Update of /cvsroot/playerstage/code/player/server/drivers/camera/compress
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/camera/compress
Modified Files:
Tag: release-2-0-patches
Makefile.am cameracompress.cc
Added Files:
Tag: release-2-0-patches
camerauncompress.cc
Log Message:
backported lots of stuff from HEAD
Index: Makefile.am
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/camera/compress/Makefile.am,v
retrieving revision 1.2
retrieving revision 1.2.4.1
diff -C2 -d -r1.2 -r1.2.4.1
*** Makefile.am 10 Oct 2005 09:17:01 -0000 1.2
--- Makefile.am 7 Jun 2006 16:12:39 -0000 1.2.4.1
***************
*** 3,8 ****
noinst_LTLIBRARIES =
if INCLUDE_CAMERACOMPRESS
! noinst_LTLIBRARIES += libcameracompress.la
endif
libcameracompress_la_SOURCES = cameracompress.cc
--- 3,9 ----
noinst_LTLIBRARIES =
if INCLUDE_CAMERACOMPRESS
! noinst_LTLIBRARIES += libcameracompress.la libcamerauncompress.la
endif
libcameracompress_la_SOURCES = cameracompress.cc
+ libcamerauncompress_la_SOURCES = camerauncompress.cc
Index: cameracompress.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/camera/compress/cameracompress.cc,v
retrieving revision 1.12
retrieving revision 1.12.2.1
diff -C2 -d -r1.12 -r1.12.2.1
*** cameracompress.cc 27 Feb 2006 18:19:03 -0000 1.12
--- cameracompress.cc 7 Jun 2006 16:12:39 -0000 1.12.2.1
***************
*** 219,231 ****
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, camera_id))
{
! assert(hdr->size == sizeof(this->camera_data));
! Lock();
! camera_data = *reinterpret_cast<player_camera_data_t * > (data);
this->NewCamData=true;
! Unlock();
if (this->camera_data.compression != PLAYER_CAMERA_COMPRESS_RAW)
PLAYER_WARN("compressing already compressed camera images (not good)");
! return 0;
}
--- 219,239 ----
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, camera_id))
{
! assert(hdr->size >= sizeof(this->camera_data)-sizeof(camera_data.image));
! Lock();
! player_camera_data_t * recv = reinterpret_cast<player_camera_data_t * >
(data);
! camera_data.width = recv->width;
! camera_data.height = recv->height;
! camera_data.bpp = recv->bpp;
! camera_data.format = recv->format;
! camera_data.fdiv = recv->fdiv;
! camera_data.compression = recv->compression;
! camera_data.image_count = recv->image_count;
! memcpy(camera_data.image, recv->image, recv->image_count);
this->NewCamData=true;
! Unlock();
if (this->camera_data.compression != PLAYER_CAMERA_COMPRESS_RAW)
PLAYER_WARN("compressing already compressed camera images (not good)");
! return 0;
}
--- NEW FILE: camerauncompress.cc ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey et al.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
///////////////////////////////////////////////////////////////////////////
//
// Desc: jpeg compression and decompression routines
// Author: Nate Koenig, Andrew Howard
// Date: 31 Aug 2004
// CVS: $Id: camerauncompress.cc,v 1.1.2.2 2006/06/07 16:12:45 gerkey Exp $
//
///////////////////////////////////////////////////////////////////////////
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_camerauncompress camerauncompress
* @brief Image compression
The camerauncompress driver accepts data from another camera device,
uncompresses it, and makes the raw data available on a new
interface.
@par Compile-time dependencies
- libjpeg
@par Provides
- Uncompressed image data is provided via a @ref interface_camera
device.
@par Requires
- Image data to be uncompressed is read from a @ref interface_camera
device.
@par Configuration requests
- none
@par Configuration file options
- save (int)
- Default: 0
- If non-zero, uncompressed images are saved to disk (with a .ppm extension?)
@par Example
@verbatim
driver
(
name "camerauncompress"
provides ["camera:1"]
requires ["camera:0"] # Uncompress data from device camera:0
)
@endverbatim
@author Nate Koenig, Andrew Howard
*/
/** @} */
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdlib.h> // for atoi(3)
#include <netinet/in.h> // for htons(3)
#include <math.h>
#include <libplayercore/playercore.h>
#include <libplayercore/error.h>
#include <libplayerjpeg/playerjpeg.h>
class CameraUncompress : public Driver
{
// Constructor
public: CameraUncompress( ConfigFile* cf, int section);
// Setup/shutdown routines.
public: virtual int Setup();
public: virtual int Shutdown();
// This method will be invoked on each incoming message
public: virtual int ProcessMessage(MessageQueue* resp_queue,
player_msghdr * hdr,
void * data);
// Main function for device thread.
private: virtual void Main();
//private: int UpdateCamera();
private: void WriteData();
private: void SaveFrame(const char *filename);
// Input camera device
private:
// Camera device info
Device *camera;
player_devaddr_t camera_id;
double camera_time;
bool camera_subscribed;
bool NewCamData;
// Acquired camera data
player_camera_data_t camera_data;
char converted[PLAYER_CAMERA_IMAGE_SIZE];
// Output (compressed) camera data
private: player_camera_data_t data;
// Save image frames?
private: int save;
private: int frameno;
};
Driver *CameraUncompress_Init(ConfigFile *cf, int section)
{
return ((Driver*) (new CameraUncompress(cf, section)));
}
void CameraUncompress_Register(DriverTable *table)
{
table->AddDriver("camerauncompress", CameraUncompress_Init);
}
CameraUncompress::CameraUncompress( ConfigFile *cf, int section)
: Driver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_CAMERA_CODE)
{
this->frameno = 0;
this->camera = NULL;
// Must have a camera device
if (cf->ReadDeviceAddr(&this->camera_id, section, "requires",
PLAYER_CAMERA_CODE, -1, NULL) != 0)
{
this->SetError(-1);
return;
}
this->camera_time = 0.0;
this->save = cf->ReadInt(section,"save",0);
// camera settings
this->NewCamData = false;
return;
}
int CameraUncompress::Setup()
{
// Subscribe to the laser.
if(Device::MatchDeviceAddress(this->camera_id, this->device_addr))
{
PLAYER_ERROR("attempt to subscribe to self");
return(-1);
}
if(!(this->camera = deviceTable->GetDevice(this->camera_id)))
{
PLAYER_ERROR("unable to locate suitable camera device");
return(-1);
}
if(this->camera->Subscribe(this->InQueue) != 0)
{
PLAYER_ERROR("unable to subscribe to camera device");
return(-1);
}
// Start the driver thread.
this->StartThread();
return 0;
}
int CameraUncompress::Shutdown()
{
// Stop the driver thread
StopThread();
camera->Unsubscribe(InQueue);
return 0;
}
////////////////////////////////////////////////////////////////////////////////
// Process an incoming message
int CameraUncompress::ProcessMessage(MessageQueue* resp_queue, player_msghdr *
hdr,
void * data)
{
assert(hdr);
assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
camera_id))
{
assert(hdr->size >= sizeof(this->camera_data)-sizeof(camera_data.image));
if (this->camera_data.compression != PLAYER_CAMERA_COMPRESS_JPEG)
PLAYER_WARN("uncompressing raw camera images (not good)");
Lock();
if (this->NewCamData)
{
Unlock();
return 0;
}
else
{
memcpy(&camera_data, data, hdr->size);
this->NewCamData=true;
Unlock();
}
return 0;
}
return -1;
}
void CameraUncompress::Main()
{
size_t size;
char filename[256];
while (true)
{
// Let the camera driver update this thread
//this->camera->Wait();
InQueue->Wait();
// Test if we are suppose to cancel this thread.
pthread_testcancel();
ProcessMessages();
// Get the latest camera data
Lock();
if (NewCamData)
{
Unlock();
jpeg_decompress( (unsigned char*)this->data.image,
PLAYER_CAMERA_IMAGE_SIZE,
this->camera_data.image,
this->camera_data.image_count);
if (this->save)
{
snprintf(filename, sizeof(filename), "click-%04d.ppm",this->frameno++);
FILE *fp = fopen(filename, "w+");
fwrite (this->data.image, 1, this->data.image_count, fp);
fclose(fp);
}
size = sizeof(this->data) - sizeof(this->data.image) +
this->data.image_count;
this->data.width = (this->camera_data.width);
this->data.height = (this->camera_data.height);
this->data.image_count = data.width*data.height*3;
this->data.bpp = 24;
this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
this->data.compression = PLAYER_CAMERA_COMPRESS_RAW;
Publish(device_addr, NULL, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
(void*) &this->data, size, &this->camera_time);
Lock();
NewCamData = false;
}
Unlock();
}
return;
}
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