[89] | 1 | /*********************************************************************
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| 2 | // created: 2006/06/08 - 21:47
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| 3 | // filename: Camera1394.cpp
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| 4 | //
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| 5 | // author: Gerald Dherbomez
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id$
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| 9 | //
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| 10 | // purpose: Definition of the Camera1394 class
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| 11 | //
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| 12 | // todo:
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| 13 | *********************************************************************/
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| 14 |
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| 15 | #include "Camera1394.h"
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| 16 |
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| 17 | #include <cassert>
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| 18 | #include <iostream>
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| 19 | #include <qimagewriter.h>
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| 20 |
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| 21 | #include "kernel/ComponentFactory.h"
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| 22 | #include "kernel/DbiteException.h"
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| 23 | #include "kernel/DbiteFileTypes.h"
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| 24 | #include "kernel/Log.h"
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| 25 | #include "PacpusTools/ShMem.h"
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| 26 |
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| 27 | using namespace pacpus;
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| 28 | using namespace std;
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| 29 |
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| 30 | DECLARE_STATIC_LOGGER("pacpus.base.Camera1394");
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| 31 |
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| 32 | /// Construct the factory
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| 33 | ComponentFactory<Camera1394> sFactory("Camera1394");
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| 34 |
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| 35 | Camera1394::Camera1394(QString name)
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| 36 | : ComponentBase(name)
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| 37 | {
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| 38 | image_ = NULL;
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| 39 | qimage_ = NULL;
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| 40 | acquiring_ = FALSE;
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| 41 | recording_ = FALSE;
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| 42 |
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| 43 | tr_ = 0;
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| 44 | }
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| 45 |
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| 46 | Camera1394::~Camera1394()
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| 47 | {
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| 48 | // verify that the camera has been initialized
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| 49 | if (theCamera->m_cameraInitialized)
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| 50 | if (theCamera->StopImageAcquisition() != CAM_SUCCESS)
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| 51 | qFatal("Problem Stopping Image Acquisition");
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| 52 |
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| 53 | delete theCamera;
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| 54 | theCamera = NULL;
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| 55 | delete[] image_;
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| 56 | image_ = NULL;
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| 57 | delete qimage_;
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| 58 | qimage_ = NULL;
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| 59 | }
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| 60 |
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| 61 | //////////////////////////////////////////////////////////////////////////
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| 62 | // Configure the component
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| 63 | // Parameters are:
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| 64 | // - node: the number of the camera in the driver list. Normally, node 0
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| 65 | // is for the first camera connected, node is incremented for other
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| 66 | //////////////////////////////////////////////////////////////////////////
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| 67 | ComponentBase::COMPONENT_CONFIGURATION Camera1394::configureComponent(XmlComponentConfig config)
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| 68 | {
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| 69 | cameraNode_ = param.getProperty("node").toInt();
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| 70 | videoFormat_ = param.getProperty("format").toInt();
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| 71 | videoMode_ = param.getProperty("mode").toInt();
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| 72 | frameRate_ = param.getProperty("framerate").toInt();
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| 73 | recording_ = (param.getProperty("recording") == "true" ? true : false );
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| 74 | recordFormat_ = param.getProperty("recordFormat");
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| 75 | reverseImage_ = (param.getProperty("reverseImage") == "true" ? true : false);
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| 76 | displaying_ = (param.getProperty("display") == "true" ? true : false);
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| 77 | zoom_ = param.getProperty("zoom").toInt();
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| 78 |
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| 79 | imageMutex_ = new QMutex;
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| 80 |
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[94] | 81 | /* if (displaying_)
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[89] | 82 | {
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| 83 | viewer_ = new ImageViewer;
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| 84 | viewer_->setMutex(imageMutex_);
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| 85 | viewer_->show();
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| 86 | viewer_->setWindowTitle(componentName);
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| 87 | connect(this, SIGNAL( newImage(QImage*) ), viewer_, SLOT( display(QImage*) ) );
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[94] | 88 | }*/
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[89] | 89 |
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| 90 | return ComponentBase::CONFIGURED_OK;
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| 91 | }
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| 92 |
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| 93 | //////////////////////////////////////////////////////////////////////////
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| 94 | // Stop the acquisition of data
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| 95 | //////////////////////////////////////////////////////////////////////////
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| 96 | void Camera1394::stopActivity()
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| 97 | {
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| 98 | stopAcquiring();
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| 99 |
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| 100 | // wait the thread termination
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| 101 | if (!wait(1000)) {
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| 102 | LOG_ERROR(componentName << ":The thread doesn't respond for 1 second, it has been terminated");
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| 103 | terminate();
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| 104 | }
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| 105 |
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| 106 | file_.close();
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| 107 | }
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| 108 |
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| 109 | //////////////////////////////////////////////////////////////////////////
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| 110 | // Start the camera
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| 111 | // Set all video parameters (resolution, mode and framerate)
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| 112 | //////////////////////////////////////////////////////////////////////////
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| 113 | void Camera1394::startActivity()
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| 114 | {
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| 115 | try {
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| 116 | QString dbtFileName_ = componentName + ".dbt";
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| 117 | file_.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, MAX_CHAR_DIRECTORY_NAME + MAX_CHAR_PICTURE_NAME);
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| 118 | } catch (DbiteException & e) {
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| 119 | cerr << "error opening dbt file: " << e.what() << endl;
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| 120 | return;
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| 121 | }
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| 122 |
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| 123 | initCamera();
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| 124 |
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| 125 | if (theCamera->m_videoFlags[videoFormat_][videoMode_][frameRate_])
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| 126 | {
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| 127 | // set the camera parameters
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| 128 | theCamera->SetVideoFormat(videoFormat_);
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| 129 | theCamera->SetVideoMode(videoMode_);
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| 130 | theCamera->SetVideoFrameRate(frameRate_);
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| 131 | }
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| 132 | else
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| 133 | qFatal("Video format, mode or rate are bad !");
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| 134 |
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| 135 | theCamera->StartImageAcquisition();
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| 136 |
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| 137 | // switch some controls in Automatic mode
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| 138 | theCamera->m_controlWhiteBalance.SetAutoMode(TRUE);
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| 139 | theCamera->m_controlShutter.SetAutoMode(TRUE);
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| 140 | theCamera->m_controlGain.SetAutoMode(TRUE);
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| 141 | theCamera->m_controlIris.SetAutoMode(TRUE);
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| 142 |
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| 143 | theCamera->SetZoom(zoom_);
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| 144 |
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| 145 | // alloc images
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| 146 | if (!image_)
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| 147 | image_ = new unsigned char [ theCamera->m_width * theCamera->m_height * 3];
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| 148 | if (!qimage_)
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| 149 | qimage_ = new QImage( theCamera->m_width , theCamera->m_height, QImage::Format_RGB32 );
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| 150 |
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| 151 | startAcquiring();
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| 152 | start();
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| 153 | }
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 | //////////////////////////////////////////////////////////////////////////
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| 159 | // Initialize the C1394Camera Driver
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| 160 | // Verify the presence of a compatible camera and select it
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| 161 | // If it doesn't work, please have a look on the Windows driver in the
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| 162 | // hardware manager
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| 163 | //////////////////////////////////////////////////////////////////////////
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| 164 | bool Camera1394::initCamera()
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| 165 | {
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| 166 | theCamera = new C1394Camera;
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| 167 |
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| 168 | qDebug("Verifying camera presence...");
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| 169 | if(theCamera->CheckLink() != CAM_SUCCESS)
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| 170 | qFatal("No camera detected !");
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| 171 |
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| 172 | qDebug("Selecting Camera...");
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| 173 | switch (theCamera->SelectCamera(cameraNode_))
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| 174 | {
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| 175 | case CAM_SUCCESS :
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| 176 | qDebug("The camera has been selected and verified");
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| 177 | break;
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| 178 | case CAM_ERROR_PARAM_OUT_OF_RANGE :
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| 179 | qFatal("The node value is invalid !");
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| 180 | case CAM_ERROR :
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| 181 | qFatal("No camera available !");
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| 182 | default :
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| 183 | qFatal("Problem with SelectCamera() method");
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| 184 | }
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| 185 |
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| 186 | qDebug("Initializing Camera...");
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| 187 | if (theCamera->InitCamera() != CAM_SUCCESS)
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| 188 | qFatal("Error during camera initialization !");
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| 189 |
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| 190 | qDebug("Checking Feature Presence...");
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| 191 | theCamera->InquireControlRegisters();
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| 192 |
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| 193 | qDebug("Checking Feature Status...");
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| 194 | theCamera->StatusControlRegisters();
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| 195 |
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| 196 | qDebug("Camera Initialized");
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| 197 | char commandline[64];
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| 198 | sprintf(commandline,"mkdir %s\n",componentName.toLatin1().data());
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| 199 | system(commandline);
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| 200 | puts(commandline);
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| 201 |
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| 202 | return TRUE;
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| 203 | }
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| 204 |
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| 205 | bool Camera1394::recordImage(QString format)
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| 206 | {
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| 207 | ++imageCounter_;
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| 208 |
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| 209 | format = format.toLower();
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| 210 | if (format == "jpeg") {
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| 211 | format = "jpg";
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| 212 | }
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| 213 |
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| 214 | bool formatSupported = false;
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| 215 | QImageWriter imageWriter;
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| 216 | if (imageWriter.supportedImageFormats().contains(format.toLatin1())) {
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| 217 | formatSupported = true;
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| 218 | }
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| 219 |
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| 220 | if (!formatSupported) {
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| 221 | LOG_ERROR("Format" << format << "not supported for recording");
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| 222 | } else {
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| 223 | // write in the dbt file
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| 224 | sprintf( imageName_, componentName.toLatin1().data() );
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| 225 | sprintf( imageName_, "%s/image%d.%s", imageName_, imageCounter_, format.toLatin1().data() );
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| 226 | imageWriter.setFileName(imageName_);
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| 227 | imageWriter.setFormat( format.toLatin1() );
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| 228 | imageWriter.write(*qimage_);
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| 229 |
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| 230 | // record the data in a dbt file. The dbt data is only the structure AlascaXT
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| 231 | // scan data are recording in the alasca_data.utc file
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| 232 | try {
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| 233 | file_.writeRecord(time_, tr_, reinterpret_cast<const char *>(&imageName_), MAX_CHAR_DIRECTORY_NAME + MAX_CHAR_PICTURE_NAME);
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| 234 | } catch (DbiteException & e) {
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| 235 | cerr << "error writing data: " << e.what() << endl;
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| 236 | return false;
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| 237 | }
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| 238 | }
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| 239 | return formatSupported;
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| 240 | }
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| 241 |
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| 242 | //#define MEASURE_TIME
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| 243 |
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| 244 | //////////////////////////////////////////////////////////////////////////
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| 245 | // Main loop for acquisition
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| 246 | //////////////////////////////////////////////////////////////////////////
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| 247 | void Camera1394::run()
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| 248 | {
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| 249 | bool firstTime = true;
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| 250 | ShMem * shMem;
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| 251 | imageCounter_ = 0;
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| 252 | time_ = road_time();
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| 253 |
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| 254 | road_time_t t;
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| 255 |
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| 256 | while (acquiring_)
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| 257 | {
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| 258 | if (theCamera->AcquireImage())
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| 259 | qFatal("Problem Acquiring Image !");
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| 260 | prevTime_ = time_;
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| 261 | time_ = road_time();
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| 262 |
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| 263 | // verify that the acquisition period is good relatively to the selected format
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| 264 | if ( isPeriodGood((int)(time_ - prevTime_)) )
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| 265 | setState(MONITOR_OK);
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| 266 | else
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| 267 | setState(MONITOR_NOK);
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| 268 |
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| 269 | t = road_time();
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| 270 | if ( !fillRGB32Image(qimage_->bits()) ) continue;
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| 271 |
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| 272 | #ifdef MEASURE_TIME
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| 273 | qDebug() << componentName << "duration conversion: " << (int)(road_time() - t) ;
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| 274 | #endif
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| 275 |
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| 276 | imageMutex_->lock();
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| 277 |
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| 278 | t = road_time();
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| 279 | if (reverseImage_)
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| 280 | *qimage_ = qimage_->mirrored(true,true);
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| 281 |
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| 282 | // send image in shared memory
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| 283 | if (firstTime) {
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[94] | 284 | // shMem = new ShMem("IMAGE", qimage_->numBytes());
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[89] | 285 | firstTime = false;
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| 286 | }
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| 287 | assert(shMem);
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[94] | 288 | // shMem->write(qimage_->bits(), qimage_->numBytes());
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[89] | 289 |
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| 290 | #ifdef MEASURE_TIME
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| 291 | qDebug() << componentName << "duration mirror: " << (int)(road_time() - t) ;
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| 292 | #endif
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| 293 |
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| 294 | imageMutex_->unlock();
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| 295 | emit newImage(qimage_);
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| 296 |
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| 297 | t = road_time();
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| 298 | if (recording_)
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| 299 | {
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| 300 | recordImage(recordFormat_);
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| 301 | }
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| 302 | #ifdef MEASURE_TIME
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| 303 | qDebug() << componentName << "duration record: " << (int)(road_time() - t) ;
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| 304 | #endif
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| 305 |
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| 306 | } // END while (acquiring_)
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| 307 |
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| 308 | LOG_INFO(":Stopping the camera");
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| 309 | if (theCamera->StopImageAcquisition() != CAM_SUCCESS)
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| 310 | LOG_FATAL("Problem Stopping Image Acquisition");
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| 311 | if (!firstTime)
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| 312 | delete shMem;
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| 313 | setState(STOPPED);
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| 314 | }
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| 315 |
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| 316 |
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| 317 |
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| 318 |
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| 319 | //////////////////////////////////////////////////////////////////////////
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| 320 | // return the actual period in µs corresponding to the framerate code
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| 321 | //////////////////////////////////////////////////////////////////////////
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| 322 | double Camera1394::getPeriod()
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| 323 | {
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| 324 | switch(frameRate_) {
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| 325 | case 0:
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| 326 | return 1.0e6/1.875;
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| 327 | break;
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| 328 |
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| 329 | case 1:
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| 330 | return 1.0e6/3.75;
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| 331 | break;
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| 332 |
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| 333 | case 2:
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| 334 | return 1.0e6/7.5;
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| 335 | break;
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| 336 |
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| 337 | case 3:
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| 338 | return 1.0e6/15;
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| 339 | break;
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| 340 |
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| 341 | case 4:
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| 342 | return 1.0e6/30;
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| 343 | break;
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| 344 |
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| 345 | case 5:
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| 346 | return 1.0e6/60;
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| 347 | break;
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| 348 |
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| 349 | default:
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| 350 | LOG_WARN("Unknown framerate. The component " << componentName << " may encounter a problem !");
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| 351 | return 0;
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| 352 | }
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| 353 | }
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| 354 |
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| 355 | //////////////////////////////////////////////////////////////////////////
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| 356 | // retrn true if the period T corresponds to the framerate (at +/-20%)
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| 357 | // T is given in microseconds
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| 358 | //////////////////////////////////////////////////////////////////////////
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| 359 | bool Camera1394::isPeriodGood(int T)
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| 360 | {
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| 361 | float period = getPeriod();
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| 362 | if ( (T < period*0.8) || (T > period*1.2) )
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| 363 | return false;
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| 364 | else
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| 365 | return true;
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| 366 | }
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| 367 |
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| 368 |
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| 369 |
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| 370 |
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| 371 | //////////////////////////////////////////////////////////////////////////
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| 372 | // useful macro to keep 'a' between 0 and 255
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| 373 | //////////////////////////////////////////////////////////////////////////
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| 374 | #define CLAMP_TO_UCHAR(a) (unsigned char)((a) < 0 ? 0 : ((a) > 255 ? 255 : (a)))
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| 375 |
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| 376 |
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| 377 | //////////////////////////////////////////////////////////////////////////
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| 378 | // Convert the image from YUV444 to RGB32
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| 379 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
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| 380 | //////////////////////////////////////////////////////////////////////////
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| 381 | void Camera1394::YUV444toRGB32(unsigned char* buffer)
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| 382 | {
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| 383 | long Y, U, V, deltaG;
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| 384 | unsigned char *srcptr, *srcend, *destptr;
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| 385 |
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| 386 | // single-stage idiotproofing
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| 387 | if(theCamera->m_pData == NULL || buffer == NULL)
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| 388 | return;
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| 389 |
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| 390 | srcptr = theCamera->m_pData;
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| 391 | srcend = srcptr + (theCamera->m_width * theCamera->m_height * 3);
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| 392 | destptr = buffer;
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| 393 |
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| 394 | // data pattern: UYV
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| 395 | // unroll it to 4 pixels/round
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| 396 |
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| 397 | while(srcptr < srcend)
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| 398 | {
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| 399 | U = (*srcptr++) - 128;
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| 400 | Y = (*srcptr++);
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| 401 | V = (*srcptr++) - 128;
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| 402 |
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| 403 | deltaG = (12727 * U + 33384 * V);
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| 404 | deltaG += (deltaG > 0 ? 32768 : -32768);
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| 405 | deltaG >>= 16;
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| 406 |
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| 407 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
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| 408 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
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| 409 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
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| 410 | destptr++;//A
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| 411 |
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| 412 | U = (*srcptr++) - 128;
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| 413 | Y = (*srcptr++);
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| 414 | V = (*srcptr++) - 128;
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| 415 |
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| 416 | deltaG = (12727 * U + 33384 * V);
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| 417 | deltaG += (deltaG > 0 ? 32768 : -32768);
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| 418 | deltaG >>= 16;
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| 419 |
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| 420 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
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| 421 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
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| 422 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
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| 423 | destptr++;//A
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| 424 |
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| 425 | U = (*srcptr++) - 128;
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| 426 | Y = (*srcptr++);
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| 427 | V = (*srcptr++) - 128;
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| 428 |
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| 429 | deltaG = (12727 * U + 33384 * V);
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| 430 | deltaG += (deltaG > 0 ? 32768 : -32768);
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| 431 | deltaG >>= 16;
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| 432 |
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| 433 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
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| 434 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
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| 435 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
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| 436 | destptr++;//A
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| 437 |
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| 438 | U = (*srcptr++) - 128;
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| 439 | Y = (*srcptr++);
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| 440 | V = (*srcptr++) - 128;
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| 441 |
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| 442 | deltaG = (12727 * U + 33384 * V);
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| 443 | deltaG += (deltaG > 0 ? 32768 : -32768);
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| 444 | deltaG >>= 16;
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| 445 |
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| 446 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
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| 447 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
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| 448 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
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| 449 | destptr++;//A
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| 450 | }
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| 451 | }
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| 452 |
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| 453 |
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| 454 |
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| 455 | //////////////////////////////////////////////////////////////////////////
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| 456 | // Convert the image from YUV422 to RGB32
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| 457 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
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| 458 | //////////////////////////////////////////////////////////////////////////
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| 459 | void Camera1394::YUV422toRGB32(unsigned char *buffer)
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| 460 | {
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| 461 | long Y, U, V, deltaG;
|
---|
| 462 | unsigned char *srcptr, *srcend, *destptr;
|
---|
| 463 |
|
---|
| 464 | srcptr = theCamera->m_pData;
|
---|
| 465 | srcend = srcptr + ((theCamera->m_width * theCamera->m_height) << 1);
|
---|
| 466 | destptr = buffer;
|
---|
| 467 |
|
---|
| 468 | // single-stage idiotproofing
|
---|
| 469 | if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
| 470 | {
|
---|
| 471 | return;
|
---|
| 472 | }
|
---|
| 473 |
|
---|
| 474 | // data pattern: UYVY
|
---|
| 475 |
|
---|
| 476 | while(srcptr < srcend)
|
---|
| 477 | {
|
---|
| 478 | U = *srcptr;
|
---|
| 479 | U -= 128;
|
---|
| 480 | V = *(srcptr+2);
|
---|
| 481 | V -= 128;
|
---|
| 482 |
|
---|
| 483 | deltaG = (12727 * U + 33384 * V);
|
---|
| 484 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
| 485 | deltaG >>= 16;
|
---|
| 486 |
|
---|
| 487 | Y = *(srcptr + 1);
|
---|
| 488 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 489 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 490 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 491 | destptr++;//A
|
---|
| 492 |
|
---|
| 493 |
|
---|
| 494 | Y = *(srcptr + 3);
|
---|
| 495 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 496 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 497 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 498 | destptr++;//A
|
---|
| 499 |
|
---|
| 500 | srcptr += 4;
|
---|
| 501 |
|
---|
| 502 | // twice in the same loop... just like halving the loop overhead
|
---|
| 503 |
|
---|
| 504 | U = (*srcptr) - 128;
|
---|
| 505 | V = (*(srcptr+2)) - 128;
|
---|
| 506 |
|
---|
| 507 | deltaG = (12727 * U + 33384 * V);
|
---|
| 508 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
| 509 | deltaG >>= 16;
|
---|
| 510 |
|
---|
| 511 | Y = *(srcptr + 1);
|
---|
| 512 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 513 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 514 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 515 | destptr++;//A
|
---|
| 516 |
|
---|
| 517 | Y = *(srcptr + 3);
|
---|
| 518 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 519 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 520 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 521 | destptr++;//A
|
---|
| 522 |
|
---|
| 523 | srcptr += 4;
|
---|
| 524 |
|
---|
| 525 | }
|
---|
| 526 | }
|
---|
| 527 |
|
---|
| 528 | //////////////////////////////////////////////////////////////////////////
|
---|
| 529 | // Convert the image from YUV411 to RGB32
|
---|
| 530 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
| 531 | //////////////////////////////////////////////////////////////////////////
|
---|
| 532 | void Camera1394::YUV411toRGB32(unsigned char *buffer)
|
---|
| 533 | {
|
---|
| 534 | long Y, U, V, deltaG;
|
---|
| 535 | unsigned char *srcptr, *srcend, *destptr;
|
---|
| 536 |
|
---|
| 537 | // single-stage idiotproofing
|
---|
| 538 | if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
| 539 | return;
|
---|
| 540 |
|
---|
| 541 | // data pattern: UYYVYY
|
---|
| 542 |
|
---|
| 543 | srcptr = theCamera->m_pData;
|
---|
| 544 | srcend = srcptr + ((theCamera->m_width * theCamera->m_height * 3) >> 1);
|
---|
| 545 | destptr = buffer;
|
---|
| 546 |
|
---|
| 547 | while(srcptr < srcend)
|
---|
| 548 | {
|
---|
| 549 | U = (*srcptr) - 128;
|
---|
| 550 | V = (*(srcptr+3)) - 128;
|
---|
| 551 |
|
---|
| 552 | deltaG = (12727 * U + 33384 * V);
|
---|
| 553 | deltaG += (deltaG > 0 ? 32768 : -32768);
|
---|
| 554 | deltaG >>= 16;
|
---|
| 555 |
|
---|
| 556 | Y = *(srcptr + 1);
|
---|
| 557 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 558 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 559 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 560 | destptr++;//A
|
---|
| 561 |
|
---|
| 562 | Y = *(srcptr + 2);
|
---|
| 563 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 564 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 565 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 566 | destptr++;//A
|
---|
| 567 |
|
---|
| 568 | Y = *(srcptr + 4);
|
---|
| 569 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 570 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 571 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 572 | destptr++;//A
|
---|
| 573 |
|
---|
| 574 | Y = *(srcptr + 5);
|
---|
| 575 | *destptr++ = CLAMP_TO_UCHAR( Y + U );
|
---|
| 576 | *destptr++ = CLAMP_TO_UCHAR( Y - deltaG );
|
---|
| 577 | *destptr++ = CLAMP_TO_UCHAR( Y + V );
|
---|
| 578 | destptr++;//A
|
---|
| 579 |
|
---|
| 580 | srcptr += 6;
|
---|
| 581 | }
|
---|
| 582 | }
|
---|
| 583 |
|
---|
| 584 |
|
---|
| 585 | //////////////////////////////////////////////////////////////////////////
|
---|
| 586 | // Convert the image from Y to RGB32
|
---|
| 587 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
| 588 | //////////////////////////////////////////////////////////////////////////
|
---|
| 589 | void Camera1394::YtoRGB32(unsigned char * buffer)
|
---|
| 590 | {
|
---|
| 591 | unsigned char *srcptr, *srcend, *destptr;
|
---|
| 592 |
|
---|
| 593 | srcptr = theCamera->m_pData;
|
---|
| 594 | srcend = srcptr + (theCamera->m_width * theCamera->m_height);
|
---|
| 595 | destptr = buffer;
|
---|
| 596 |
|
---|
| 597 | // single-stage idiotproofing
|
---|
| 598 | if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
| 599 | return;
|
---|
| 600 |
|
---|
| 601 | // just Y's (monochrome)
|
---|
| 602 |
|
---|
| 603 | // unroll it to 4 per cycle
|
---|
| 604 |
|
---|
| 605 | while(srcptr < srcend)
|
---|
| 606 | {
|
---|
| 607 | *destptr++ = *srcptr;
|
---|
| 608 | *destptr++ = *srcptr;
|
---|
| 609 | *destptr++ = *srcptr;
|
---|
| 610 | destptr++;//A
|
---|
| 611 | srcptr++;
|
---|
| 612 |
|
---|
| 613 | *destptr++ = *srcptr;
|
---|
| 614 | *destptr++ = *srcptr;
|
---|
| 615 | *destptr++ = *srcptr;
|
---|
| 616 | destptr++;//A
|
---|
| 617 | srcptr++;
|
---|
| 618 |
|
---|
| 619 | *destptr++ = *srcptr;
|
---|
| 620 | *destptr++ = *srcptr;
|
---|
| 621 | *destptr++ = *srcptr;
|
---|
| 622 | destptr++;//A
|
---|
| 623 | srcptr++;
|
---|
| 624 |
|
---|
| 625 | *destptr++ = *srcptr;
|
---|
| 626 | *destptr++ = *srcptr;
|
---|
| 627 | *destptr++ = *srcptr;
|
---|
| 628 | destptr++;//A
|
---|
| 629 | srcptr++;
|
---|
| 630 | }
|
---|
| 631 | }
|
---|
| 632 |
|
---|
| 633 |
|
---|
| 634 | //////////////////////////////////////////////////////////////////////////
|
---|
| 635 | // Convert the image from Y16 to RGB32
|
---|
| 636 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
| 637 | // 16-bit monochrome (new to spec 1.3)
|
---|
| 638 | // the first of each pair of bytes is the high byte, so just copy those to RGB
|
---|
| 639 | //////////////////////////////////////////////////////////////////////////
|
---|
| 640 | void Camera1394::Y16toRGB32(unsigned char *buffer)
|
---|
| 641 | {
|
---|
| 642 | unsigned char *srcptr, *srcend, *destptr;
|
---|
| 643 |
|
---|
| 644 | srcptr = theCamera->m_pData;
|
---|
| 645 | srcend = srcptr + 2 * (theCamera->m_width * theCamera->m_height);
|
---|
| 646 | destptr = buffer;
|
---|
| 647 |
|
---|
| 648 | // single-stage idiotproofing
|
---|
| 649 | if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
| 650 | return;
|
---|
| 651 |
|
---|
| 652 | // just Y's (monochrome, 16-bit little endian)
|
---|
| 653 |
|
---|
| 654 | // unroll it to 4 per cycle
|
---|
| 655 |
|
---|
| 656 | while(srcptr < srcend)
|
---|
| 657 | {
|
---|
| 658 | *destptr++ = *srcptr;
|
---|
| 659 | *destptr++ = *srcptr;
|
---|
| 660 | *destptr++ = *srcptr;
|
---|
| 661 | destptr++;//A
|
---|
| 662 | srcptr += 2;
|
---|
| 663 |
|
---|
| 664 | *destptr++ = *srcptr;
|
---|
| 665 | *destptr++ = *srcptr;
|
---|
| 666 | *destptr++ = *srcptr;
|
---|
| 667 | destptr++;//A
|
---|
| 668 | srcptr += 2;
|
---|
| 669 |
|
---|
| 670 | *destptr++ = *srcptr;
|
---|
| 671 | *destptr++ = *srcptr;
|
---|
| 672 | *destptr++ = *srcptr;
|
---|
| 673 | destptr++;//A
|
---|
| 674 | srcptr += 2;
|
---|
| 675 |
|
---|
| 676 | *destptr++ = *srcptr;
|
---|
| 677 | *destptr++ = *srcptr;
|
---|
| 678 | *destptr++ = *srcptr;
|
---|
| 679 | destptr++;//A
|
---|
| 680 | srcptr += 2;
|
---|
| 681 | }
|
---|
| 682 | }
|
---|
| 683 |
|
---|
| 684 |
|
---|
| 685 |
|
---|
| 686 | //////////////////////////////////////////////////////////////////////////
|
---|
| 687 | // Convert the image from RGB16 to RGB32
|
---|
| 688 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
| 689 | // 16-bit RGB (new to spec 1.3)
|
---|
| 690 | // the first of each pair of bytes is the high byte, so just copy those to RGB
|
---|
| 691 | // near duplicate of Y16toRGB
|
---|
| 692 | //////////////////////////////////////////////////////////////////////////
|
---|
| 693 | void Camera1394::RGB16toRGB32(unsigned char * buffer)
|
---|
| 694 | {
|
---|
| 695 | unsigned char *srcptr, *srcend, *destptr;
|
---|
| 696 |
|
---|
| 697 | srcptr = theCamera->m_pData;
|
---|
| 698 | srcend = srcptr + 6 * (theCamera->m_width * theCamera->m_height);
|
---|
| 699 | destptr = buffer;
|
---|
| 700 |
|
---|
| 701 | // single-stage idiotproofing
|
---|
| 702 | if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
| 703 | return;
|
---|
| 704 |
|
---|
| 705 | // R,G,B are 16-bit source, chop of the top 8 and feed
|
---|
| 706 |
|
---|
| 707 | // unroll it to 3 per cycle
|
---|
| 708 |
|
---|
| 709 | while(srcptr < srcend)
|
---|
| 710 | {
|
---|
| 711 | *destptr++ = *srcptr;
|
---|
| 712 | *destptr++ = *srcptr;
|
---|
| 713 | *destptr++ = *srcptr;
|
---|
| 714 | destptr++;//A
|
---|
| 715 | srcptr += 2;
|
---|
| 716 |
|
---|
| 717 | *destptr++ = *srcptr;
|
---|
| 718 | *destptr++ = *srcptr;
|
---|
| 719 | *destptr++ = *srcptr;
|
---|
| 720 | destptr++;//A
|
---|
| 721 | srcptr += 2;
|
---|
| 722 |
|
---|
| 723 | *destptr++ = *srcptr;
|
---|
| 724 | *destptr++ = *srcptr;
|
---|
| 725 | *destptr++ = *srcptr;
|
---|
| 726 | destptr++;//A
|
---|
| 727 | srcptr += 2;
|
---|
| 728 | }
|
---|
| 729 | }
|
---|
| 730 |
|
---|
| 731 |
|
---|
| 732 |
|
---|
| 733 | //////////////////////////////////////////////////////////////////////////
|
---|
| 734 | // Convert the image from RGB24 to RGB32
|
---|
| 735 | // The image is stored using a 32-bit RGB format (0xffRRGGBB)
|
---|
| 736 | //////////////////////////////////////////////////////////////////////////
|
---|
| 737 | void Camera1394::RGB24toRGB32(unsigned char * buffer)
|
---|
| 738 | {
|
---|
| 739 | unsigned char *srcptr, *srcend, *destptr;
|
---|
| 740 |
|
---|
| 741 | srcptr = theCamera->m_pData;
|
---|
| 742 | srcend = srcptr + 3 * (theCamera->m_width * theCamera->m_height);
|
---|
| 743 | destptr = buffer;
|
---|
| 744 |
|
---|
| 745 | // single-stage idiotproofing
|
---|
| 746 | if(theCamera->m_pData == NULL || buffer == NULL)
|
---|
| 747 | return;
|
---|
| 748 |
|
---|
| 749 | // unroll it to 3 per cycle
|
---|
| 750 |
|
---|
| 751 | while(srcptr < srcend)
|
---|
| 752 | {
|
---|
| 753 | *destptr++ = *(srcptr+2); //B
|
---|
| 754 | *destptr++ = *(srcptr+1); //G
|
---|
| 755 | *destptr++ = *srcptr; //R
|
---|
| 756 | destptr++;//A
|
---|
| 757 | srcptr += 3;
|
---|
| 758 |
|
---|
| 759 | *destptr++ = *(srcptr+2);
|
---|
| 760 | *destptr++ = *(srcptr+1);
|
---|
| 761 | *destptr++ = *srcptr;
|
---|
| 762 | destptr++;//A
|
---|
| 763 | srcptr += 3;
|
---|
| 764 |
|
---|
| 765 | *destptr++ = *(srcptr+2);
|
---|
| 766 | *destptr++ = *(srcptr+1);
|
---|
| 767 | *destptr++ = *srcptr;
|
---|
| 768 | destptr++;//A
|
---|
| 769 | srcptr += 3;
|
---|
| 770 | }
|
---|
| 771 | }
|
---|
| 772 |
|
---|
| 773 |
|
---|
| 774 | bool Camera1394::fillRGB32Image(unsigned char * buffer)
|
---|
| 775 | {
|
---|
| 776 | if(buffer == NULL)
|
---|
| 777 | return false;
|
---|
| 778 |
|
---|
| 779 | bool retValue = true;
|
---|
| 780 |
|
---|
| 781 | switch(videoFormat_)
|
---|
| 782 | {
|
---|
| 783 | case 0:
|
---|
| 784 | switch(videoMode_)
|
---|
| 785 | {
|
---|
| 786 | case 0:
|
---|
| 787 | // 160x120 YUV444
|
---|
| 788 | YUV444toRGB32(buffer);
|
---|
| 789 | break;
|
---|
| 790 | case 1:
|
---|
| 791 | // 320x240 YUV222
|
---|
| 792 | YUV422toRGB32(buffer);
|
---|
| 793 | break;
|
---|
| 794 | case 2:
|
---|
| 795 | // 640x480 YUV411
|
---|
| 796 | YUV411toRGB32(buffer);
|
---|
| 797 | break;
|
---|
| 798 | case 3:
|
---|
| 799 | // 640x480 YUV422
|
---|
| 800 | YUV422toRGB32(buffer);
|
---|
| 801 | break;
|
---|
| 802 | case 4:
|
---|
| 803 | // 640x480 RGB
|
---|
| 804 | RGB24toRGB32(buffer);
|
---|
| 805 | //memcpy(buffer,theCamera->m_pData,640 * 480 * 3);
|
---|
| 806 | break;
|
---|
| 807 | case 5:
|
---|
| 808 | // 640x480 MONO
|
---|
| 809 | YtoRGB32(buffer);
|
---|
| 810 | break;
|
---|
| 811 | case 6:
|
---|
| 812 | // 640x480 MONO16
|
---|
| 813 | Y16toRGB32(buffer);
|
---|
| 814 | break;
|
---|
| 815 | default:
|
---|
| 816 | retValue = false;
|
---|
| 817 | qWarning("Current video mode is not supported for display and recording");
|
---|
| 818 | break;
|
---|
| 819 | } break;
|
---|
| 820 |
|
---|
| 821 | case 1:
|
---|
| 822 | switch(videoMode_)
|
---|
| 823 | {
|
---|
| 824 | case 0:
|
---|
| 825 | // 800x600 YUV422
|
---|
| 826 | YUV422toRGB32(buffer);
|
---|
| 827 | break;
|
---|
| 828 | case 1:
|
---|
| 829 | // 800x600 RGB
|
---|
| 830 | memcpy(buffer,theCamera->m_pData,800 * 600 * 3);
|
---|
| 831 | break;
|
---|
| 832 | case 2:
|
---|
| 833 | // 800x600 MONO
|
---|
| 834 | YtoRGB32(buffer);
|
---|
| 835 | break;
|
---|
| 836 | case 3:
|
---|
| 837 | // 1024x768 YUV422
|
---|
| 838 | YUV422toRGB32(buffer);
|
---|
| 839 | break;
|
---|
| 840 | case 4:
|
---|
| 841 | // 1024x768 RGB
|
---|
| 842 | memcpy(buffer,theCamera->m_pData,1024 * 768 * 3);
|
---|
| 843 | break;
|
---|
| 844 | case 5:
|
---|
| 845 | // 1024x768 MONO
|
---|
| 846 | YtoRGB32(buffer);
|
---|
| 847 | break;
|
---|
| 848 | case 6:
|
---|
| 849 | // 800x600 MONO16
|
---|
| 850 | case 7:
|
---|
| 851 | // 1024x768 MONO16
|
---|
| 852 | Y16toRGB32(buffer);
|
---|
| 853 | break;
|
---|
| 854 | default:
|
---|
| 855 | retValue = false;
|
---|
| 856 | qWarning("Current video mode is not supported for display and recording");
|
---|
| 857 | break;
|
---|
| 858 | } break;
|
---|
| 859 |
|
---|
| 860 | case 2:
|
---|
| 861 | switch(videoMode_)
|
---|
| 862 | {
|
---|
| 863 | case 0:
|
---|
| 864 | // 1280x960 YUV422
|
---|
| 865 | YUV422toRGB32(buffer);
|
---|
| 866 | break;
|
---|
| 867 | case 1:
|
---|
| 868 | // 1280x960 RGB
|
---|
| 869 | memcpy(buffer,theCamera->m_pData,1280 * 960 * 3);
|
---|
| 870 | break;
|
---|
| 871 | case 2:
|
---|
| 872 | // 1280x960 MONO
|
---|
| 873 | YtoRGB32(buffer);
|
---|
| 874 | break;
|
---|
| 875 | case 3:
|
---|
| 876 | // 1600x1200 YUV422
|
---|
| 877 | YUV422toRGB32(buffer);
|
---|
| 878 | break;
|
---|
| 879 | case 4:
|
---|
| 880 | // 1600x1200 RGB
|
---|
| 881 | memcpy(buffer,theCamera->m_pData,1600 * 1200 * 3);
|
---|
| 882 | break;
|
---|
| 883 | case 5:
|
---|
| 884 | // 1600x1200 MONO
|
---|
| 885 | YtoRGB32(buffer);
|
---|
| 886 | break;
|
---|
| 887 | case 6:
|
---|
| 888 | // 1280x1024 MONO16
|
---|
| 889 | case 7:
|
---|
| 890 | // 1600x1200 MONO16
|
---|
| 891 | Y16toRGB32(buffer);
|
---|
| 892 | break;
|
---|
| 893 | default:
|
---|
| 894 | retValue = false;
|
---|
| 895 | qWarning("Current video mode is not supported for display and recording");
|
---|
| 896 | break;
|
---|
| 897 | } break;
|
---|
| 898 |
|
---|
| 899 | case 7:
|
---|
| 900 | switch(theCamera->m_controlSize.m_colorCode)
|
---|
| 901 | {
|
---|
| 902 | case 0:
|
---|
| 903 | // Mono8
|
---|
| 904 | YtoRGB32(buffer);
|
---|
| 905 | break;
|
---|
| 906 | case 1:
|
---|
| 907 | // YUV 411
|
---|
| 908 | YUV411toRGB32(buffer);
|
---|
| 909 | break;
|
---|
| 910 | case 2:
|
---|
| 911 | // YUV 422
|
---|
| 912 | YUV422toRGB32(buffer);
|
---|
| 913 | break;
|
---|
| 914 | case 3:
|
---|
| 915 | // YUV 444
|
---|
| 916 | YUV444toRGB32(buffer);
|
---|
| 917 | break;
|
---|
| 918 | case 4:
|
---|
| 919 | // RGB8
|
---|
| 920 | memcpy(buffer,theCamera->m_pData,1280 * 960 * 3);
|
---|
| 921 | break;
|
---|
| 922 | case 5:
|
---|
| 923 | // Mono16
|
---|
| 924 | Y16toRGB32(buffer);
|
---|
| 925 | break;
|
---|
| 926 | case 6:
|
---|
| 927 | // RGB16
|
---|
| 928 | RGB16toRGB32(buffer);
|
---|
| 929 | break;
|
---|
| 930 | default:
|
---|
| 931 | // unsupported
|
---|
| 932 | retValue = false;
|
---|
| 933 | qWarning("Current video mode is not supported for display and recording");
|
---|
| 934 | break;
|
---|
| 935 | } break;
|
---|
| 936 |
|
---|
| 937 | default:
|
---|
| 938 | retValue = false;
|
---|
| 939 | qWarning("Current video mode is not supported for display and recording");
|
---|
| 940 | break;
|
---|
| 941 | }
|
---|
| 942 |
|
---|
| 943 | return retValue;
|
---|
| 944 | } |
---|