copy raw image to output thread

.gitignore

@@ -6,6 +6,7 @@ config.h
 *.oo
 simpleskycam
 *~
+*.bkp
 U2SM200C-AST_Cfg_A.bin
 U2SM200C-AST_Cfg_SAVE.bin
 gmon.out

convert.cc

@@ -217,6 +217,7 @@ int ConvertStop(ConvertData *cdata, uint32_t pixelformat) {
 	return VDEV_STATUS_OK;
 };
 
+
 /*
  * converts the video from input type to RGB24 type - 24Bit
  */
@@ -491,3 +492,20 @@ uint32_t convert_to_pixelformat(std::string s) {
 };
 
 
+/*
+ * copy part of an raw image
+ * destination must be pointer in case we need to align the size of the destination image.
+ * this function will also realloc needed memory if needed. (only if: givin size < needed size)
+ */
+int PixCopy(unsigned char *srcdata, uint32_t srcpixfmt, int srcw, int srch,
+			unsigned char **dstdataptr, int *dstsize, int *dstw, int *dsth,
+			int regionx, int regiony, int regionw, int regionh) {
+
+	if (srcpixfmt == 0 || srcpixfmt == V4L2_PIX_FMT_MJPEG) return 0;
+	if (srcdata == NULL) return 0;
+
+	return 0;
+}
+
+
+

convert.h

@@ -21,6 +21,10 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 int ConvertStart(ConvertData *cdata, uint32_t pixelformat);
 int ConvertStop(ConvertData *cdata, uint32_t pixelformat);
 
+int PixCopy(unsigned char *srcdata, uint32_t srcpixfmt, int srcw, int srch,
+			unsigned char **dstdataptr, int *dstsize, int *dstw, int *dsth,
+			int regionx, int regiony, int regionw, int regionh);
+
 extern uint32_t convert_pixelformats[];
 std::string convert_from_pixelformat (uint32_t fmt);
 uint32_t convert_to_pixelformat(std::string s);

detect.cc

@@ -9,6 +9,8 @@
 #include "config.h"
 #include "gui.h"
 #include "detect.h"
+#include "convert.h"
+#include "configuration.h"	// needed to get V4L formats
 
 extern Detect detect;
 extern PosCtl posctl;
@@ -33,7 +35,7 @@ Detect::Detect() { // @suppress("Class members should be properly initialized")
 	inFrame.SetSize(64,  64);
 	oldFrame.SetSize(64,  64);
 	image.SetSize(64,  64);
-	imagegtk.SetSize(64, 64);
+	imageRGBout.SetSize(64, 64);
 	thread = NULL;
 	thread = g_thread_new("Detect", _DetectThread, NULL);
 	objectW = 300;
@@ -61,19 +63,31 @@ Detect::~Detect() {
 
 
 
-int Detect::NewFrame(VideoFrame *newframe) {
+/*
+ * copy the framedata into the next thread. Source data must be already mutex locked.
+ * raw data will only be copied if the source is not an compressed stream
+ */
+int Detect::CopyNewFrame(VideoFrame *newframe, VideoFrameRaw *rawframe) {
 	if (newframe == NULL) return -1;
 	LockInMutex();
+
+	if (rawframe->pixfmt != V4L2_PIX_FMT_MJPEG)
+		inRawFrame.CopyFrom(rawframe);
+	else
+		inRawFrame.Delete();
+
 	inFrame.CopyFrom(newframe);
 	inFrameNew = 1;
+
 	UnLockInMutex();
 	return 0;
 };
 
 
-//
+/*
-// NewFrame: will set new frame
+ * NewFrame: will set new frame
-// Thread: newFrame |------> Find Object --- not found  ---> send gui information
+ * Thread: newFrame |------> Find Object --- not found  ---> send gui information
+ */
 void Detect::Thread() {
 	DetectOutput doutput;
 	struct timeval timestamp;
@@ -140,12 +154,15 @@ void Detect::Thread() {
 
 			// copy output image for gtk
 			LockImageMutex();
-			imagegtk.CopyFrom(&image);
+			imageRGBout.CopyFrom(&image);
+			if (imageRawout.RectCopyFrom(&inRawFrame, (objectX-objectW/2), (objectY-objectH/2), objectW, objectH) == 0)
+				imageRawout.CopyFrom(&imageRGBout);
 			UnLockImageMutex();
 
 			doutput.posx = objectX;
 			doutput.posy = objectY;
-			doutput.image = &imagegtk;
+			doutput.image = &imageRGBout;
+			doutput.rawimage = &imageRawout;
 			if (detmatrix != NULL)
 				memcpy (doutput.detmatrix, detmatrix, sizeof(uint32_t) * DET_MAXSHIFT * DET_MAXSHIFT);
 

detect.h

@@ -170,6 +170,8 @@ class PosCtl {
 
 struct  {
 	VideoFrame *image;			// detected image
+	VideoFrameRaw *rawimage;	// detected rawimage
+
 	uint32_t *detmatrix;
 	int posx;			// position of the detected object
 	int posy;			// position of the detected object
@@ -181,10 +183,12 @@ class Detect {
 private:
 	int running;
 	VideoFrame inFrame;			// input frame
+	VideoFrameRaw inRawFrame;	// input RawFrame
 	VideoFrame oldFrame;		// oldinput frame
 	int inFrameNew;				// new input frame;
 	VideoFrame image;			// output image
-	VideoFrame imagegtk;		// output image -- send to gtk
+	VideoFrame imageRGBout;		// output image -- send to gtk
+	VideoFrameRaw imageRawout;	// output raw image
 	GMutex muteximage;
 	GMutex mutexin;
 	GMutex mutex;				// general mutex for changing settings
@@ -214,7 +218,7 @@ public:
 	Detect();
 	~Detect();
 
-	int NewFrame(VideoFrame *newframe);
+	int CopyNewFrame(VideoFrame *newframe, VideoFrameRaw *rawframe);	// set new frame data
 
 	//
 	// Thread Releated Functions (maybe soon private?)

posctl.cc

@@ -663,7 +663,7 @@ void posctl_gui_update() {
 	gtk_entry_set_text_nofocus (dec_kd, txt);
 
 	strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.GetFilter());
-	gtk_entry_set_text (GTK_ENTRY(pos_filter), txt);
+	gtk_entry_set_text_nofocus(pos_filter, txt);
 
 	const gchar *txtptr = gtk_entry_get_text(GTK_ENTRY(e_posdevice));
 	if (strncmp(txtptr, "SIMULATION", 11) == 0) 	gtk_widget_show (btnsimreset);

process-image.drawio

@@ -1 +1 @@
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+<mxfile host="Electron" modified="2024-04-04T17:50:32.413Z" agent="5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/20.3.0 Chrome/104.0.5112.114 Electron/20.1.3 Safari/537.36" etag="RaccqhXgUPgrDxD3-wkT" version="20.3.0" type="device"><diagram id="C5RBs43oDa-KdzZeNtuy" name="Page-1">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</diagram></mxfile>

video.cc

@@ -528,6 +528,7 @@ gboolean cb_thread_video (gpointer data) {
 	GtkWidget *btnstop = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "btn-video-stop"));
 	VideoDevThreadData *cbdata = (VideoDevThreadData*) data;
 	VideoFrame *vf = NULL;
+	VideoFrameRaw *vfr = NULL;
 
 	if (videodev == NULL) return false;
 
@@ -536,11 +537,13 @@ gboolean cb_thread_video (gpointer data) {
 	// read out all controls
 	if (cbdata != NULL) {
 		vf = &cbdata->vf;
+		vfr = &cbdata->vfr;
 		if (cbdata->running == 1) {
 			videoctrl_grid_build();
 			cbdata->running = 2;
 		}
 		if (vf->w <= 0 || vf->h <= 0 || vf->data == NULL) vf = NULL;
+		if (vfr->w <= 0 || vfr->h <= 0 || vfr->data == NULL) vfr = NULL;
 	}
 
 	//
@@ -589,7 +592,7 @@ gboolean cb_thread_video (gpointer data) {
 
 		vf->ToPixbuf(video_pixbuf);				// convert Frame to pixeldata
 		histogram_update(vf);					// update histogram
-		detect.NewFrame(vf);					// push new data to detect object
+		detect.CopyNewFrame(vf, vfr);			// push new data to detect object
 
 		videodev->UnLockMutex();
 

videodev-v4l2.cc

@@ -263,8 +263,7 @@ int VideoDev_V4L2::InitMMap() {
 
     if (-1 == xioctl(fd, VIDIOC_REQBUFS, &bufreq)) {
 		if (EINVAL == errno) {
-			printf("%s does not support "
+			printf("%s does not support memory mapping", conf_device.c_str());
-					 "memory mappingn", conf_device.c_str());
 			return VDEV_STATUS_ERROR;
 		} else {
 			printf ("%s:%d %s Error %s\n", __FILE__, __LINE__, __FUNCTION__, strerror(errno));
@@ -425,9 +424,9 @@ int VideoDev_V4L2::CaptureStop() {
 
 
 /*
- * try to grab one frame and convert it into RGB32.
  * If something goes wrong return an error code.
  * Return code VDEV_STATUS_AGAIN is not an error. There was no video image ready to read.
+ * To reduce the time of malloc/free reuse the destination buffer.
  */
 int VideoDev_V4L2::Grab(VideoFrameRaw *vf) {
 	struct v4l2_buffer buf;
@@ -467,6 +466,8 @@ int VideoDev_V4L2::Grab(VideoFrameRaw *vf) {
 
 				case EIO:
 					printf ( "%s:%d error on VIDIOC_DQBUF EIO %s\n", __FILE__, __LINE__, strerror(errno));
+					return VDEV_STATUS_ERROR;
+
 				default:
 		            printf ( "%s:%d error on VIDIOC_DQBUF %s\n", __FILE__, __LINE__, strerror(errno));
 		            return VDEV_STATUS_ERROR;

videodev.cc

@@ -190,6 +190,7 @@ void VideoDev::ThreadProcess() {
 			running = 0;
 			break;
 		}
+
 		//
 		// keep 25fps, write every second a message
 		cycle_time = get_cycletime(&cycle_timestamp);

videoframe.cc

@@ -5,6 +5,8 @@
 #include "config.h"
 #include "gui.h"
 #include "error.h"
+#include "convert.h"
+#include "videodev.h"
 
 VideoFrameRaw::VideoFrameRaw() {
 	size = 0;
@@ -40,7 +42,19 @@ int VideoFrameRaw::CopyFrom(int spixfmt, int sw, int sh, int ssize, unsigned cha
 	pixfmt = spixfmt;
 	memcpy (data, sdata, size);
 
-	return 0;
+	return 1;
+}
+
+
+int VideoFrameRaw::CopyFrom(VideoFrameRaw *src) {
+	if (src == NULL) return 0;
+	return CopyFrom(src->pixfmt, src->w, src->h, src->size, src->data);
+}
+
+
+int VideoFrameRaw::CopyFrom(VideoFrame *src) {
+	if (src == NULL) return 0;
+	return CopyFrom(V4L2_PIX_FMT_RGB32, src->w, src->h, src->size, src->data);
 }
 
 
@@ -68,6 +82,13 @@ int VideoFrameRaw::ReAlloc(int newsize) {
 }
 
 
+int VideoFrameRaw::RectCopyFrom(VideoFrameRaw *src, int rectx, int recty, int rectw, int recth) {
+	return PixCopy (src->data, src->pixfmt, src->w, src->h,
+			 &data, &size, &w, &h,
+			 rectx, recty, rectw, recth);
+}
+
+
 #define VIDEOFRAME_DEPTH_BYTES 3
 VideoFrame::VideoFrame() {
 	data = NULL;
@@ -169,6 +190,9 @@ void VideoFrame::CopyTo(FloatImage *dest) {
 
 
 
+
+
+
 void VideoFrame::ToPixbuf(GdkPixbuf* dest) {
 	int destw, desth;
 	unsigned char *destpixel;
@@ -188,10 +212,6 @@ void VideoFrame::ToPixbuf(GdkPixbuf* dest) {
 }
 
 
-
-
-
-
 FloatImage::FloatImage() {
 	data = NULL;
 	w = 0;

videoframe.h

@@ -4,21 +4,6 @@
 #include "gui.h"
 #include "config.h"
 
-class VideoFrameRaw {
-private:
-public:
-	unsigned char *data;
-	int size;
-	int w;
-	int h;
-	uint32_t pixfmt;
-	VideoFrameRaw();
-	~VideoFrameRaw();
-	int ReAlloc(int newsize);
-	int CopyFrom(int spixfmt, int sw, int sh, int ssize, unsigned char *sdata);
-};
-
-
 
 class FloatImage {
 public:
@@ -36,9 +21,13 @@ public:
 	void SetW(int nw) { SetSize(nw, h); };
 	void SetH(int nh) { SetSize(w, nh); };
 	void CopyFrom(FloatImage *source);
+	void Delete() { w = 0; h = 0; };
 };
 
 
+/*
+ * contains RGB data
+ */
 class VideoFrame {
 private:
 public:
@@ -59,6 +48,26 @@ public:
 	void CopyFrom(FloatImage *source);
 	void CopyTo(FloatImage *dest);
 	void ToPixbuf(GdkPixbuf* dest);
+	void Delete() { w = 0; h = 0; };
+};
+
+
+class VideoFrameRaw {
+private:
+public:
+	unsigned char *data;
+	int size;
+	int w;
+	int h;
+	uint32_t pixfmt;
+	VideoFrameRaw();
+	~VideoFrameRaw();
+	int ReAlloc(int newsize);
+	int CopyFrom(VideoFrame *src);
+	int CopyFrom(VideoFrameRaw *src);
+	int CopyFrom(int spixfmt, int sw, int sh, int ssize, unsigned char *sdata);
+	int RectCopyFrom(VideoFrameRaw *src, int rectx, int recty, int rectw, int recth);
+	void Delete() { w = 0; h = 0; pixfmt = 0;};
 };