;
}
if (jpeg_decode((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight) < 0) {
LOGE("jpeg decode errors\n");
break;
}
break;
case V4L2_PIX_FMT_UYVY:
uyvy_to_yuyv((uint8_t*)frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_YVYU:
yvyu_to_yuyv((uint8_t*)frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_YYUV:
yyuv_to_yuyv((uint8_t*)frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_YUV420:
yuv420_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_YVU420:
yvu420_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_NV12:
nv12_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_NV21:
nv21_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_NV16:
nv16_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_NV61:
nv61_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_Y41P:
y41p_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_GREY:
grey_to_yuyv((uint8_t*)frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_Y16:
y16_to_yuyv((uint8_t*)frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_SPCA501:
s501_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_SPCA505:
s505_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_SPCA508:
s508_to_yuyv((uint8_t*)frameBuffer, strideOut, src, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_YUYV:
{
int h;
uint8_t* pdst = (uint8_t*)frameBuffer;
uint8_t* psrc = src;
int ss = videoIn->outWidth << 1;
for (h = 0; h < videoIn->outHeight; h++) {
memcpy(pdst,psrc,ss);
pdst += strideOut;
psrc += videoIn->format.fmt.pix.bytesperline;
}
}
break;
case V4L2_PIX_FMT_SGBRG8: //0
bayer_to_rgb24 (src,(uint8_t*) videoIn->tmpBuffer, videoIn->outWidth, videoIn->outHeight, 0);
rgb_to_yuyv ((uint8_t*) frameBuffer, strideOut,
(uint8_t*)videoIn->tmpBuffer, videoIn->outWidth*3, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_SGRBG8: //1
bayer_to_rgb24 (src,(uint8_t*) videoIn->tmpBuffer, videoIn->outWidth, videoIn->outHeight, 1);
rgb_to_yuyv ((uint8_t*) frameBuffer, strideOut,
(uint8_t*)videoIn->tmpBuffer, videoIn->outWidth*3, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_SBGGR8: //2
bayer_to_rgb24 (src,(uint8_t*) videoIn->tmpBuffer, videoIn->outWidth, videoIn->outHeight, 2);
rgb_to_yuyv ((uint8_t*) frameBuffer, strideOut,
(uint8_t*)videoIn->tmpBuffer, videoIn->outWidth*3, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_SRGGB8: //3
bayer_to_rgb24 (src,(uint8_t*) videoIn->tmpBuffer, videoIn->outWidth, videoIn->outHeight, 3);
rgb_to_yuyv ((uint8_t*) frameBuffer, strideOut,
(uint8_t*)videoIn->tmpBuffer, videoIn->outWidth*3, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_RGB24:
rgb_to_yuyv((uint8_t*) frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
case V4L2_PIX_FMT_BGR24:
bgr_to_yuyv((uint8_t*) frameBuffer, strideOut,
src, videoIn->format.fmt.pix.bytesperline, videoIn->outWidth, videoIn->outHeight);
break;
default:
LOGE("error grabbing: unknown format: %i\n", videoIn->format.fmt.pix.pixelformat);
break;
}
LOG_FRAME("V4L2Camera::GrabRawFrame - Copied frame to destination 0x%p",frameBuffer);
}
/* And Queue the buffer again */
ret = ioctl(fd, VIDIOC_QBUF, &videoIn->buf);
if (ret < 0) {
LOGE("GrabPreviewFrame: VIDIOC_QBUF Failed");
return;
}
nQueued++;
LOG_FRAME("V4L2Camera::GrabRawFrame - Queued buffer");
}