void grey_to_rgb(unsigned char* rgb, unsigned char* grey) {
init_buffers();
grey_to_yuyv(yuyv_buffer, grey, w, h);
yuyv_to_rgb(rgb, yuyv_buffer);
}
void grey_to_bgr(unsigned char* bgr, unsigned char* grey) {
init_buffers();
grey_to_yuyv(yuyv_buffer, grey, w, h);
yuyv_to_bgr(bgr, yuyv_buffer);
}
/* 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");
}
