+++ /dev/null
-/*********************************************************************
-* Software License Agreement (BSD License)
-*
-* Copyright (C) 2010-2012 Ken Tossell
-* All rights reserved.
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions
-* are met:
-*
-* * Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-* * Redistributions in binary form must reproduce the above
-* copyright notice, this list of conditions and the following
-* disclaimer in the documentation and/or other materials provided
-* with the distribution.
-* * Neither the name of the author nor other contributors may be
-* used to endorse or promote products derived from this software
-* without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-/**
- * @defgroup frame Frame processing
- * @brief Tools for managing frame buffers and converting between image formats
- */
-#include "libuvc/libuvc.h"
-#include "libuvc/libuvc_internal.h"
-
-/** @internal */
-uvc_error_t uvc_ensure_frame_size(uvc_frame_t *frame, size_t need_bytes) {
- if (frame->library_owns_data) {
- if (!frame->data || frame->data_bytes != need_bytes) {
- frame->data_bytes = need_bytes;
- frame->data = realloc(frame->data, frame->data_bytes);
- }
- if (!frame->data)
- return UVC_ERROR_NO_MEM;
- return UVC_SUCCESS;
- } else {
- if (!frame->data || frame->data_bytes < need_bytes)
- return UVC_ERROR_NO_MEM;
- return UVC_SUCCESS;
- }
-}
-
-/** @brief Allocate a frame structure
- * @ingroup frame
- *
- * @param data_bytes Number of bytes to allocate, or zero
- * @return New frame, or NULL on error
- */
-uvc_frame_t *uvc_allocate_frame(size_t data_bytes) {
- uvc_frame_t *frame = malloc(sizeof(*frame));
-
- if (!frame)
- return NULL;
-
- memset(frame, 0, sizeof(*frame));
-
- frame->library_owns_data = 1;
-
- if (data_bytes > 0) {
- frame->data_bytes = data_bytes;
- frame->data = malloc(data_bytes);
-
- if (!frame->data) {
- free(frame);
- return NULL;
- }
- }
-
- return frame;
-}
-
-/** @brief Free a frame structure
- * @ingroup frame
- *
- * @param frame Frame to destroy
- */
-void uvc_free_frame(uvc_frame_t *frame) {
- if (frame->data_bytes > 0 && frame->library_owns_data)
- free(frame->data);
-
- free(frame);
-}
-
-static inline unsigned char sat(int i) {
- return (unsigned char)( i >= 255 ? 255 : (i < 0 ? 0 : i));
-}
-
-/** @brief Duplicate a frame, preserving color format
- * @ingroup frame
- *
- * @param in Original frame
- * @param out Duplicate frame
- */
-uvc_error_t uvc_duplicate_frame(uvc_frame_t *in, uvc_frame_t *out) {
- if (uvc_ensure_frame_size(out, in->data_bytes) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = in->frame_format;
- out->step = in->step;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- memcpy(out->data, in->data, in->data_bytes);
-
- return UVC_SUCCESS;
-}
-
-#define YUYV2RGB_2(pyuv, prgb) { \
- float r = 1.402f * ((pyuv)[3]-128); \
- float g = -0.34414f * ((pyuv)[1]-128) - 0.71414f * ((pyuv)[3]-128); \
- float b = 1.772f * ((pyuv)[1]-128); \
- (prgb)[0] = sat(pyuv[0] + r); \
- (prgb)[1] = sat(pyuv[0] + g); \
- (prgb)[2] = sat(pyuv[0] + b); \
- (prgb)[3] = sat(pyuv[2] + r); \
- (prgb)[4] = sat(pyuv[2] + g); \
- (prgb)[5] = sat(pyuv[2] + b); \
- }
-#define IYUYV2RGB_2(pyuv, prgb) { \
- int r = (22987 * ((pyuv)[3] - 128)) >> 14; \
- int g = (-5636 * ((pyuv)[1] - 128) - 11698 * ((pyuv)[3] - 128)) >> 14; \
- int b = (29049 * ((pyuv)[1] - 128)) >> 14; \
- (prgb)[0] = sat(*(pyuv) + r); \
- (prgb)[1] = sat(*(pyuv) + g); \
- (prgb)[2] = sat(*(pyuv) + b); \
- (prgb)[3] = sat((pyuv)[2] + r); \
- (prgb)[4] = sat((pyuv)[2] + g); \
- (prgb)[5] = sat((pyuv)[2] + b); \
- }
-#define IYUYV2RGB_16(pyuv, prgb) IYUYV2RGB_8(pyuv, prgb); IYUYV2RGB_8(pyuv + 16, prgb + 24);
-#define IYUYV2RGB_8(pyuv, prgb) IYUYV2RGB_4(pyuv, prgb); IYUYV2RGB_4(pyuv + 8, prgb + 12);
-#define IYUYV2RGB_4(pyuv, prgb) IYUYV2RGB_2(pyuv, prgb); IYUYV2RGB_2(pyuv + 4, prgb + 6);
-
-/** @brief Convert a frame from YUYV to RGB
- * @ingroup frame
- *
- * @param in YUYV frame
- * @param out RGB frame
- */
-uvc_error_t uvc_yuyv2rgb(uvc_frame_t *in, uvc_frame_t *out) {
- if (in->frame_format != UVC_FRAME_FORMAT_YUYV)
- return UVC_ERROR_INVALID_PARAM;
-
- if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = UVC_FRAME_FORMAT_RGB;
- out->step = in->width * 3;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- uint8_t *pyuv = in->data;
- uint8_t *prgb = out->data;
- uint8_t *prgb_end = prgb + out->data_bytes;
-
- while (prgb < prgb_end) {
- IYUYV2RGB_8(pyuv, prgb);
-
- prgb += 3 * 8;
- pyuv += 2 * 8;
- }
-
- return UVC_SUCCESS;
-}
-
-#define IYUYV2BGR_2(pyuv, pbgr) { \
- int r = (22987 * ((pyuv)[3] - 128)) >> 14; \
- int g = (-5636 * ((pyuv)[1] - 128) - 11698 * ((pyuv)[3] - 128)) >> 14; \
- int b = (29049 * ((pyuv)[1] - 128)) >> 14; \
- (pbgr)[0] = sat(*(pyuv) + b); \
- (pbgr)[1] = sat(*(pyuv) + g); \
- (pbgr)[2] = sat(*(pyuv) + r); \
- (pbgr)[3] = sat((pyuv)[2] + b); \
- (pbgr)[4] = sat((pyuv)[2] + g); \
- (pbgr)[5] = sat((pyuv)[2] + r); \
- }
-#define IYUYV2BGR_16(pyuv, pbgr) IYUYV2BGR_8(pyuv, pbgr); IYUYV2BGR_8(pyuv + 16, pbgr + 24);
-#define IYUYV2BGR_8(pyuv, pbgr) IYUYV2BGR_4(pyuv, pbgr); IYUYV2BGR_4(pyuv + 8, pbgr + 12);
-#define IYUYV2BGR_4(pyuv, pbgr) IYUYV2BGR_2(pyuv, pbgr); IYUYV2BGR_2(pyuv + 4, pbgr + 6);
-
-/** @brief Convert a frame from YUYV to BGR
- * @ingroup frame
- *
- * @param in YUYV frame
- * @param out BGR frame
- */
-uvc_error_t uvc_yuyv2bgr(uvc_frame_t *in, uvc_frame_t *out) {
- if (in->frame_format != UVC_FRAME_FORMAT_YUYV)
- return UVC_ERROR_INVALID_PARAM;
-
- if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = UVC_FRAME_FORMAT_BGR;
- out->step = in->width * 3;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- uint8_t *pyuv = in->data;
- uint8_t *pbgr = out->data;
- uint8_t *pbgr_end = pbgr + out->data_bytes;
-
- while (pbgr < pbgr_end) {
- IYUYV2BGR_8(pyuv, pbgr);
-
- pbgr += 3 * 8;
- pyuv += 2 * 8;
- }
-
- return UVC_SUCCESS;
-}
-
-#define IYUYV2Y(pyuv, py) { \
- (py)[0] = (pyuv[0]); \
- }
-
-/** @brief Convert a frame from YUYV to Y (GRAY8)
- * @ingroup frame
- *
- * @param in YUYV frame
- * @param out GRAY8 frame
- */
-uvc_error_t uvc_yuyv2y(uvc_frame_t *in, uvc_frame_t *out) {
- if (in->frame_format != UVC_FRAME_FORMAT_YUYV)
- return UVC_ERROR_INVALID_PARAM;
-
- if (uvc_ensure_frame_size(out, in->width * in->height) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = UVC_FRAME_FORMAT_GRAY8;
- out->step = in->width;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- uint8_t *pyuv = in->data;
- uint8_t *py = out->data;
- uint8_t *py_end = py + out->data_bytes;
-
- while (py < py_end) {
- IYUYV2Y(pyuv, py);
-
- py += 1;
- pyuv += 2;
- }
-
- return UVC_SUCCESS;
-}
-
-#define IYUYV2UV(pyuv, puv) { \
- (puv)[0] = (pyuv[1]); \
- }
-
-/** @brief Convert a frame from YUYV to UV (GRAY8)
- * @ingroup frame
- *
- * @param in YUYV frame
- * @param out GRAY8 frame
- */
-uvc_error_t uvc_yuyv2uv(uvc_frame_t *in, uvc_frame_t *out) {
- if (in->frame_format != UVC_FRAME_FORMAT_YUYV)
- return UVC_ERROR_INVALID_PARAM;
-
- if (uvc_ensure_frame_size(out, in->width * in->height) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = UVC_FRAME_FORMAT_GRAY8;
- out->step = in->width;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- uint8_t *pyuv = in->data;
- uint8_t *puv = out->data;
- uint8_t *puv_end = puv + out->data_bytes;
-
- while (puv < puv_end) {
- IYUYV2UV(pyuv, puv);
-
- puv += 1;
- pyuv += 2;
- }
-
- return UVC_SUCCESS;
-}
-
-#define IUYVY2RGB_2(pyuv, prgb) { \
- int r = (22987 * ((pyuv)[2] - 128)) >> 14; \
- int g = (-5636 * ((pyuv)[0] - 128) - 11698 * ((pyuv)[2] - 128)) >> 14; \
- int b = (29049 * ((pyuv)[0] - 128)) >> 14; \
- (prgb)[0] = sat((pyuv)[1] + r); \
- (prgb)[1] = sat((pyuv)[1] + g); \
- (prgb)[2] = sat((pyuv)[1] + b); \
- (prgb)[3] = sat((pyuv)[3] + r); \
- (prgb)[4] = sat((pyuv)[3] + g); \
- (prgb)[5] = sat((pyuv)[3] + b); \
- }
-#define IUYVY2RGB_16(pyuv, prgb) IUYVY2RGB_8(pyuv, prgb); IUYVY2RGB_8(pyuv + 16, prgb + 24);
-#define IUYVY2RGB_8(pyuv, prgb) IUYVY2RGB_4(pyuv, prgb); IUYVY2RGB_4(pyuv + 8, prgb + 12);
-#define IUYVY2RGB_4(pyuv, prgb) IUYVY2RGB_2(pyuv, prgb); IUYVY2RGB_2(pyuv + 4, prgb + 6);
-
-/** @brief Convert a frame from UYVY to RGB
- * @ingroup frame
- * @param ini UYVY frame
- * @param out RGB frame
- */
-uvc_error_t uvc_uyvy2rgb(uvc_frame_t *in, uvc_frame_t *out) {
- if (in->frame_format != UVC_FRAME_FORMAT_UYVY)
- return UVC_ERROR_INVALID_PARAM;
-
- if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = UVC_FRAME_FORMAT_RGB;
- out->step = in->width *3;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- uint8_t *pyuv = in->data;
- uint8_t *prgb = out->data;
- uint8_t *prgb_end = prgb + out->data_bytes;
-
- while (prgb < prgb_end) {
- IUYVY2RGB_8(pyuv, prgb);
-
- prgb += 3 * 8;
- pyuv += 2 * 8;
- }
-
- return UVC_SUCCESS;
-}
-
-#define IUYVY2BGR_2(pyuv, pbgr) { \
- int r = (22987 * ((pyuv)[2] - 128)) >> 14; \
- int g = (-5636 * ((pyuv)[0] - 128) - 11698 * ((pyuv)[2] - 128)) >> 14; \
- int b = (29049 * ((pyuv)[0] - 128)) >> 14; \
- (pbgr)[0] = sat((pyuv)[1] + b); \
- (pbgr)[1] = sat((pyuv)[1] + g); \
- (pbgr)[2] = sat((pyuv)[1] + r); \
- (pbgr)[3] = sat((pyuv)[3] + b); \
- (pbgr)[4] = sat((pyuv)[3] + g); \
- (pbgr)[5] = sat((pyuv)[3] + r); \
- }
-#define IUYVY2BGR_16(pyuv, pbgr) IUYVY2BGR_8(pyuv, pbgr); IUYVY2BGR_8(pyuv + 16, pbgr + 24);
-#define IUYVY2BGR_8(pyuv, pbgr) IUYVY2BGR_4(pyuv, pbgr); IUYVY2BGR_4(pyuv + 8, pbgr + 12);
-#define IUYVY2BGR_4(pyuv, pbgr) IUYVY2BGR_2(pyuv, pbgr); IUYVY2BGR_2(pyuv + 4, pbgr + 6);
-
-/** @brief Convert a frame from UYVY to BGR
- * @ingroup frame
- * @param ini UYVY frame
- * @param out BGR frame
- */
-uvc_error_t uvc_uyvy2bgr(uvc_frame_t *in, uvc_frame_t *out) {
- if (in->frame_format != UVC_FRAME_FORMAT_UYVY)
- return UVC_ERROR_INVALID_PARAM;
-
- if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
- return UVC_ERROR_NO_MEM;
-
- out->width = in->width;
- out->height = in->height;
- out->frame_format = UVC_FRAME_FORMAT_BGR;
- out->step = in->width *3;
- out->sequence = in->sequence;
- out->capture_time = in->capture_time;
- out->source = in->source;
-
- uint8_t *pyuv = in->data;
- uint8_t *pbgr = out->data;
- uint8_t *pbgr_end = pbgr + out->data_bytes;
-
- while (pbgr < pbgr_end) {
- IUYVY2BGR_8(pyuv, pbgr);
-
- pbgr += 3 * 8;
- pyuv += 2 * 8;
- }
-
- return UVC_SUCCESS;
-}
-
-/** @brief Convert a frame to RGB
- * @ingroup frame
- *
- * @param in non-RGB frame
- * @param out RGB frame
- */
-uvc_error_t uvc_any2rgb(uvc_frame_t *in, uvc_frame_t *out) {
- switch (in->frame_format) {
- case UVC_FRAME_FORMAT_YUYV:
- return uvc_yuyv2rgb(in, out);
- case UVC_FRAME_FORMAT_UYVY:
- return uvc_uyvy2rgb(in, out);
- case UVC_FRAME_FORMAT_RGB:
- return uvc_duplicate_frame(in, out);
- default:
- return UVC_ERROR_NOT_SUPPORTED;
- }
-}
-
-/** @brief Convert a frame to BGR
- * @ingroup frame
- *
- * @param in non-BGR frame
- * @param out BGR frame
- */
-uvc_error_t uvc_any2bgr(uvc_frame_t *in, uvc_frame_t *out) {
- switch (in->frame_format) {
- case UVC_FRAME_FORMAT_YUYV:
- return uvc_yuyv2bgr(in, out);
- case UVC_FRAME_FORMAT_UYVY:
- return uvc_uyvy2bgr(in, out);
- case UVC_FRAME_FORMAT_BGR:
- return uvc_duplicate_frame(in, out);
- default:
- return UVC_ERROR_NOT_SUPPORTED;
- }
-}
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