Update of /cvsroot/playerstage/code/player/server/drivers/camera/1394
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5752/server/drivers/camera/1394
Modified Files:
camera1394.cc
Log Message:
applied
[ 1894981 ] CVS: Big camera1394 patch
Index: camera1394.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/camera/1394/camera1394.cc,v
retrieving revision 1.40
retrieving revision 1.41
diff -C2 -d -r1.40 -r1.41
*** camera1394.cc 15 Feb 2008 08:16:48 -0000 1.40
--- camera1394.cc 18 Feb 2008 03:34:43 -0000 1.41
***************
*** 169,172 ****
--- 169,173 ----
#include <stddef.h> // for NULL
#include <unistd.h>
+ #include <assert.h>
#ifdef HAVE_LIBRAW1394
***************
*** 301,306 ****
private: int GrabFrame();
- private: uint8_t * resized;//[1280 * 960 * 3];
-
// Save a frame to disk
private: int SaveFrame( const char *filename );
--- 302,305 ----
***************
*** 352,367 ****
private: int save;
- // Frame capture size
- private: size_t frameSize;
-
// Capture timestamp
private: double frameTime;
// Data to send to server
! private: player_camera_data_t *data;
// Bayer Colour Conversion
private: bool DoBayerConversion;
! private: int BayerPattern;
private: int BayerMethod;
--- 351,363 ----
private: int save;
// Capture timestamp
private: double frameTime;
// Data to send to server
! private: player_camera_data_t * data;
// Bayer Colour Conversion
private: bool DoBayerConversion;
! private: bayer_pattern_t BayerPattern;
private: int BayerMethod;
***************
*** 399,403 ****
float fps;
! resized=NULL;
#ifdef HAVE_LIBRAW1394
--- 395,399 ----
float fps;
! this->data = NULL;
#ifdef HAVE_LIBRAW1394
***************
*** 439,443 ****
{
this->mode = MODE_160x120_YUV444;
- this->frameSize = 160 * 120 * 2; // Is this correct?
}
*/
--- 435,438 ----
***************
*** 445,449 ****
{
this->mode = MODE_320x240_YUV422;
- this->frameSize = 320 * 240 * 3;
}
/*
--- 440,443 ----
***************
*** 461,475 ****
{
this->mode = MODE_640x480_MONO;
- this->frameSize = 640 * 480 * 1;
}
else if (0==strcmp(str,"640x480_yuv422"))
{
this->mode = MODE_640x480_YUV422;
- this->frameSize = 640 * 480 * 3;
}
else if (0==strcmp(str,"640x480_rgb"))
{
this->mode = MODE_640x480_RGB;
- this->frameSize = 640 * 480 * 3;
}
else if (0==strcmp(str,"800x600_mono"))
--- 455,466 ----
***************
*** 477,481 ****
this->mode = MODE_800x600_MONO;
this->format = FORMAT_SVGA_NONCOMPRESSED_1;
- this->frameSize = 800 * 600 * 1;
}
else if (0==strcmp(str,"800x600_yuv422"))
--- 468,471 ----
***************
*** 483,487 ****
this->mode = MODE_800x600_YUV422;
this->format = FORMAT_SVGA_NONCOMPRESSED_1;
- this->frameSize = 600 * 450 * 3;
}
else if (0==strcmp(str,"1024x768_mono"))
--- 473,476 ----
***************
*** 489,493 ****
this->mode = MODE_1024x768_MONO;
this->format = FORMAT_SVGA_NONCOMPRESSED_1;
- this->frameSize = 1024 * 768 * 1;
}
else if (0==strcmp(str,"1024x768_yuv422"))
--- 478,481 ----
***************
*** 495,499 ****
this->mode = MODE_1024x768_YUV422;
this->format = FORMAT_SVGA_NONCOMPRESSED_1;
- this->frameSize = 512 * 384 * 3;
}
else if (0==strcmp(str,"1280x960_mono"))
--- 483,486 ----
***************
*** 501,505 ****
this->mode = MODE_1280x960_MONO;
this->format = FORMAT_SVGA_NONCOMPRESSED_2;
- this->frameSize = 1280 * 960 * 1;
}
else if (0==strcmp(str,"1280x960_yuv422"))
--- 488,491 ----
***************
*** 507,511 ****
this->mode = MODE_1280x960_YUV422;
this->format = FORMAT_SVGA_NONCOMPRESSED_2;
- this->frameSize = 640 * 480 * 3;
}
#if LIBDC1394_VERSION == 0200
--- 493,496 ----
***************
*** 514,518 ****
this->mode = MODE_FORMAT7_0;
this->format = FORMAT_7;
- this->frameSize = 0;
}
#endif
--- 499,502 ----
***************
*** 687,691 ****
break;
}
!
return;
}
--- 671,675 ----
break;
}
!
return;
}
***************
*** 695,700 ****
void Camera1394::SafeCleanup()
{
- delete resized;
- resized = NULL;
#if LIBDC1394_VERSION == 0200
--- 679,682 ----
***************
*** 736,739 ****
--- 718,728 ----
this->handle = NULL;
#endif
+ if (this->data)
+ {
+ if (this->data->image) delete[](this->data->image);
+ this->data->image = NULL;
+ delete (this->data);
+ }
+ this->data = NULL;
}
***************
*** 742,746 ****
int Camera1394::Setup()
{
! this->data = 0;
#if LIBDC1394_VERSION == 0200
--- 731,735 ----
int Camera1394::Setup()
{
!
#if LIBDC1394_VERSION == 0200
***************
*** 1161,1167 ****
int Camera1394::GrabFrame()
{
- uint32_t f, c;
- int i, j;
- unsigned char * ptr1, * ptr2, * dst;
#if LIBDC1394_VERSION == 0200
dc1394video_frame_t * frame = NULL;
--- 1150,1153 ----
***************
*** 1197,1201 ****
}
- this->data = (player_camera_data_t *)malloc(sizeof(*this->data));
unsigned int frame_width;
unsigned int frame_height;
--- 1183,1186 ----
***************
*** 1205,1291 ****
frame_width = frame->size[0];
frame_height = frame->size[1];
! capture_buffer = (uint8_t *) frame->image;
#else
frame_width = this->camera.frame_width;
frame_height = this->camera.frame_height;
! capture_buffer = (uint8_t *) this->camera.capture_buffer;
#endif
!
! if (frameSize == 0)
! frameSize = frame_width * frame_height;
!
switch (this->mode)
{
case MODE_320x240_YUV422:
case MODE_640x480_YUV422:
! this->data->bpp = 24;
! this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
! this->data->image_count = this->frameSize;
! this->data->image = (uint8_t*) malloc(this->data->image_count);
! this->data->width = frame_width;
! this->data->height = frame_height;
! uyvy2rgb(capture_buffer, this->data->image, (frame_width) *
(frame_height));
! break;
case MODE_1024x768_YUV422:
case MODE_1280x960_YUV422:
- if (resized == NULL)
- resized = new uint8_t [1280 * 960 * 3];
this->data->bpp = 24;
this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
! this->data->image_count = this->frameSize;
! this->data->image = (uint8_t *) malloc(this->data->image_count);
! this->data->width = frame_width / 2;
! this->data->height = frame_height / 2;
! assert(this->data->image_count <= sizeof(this->data->image));
! uyvy2rgb(capture_buffer, this->resized, (frame_width) * (frame_height));
! ptr1 = this->resized;
! ptr2 = this->data->image;
! for (f = 0; f < (this->data->height); f++)
! {
! for (c = 0; c < (this->data->width); c++)
! {
! ptr2[0] = ptr1[0];
! ptr2[1] = ptr1[1];
! ptr2[2] = ptr1[2];
! ptr1 += (3 * 2);
! ptr2 += 3;
! }
! ptr1 += ((frame_width) * 3);
! }
break;
- case MODE_800x600_YUV422:
- if (resized == NULL)
- resized = new uint8_t [1280 * 960 * 3];
- this->data->bpp = 24;
- this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
- this->data->image_count = this->frameSize;
- this->data->image = (uint8_t *) malloc(this->data->image_count);
- this->data->width = 600;
- this->data->height = 450;
- uyvy2rgb(capture_buffer, this->resized, (frame_width) * (frame_height));
- ptr1 = this->resized;
- ptr2 = this->data->image;
- i = 3; j = 3;
- for (f = 0; f < (this->data->height); f++)
- {
- for (c = 0; c < (this->data->width); c++)
- {
- ptr2[0] = ptr1[0];
- ptr2[1] = ptr1[1];
- ptr2[2] = ptr1[2];
- j--;
- if (!j) ptr1 += (3 * 2), j = 3;
- else ptr1 += 3;
- ptr2 += 3;
- }
- i--;
- if (!i) ptr1 += ((frame_width) * 3), i = 3;
- }
- break;
case MODE_640x480_RGB:
this->data->bpp = 24;
this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
! this->data->image_count = this->frameSize;
! this->data->image = (uint8_t *)malloc(this->data->image_count);
this->data->width = frame_width;
this->data->height = frame_height;
--- 1190,1226 ----
frame_width = frame->size[0];
frame_height = frame->size[1];
! capture_buffer = reinterpret_cast<uint8_t *>(frame->image);
#else
frame_width = this->camera.frame_width;
frame_height = this->camera.frame_height;
! capture_buffer = reinterpret_cast<uint8_t *>(this->camera.capture_buffer);
#endif
! assert(capture_buffer);
! assert(!(this->data));
! this->data = reinterpret_cast<player_camera_data_t
*>(malloc(sizeof(player_camera_data_t)));
! assert(this->data);
! // memset(this->data, 0, sizeof(player_camera_data_t)); I assume everything
is set properly later!
switch (this->mode)
{
case MODE_320x240_YUV422:
case MODE_640x480_YUV422:
! case MODE_800x600_YUV422:
case MODE_1024x768_YUV422:
case MODE_1280x960_YUV422:
this->data->bpp = 24;
this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
! this->data->image_count = frame_width * frame_height * 3;
! this->data->image = reinterpret_cast<uint8_t
*>(malloc(this->data->image_count));
! assert(this->data->image);
! this->data->width = frame_width;
! this->data->height = frame_height;
! uyvy2rgb(reinterpret_cast<unsigned char *>(capture_buffer),
reinterpret_cast<unsigned char *>(this->data->image), frame_width *
frame_height);
break;
case MODE_640x480_RGB:
this->data->bpp = 24;
this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
! this->data->image_count = frame_width * frame_height * 3;
! this->data->image = reinterpret_cast<uint8_t
*>(malloc(this->data->image_count));
! assert(this->data->image);
this->data->width = frame_width;
this->data->height = frame_height;
***************
*** 1301,1306 ****
this->data->bpp = 8;
this->data->format = PLAYER_CAMERA_FORMAT_MONO8;
! this->data->image_count = this->frameSize;
! this->data->image = (uint8_t*) malloc(this->data->image_count);
this->data->width = frame_width;
this->data->height = frame_height;
--- 1236,1242 ----
this->data->bpp = 8;
this->data->format = PLAYER_CAMERA_FORMAT_MONO8;
! this->data->image_count = frame_width * frame_height;
! this->data->image = reinterpret_cast<uint8_t
*>(malloc(this->data->image_count));
! assert(this->data->image);
this->data->width = frame_width;
this->data->height = frame_height;
***************
*** 1311,1339 ****
this->data->bpp = 24;
this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
- dst = this->data->image;
switch (this->BayerMethod)
{
case BAYER_DECODING_DOWNSAMPLE:
// quarter of the image but 3 bytes per pixel
! this->data->image_count = this->frameSize/4*3;
! this->data->image = (uint8_t *) malloc(this->data->image_count);
! BayerDownsample(capture_buffer, this->data->image,
! frame_width/2, frame_height/2,
! (bayer_pattern_t)this->BayerPattern);
break;
case BAYER_DECODING_NEAREST:
! this->data->image_count = this->frameSize * 3;
! this->data->image = (uint8_t *) malloc(this->data->image_count);
! BayerNearestNeighbor(capture_buffer, dst,
! frame_width, frame_height,
! (bayer_pattern_t)this->BayerPattern);
break;
case BAYER_DECODING_EDGE_SENSE:
! this->data->image_count = this->frameSize * 3;
! this->data->image = (uint8_t *) malloc(this->data->image_count);
!
! BayerEdgeSense(capture_buffer, dst,
! frame_width, frame_height,
! (bayer_pattern_t)this->BayerPattern);
break;
default:
--- 1247,1279 ----
this->data->bpp = 24;
this->data->format = PLAYER_CAMERA_FORMAT_RGB888;
switch (this->BayerMethod)
{
case BAYER_DECODING_DOWNSAMPLE:
// quarter of the image but 3 bytes per pixel
! this->data->image_count = (frame_width / 2) * (frame_height / 2) * 3;
! this->data->image = reinterpret_cast<uint8_t
*>(malloc(this->data->image_count));
! assert(this->data->image);
! BayerDownsample(reinterpret_cast<unsigned char *>(capture_buffer),
! reinterpret_cast<unsigned char *>(this->data->image),
! frame_width / 2, frame_height / 2,
! this->BayerPattern);
break;
case BAYER_DECODING_NEAREST:
! this->data->image_count = frame_width * frame_height * 3;
! this->data->image = reinterpret_cast<uint8_t
*>(malloc(this->data->image_count));
! assert(this->data->image);
! BayerNearestNeighbor(reinterpret_cast<unsigned char
*>(capture_buffer),
! reinterpret_cast<unsigned char
*>(this->data->image),
! frame_width, frame_height,
! this->BayerPattern);
break;
case BAYER_DECODING_EDGE_SENSE:
! this->data->image_count = frame_width * frame_height * 3;
! this->data->image = reinterpret_cast<uint8_t
*>(malloc(this->data->image_count));
! assert(this->data->image);
! BayerEdgeSense(reinterpret_cast<unsigned char *>(capture_buffer),
! reinterpret_cast<unsigned char *>(this->data->image),
! frame_width, frame_height,
! this->BayerPattern);
break;
default:
***************
*** 1348,1353 ****
else
{ //image is half the size of grabbed frame
! this->data->width = frame_width/2;
! this->data->height = frame_height/2;
}
}
--- 1288,1293 ----
else
{ //image is half the size of grabbed frame
! this->data->width = frame_width / 2;
! this->data->height = frame_height / 2;
}
}
***************
*** 1362,1366 ****
if (this->method == methodVideo) dc1394_dma_done_with_buffer(&this->camera);
#endif
-
this->data->compression = PLAYER_CAMERA_COMPRESS_RAW;
return 0;
--- 1302,1305 ----
***************
*** 1371,1382 ****
void Camera1394::RefreshData()
{
Publish(this->device_addr,
PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
! reinterpret_cast<void*>(this->data),
#if LIBDC1394_VERSION == 0200
! 0, &this->frameTime, false);
#else
! 0, 0, false);
! #endif
return;
}
--- 1310,1330 ----
void Camera1394::RefreshData()
{
+ assert(this->data);
+ if (!(this->data->image_count))
+ {
+ PLAYER_ERROR("No image data to publish");
+ return;
+ }
+ assert(this->data->image);
Publish(this->device_addr,
PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
! reinterpret_cast<void *>(this->data),
#if LIBDC1394_VERSION == 0200
! 0, &this->frameTime, false);
#else
! 0, NULL, false);
! #endif
! // I assume that Publish() freed this data!
! this->data = NULL;
return;
}
***************
*** 1387,1393 ****
int Camera1394::SaveFrame(const char *filename)
{
! FILE *fp = fopen(filename, "wb");
! if (fp == NULL)
{
PLAYER_ERROR("Couldn't create image file");
--- 1335,1350 ----
int Camera1394::SaveFrame(const char *filename)
{
! FILE * fp;
!
! assert(this->data);
! if (!(this->data->image_count))
! {
! PLAYER_ERROR("No image data to write");
! return -1;
! }
! assert(this->data->image);
! fp = fopen(filename, "wb");
! if (!fp)
{
PLAYER_ERROR("Couldn't create image file");
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