bool DeinterlaceDriver::Capture( hal::CameraMsg& vImages )
{
m_Message.Clear();
m_Input->Capture( m_Message );
if( m_Message.mutable_image(0)->type() != hal::PB_UNSIGNED_SHORT ) {
std::cerr << "HAL: Error! Expecting image with depth of 16 bits." << std::endl;
return false;
}
vImages.set_device_time( m_Message.device_time() );
dc1394_deinterlace_stereo((uint8_t*)m_Message.mutable_image(0)->data().data(),
(uint8_t*)m_Buffer, m_nImgWidth*2, m_nImgHeight);
const unsigned int nImgSize = m_nImgWidth * m_nImgHeight;
hal::ImageMsg* pbImg = vImages.add_image();
pbImg->set_width( m_nImgWidth );
pbImg->set_height( m_nImgHeight );
pbImg->set_data( m_Buffer, nImgSize );
pbImg->set_type( hal::PB_UNSIGNED_BYTE );
pbImg->set_format( m_Message.mutable_image(0)->format() );
pbImg = vImages.add_image();
pbImg->set_width( m_nImgWidth );
pbImg->set_height( m_nImgHeight );
pbImg->set_data( m_Buffer+nImgSize, nImgSize);
pbImg->set_type( hal::PB_UNSIGNED_BYTE );
pbImg->set_format( m_Message.mutable_image(0)->format() );
return true;
}
static dc1394error_t dc1394_deinterlace_stereo_frames_fixed(dc1394video_frame_t *in,
dc1394video_frame_t *out, dc1394stereo_method_t method)
{
if((in->color_coding == DC1394_COLOR_CODING_RAW16) ||
(in->color_coding == DC1394_COLOR_CODING_MONO16) ||
(in->color_coding == DC1394_COLOR_CODING_YUV422))
{
switch (method)
{
case DC1394_STEREO_METHOD_INTERLACED:
adaptBufferStereoLocal(in, out);
//FIXED by AB:
// dc1394_deinterlace_stereo(in->image, out->image, in->size[0], in->size[1]);
dc1394_deinterlace_stereo(in->image, out->image, out->size[0], out->size[1]);
break;
case DC1394_STEREO_METHOD_FIELD:
adaptBufferStereoLocal(in, out);
memcpy(out->image, in->image, out->image_bytes);
break;
}
return DC1394_INVALID_STEREO_METHOD;
}
else
return DC1394_FUNCTION_NOT_SUPPORTED;
}
bool DeinterlaceVideo::GrabNewest( unsigned char* image, bool wait )
{
if(videoin->GrabNewest(buffer, wait)) {
return ( dc1394_deinterlace_stereo(buffer,image, videoin->Streams()[0].Width(), 2*videoin->Streams()[0].Height() ) == DC1394_SUCCESS );
}
return false;
}
//=============================================================================
// extractImagesMono()
//
// De-interleave the stereo images into single images
// Construct a TriclopsInput for stereo processing from these images.
//
void
extractImagesMono( PGRStereoCamera_t* stereoCamera,
unsigned char* pucDeInterleaved,
unsigned char** ppucRightMono8,
unsigned char** ppucLeftMono8,
unsigned char** ppucCenterMono8)
{
dc1394error_t err;
// RC7
dc1394video_frame_t* frame;
err = dc1394_capture_dequeue( stereoCamera->camera,
DC1394_CAPTURE_POLICY_WAIT,
&frame );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "extractImagesColor - cannot dequeue image!\n" );
return;
}
unsigned char* pucGrabBuffer = frame->image;
unsigned char* right;
unsigned char* left;
unsigned char* center;
if ( stereoCamera->nBytesPerPixel == 2 )
{
// de-interlace the 16 bit data into 2 mono images
dc1394_deinterlace_stereo( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
2*stereoCamera->nRows );
right = pucDeInterleaved;
left = pucDeInterleaved + stereoCamera->nRows * stereoCamera->nCols;
center= left;
}
else
{
dc1394_deinterlace_rgb( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
3*stereoCamera->nRows );
// NOTE: this code needs to be double checked.
// Currently 3-bytes-per-pixel is not activatable in this example
right = pucDeInterleaved;
center = pucDeInterleaved + stereoCamera->nRows * stereoCamera->nCols;
left = pucDeInterleaved + 2 * stereoCamera->nRows * stereoCamera->nCols;
}
*ppucRightMono8 = right;
*ppucLeftMono8 = left;
*ppucCenterMono8 = center;
// return buffer for use
dc1394_capture_enqueue( stereoCamera->camera, frame );
return;
}
//=============================================================================
// extractImagesColor()
//
// De-interleave the stereo images into single bayer patterns.
// De-bayer those images into color images.
// Construct a TriclopsInput for stereo processing from these images.
//
void
extractImagesColor( PGRStereoCamera_t* stereoCamera,
dc1394bayer_method_t bayerMethod,
unsigned char* pucDeInterleaved,
unsigned char* pucRGB,
unsigned char* pucGreen,
unsigned char** ppucRightRGB,
unsigned char** ppucLeftRGB,
unsigned char** ppucCenterRGB)
{
dc1394error_t err;
dc1394video_frame_t* frame;
err = dc1394_capture_dequeue( stereoCamera->camera,
DC1394_CAPTURE_POLICY_WAIT,
&frame );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "extractImagesColor - cannot dequeue image!\n" );
return;
}
unsigned char* pucGrabBuffer = frame->image;
if ( stereoCamera->nBytesPerPixel == 2 )
{
// de-interlace the 16 bit data into 2 bayer tile pattern images
dc1394_deinterlace_stereo( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
2*stereoCamera->nRows );
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( pucDeInterleaved,
pucRGB,
stereoCamera->nCols,
2*stereoCamera->nRows,
stereoCamera->bayerTile,
bayerMethod );
// now deinterlace the RGB Buffer to extract the green channel
// The green channel is a quick and dirty approximation to the mono
// equivalent of the image and can be used for stereo processing
dc1394_deinterlace_green( pucRGB,
pucGreen,
stereoCamera->nCols,
6*stereoCamera->nRows );
*ppucRightRGB = pucRGB;
*ppucLeftRGB = pucRGB + 3 * stereoCamera->nRows * stereoCamera->nCols;
*ppucCenterRGB = *ppucLeftRGB;
}
else
{
dc1394_deinterlace_rgb( pucGrabBuffer,
pucDeInterleaved,
stereoCamera->nCols,
3*stereoCamera->nRows );
// extract color from the bayer tile image
// note: this will alias colors on the top and bottom rows
dc1394_bayer_decoding_8bit( pucDeInterleaved,
pucRGB,
stereoCamera->nCols,
3*stereoCamera->nRows,
stereoCamera->bayerTile,
bayerMethod );
// now deinterlace the RGB Buffer
dc1394_deinterlace_green( pucRGB,
pucGreen,
stereoCamera->nCols,
9*stereoCamera->nRows );
// NOTE: this code needs to be double checked.
// Currently 3-bytes-per-pixel is not activatable in this example
*ppucRightRGB = pucRGB;
*ppucCenterRGB = pucRGB + 3 * stereoCamera->nRows * stereoCamera->nCols;
*ppucLeftRGB = pucRGB + 6 * stereoCamera->nRows * stereoCamera->nCols;
}
// return buffer for use
dc1394_capture_enqueue( stereoCamera->camera, frame );
return;
}
