adding support of 16bit per channel data - highly experimental

convert.cc

@@ -6,6 +6,7 @@
 #include <sys/stat.h>
 #include <arpa/inet.h>
 
+#include "simpleskycam.h"
 #include "convert.h"
 #include "gui.h"
 #include "video.h"
@@ -225,21 +226,11 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 	if (dest == NULL || ptrsrc == NULL)
 		return VDEV_STATUS_ERROR;
 
-	if (dest->data != NULL && dest->w != srcw && dest->h != srch) {
-		free (dest->data);
-		dest->data = NULL;
-	}
-
-	if (dest->data == NULL) {
-		dest->w = srcw;
-		dest->h = srch;
-		dest->size = srcw * srch * 3;
-		dest->data = (unsigned char*) malloc (dest->size);
-	}
-	ptrdst = dest->data;
-
 	switch (pixelformat) {
 	case (V4L2_PIX_FMT_RGB32):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
 		for (ys = 0, yd = 0; ys < (signed int)srch; ys++) {
 			for (xs = 0, xd = 0; xs < (signed int)srcw; xs++) {
 				/* read the pixel */
@@ -267,6 +258,9 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 		break;
 
 	case (V4L2_PIX_FMT_BGR32):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
 		for (ys = 0, yd = 0; ys < (signed int)srch; ys++) {
 			for (xs = 0, xd = 0; xs < (signed int)srcw; xs++) {
 				/* read the pixel */
@@ -293,6 +287,9 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 		}
 		break;
 	case (V4L2_PIX_FMT_RGB24):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
 		for (ys = 0, yd = 0; ys < (signed int)srch; ys++) {
 			for (xs = 0, xd = 0; xs < (signed int)srcw; xs++) {
 				/* read the pixel */
@@ -319,6 +316,10 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 		break;
 
 	case (V4L2_PIX_FMT_BGR24):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
+
 		for (ys = 0, yd = 0; ys < (signed int)srch; ys++) {
 			for (xs = 0, xd = 0; xs < (signed int)srcw; xs++) {
 				/* read the pixel */
@@ -345,6 +346,10 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 		break;
 
 	case (V4L2_PIX_FMT_UYVY):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
+
 		for (ys = 0, yd = 0; ys < (signed int)srch; ys++) {
 			for (xs = 0, xd = 0; xs < (signed int)srcw; xs++) {
 				/* read the pixel */
@@ -380,6 +385,10 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 		break;
 
 	case (V4L2_PIX_FMT_YUYV):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
+
 		for (ys = 0, yd = 0; ys < (signed int)srch; ys++) {
 			if (yd < dest->h) {
 				for (xs = 0, xd = 0; xs < (signed int)srcw; xs++) {
@@ -416,6 +425,10 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 		break;
 
 	case (V4L2_PIX_FMT_MJPEG):
+		dest->SetSize(srcw, srch);
+		dest->SetPixelSize(3);		// 8 bits per pixel
+		ptrdst = (unsigned char *)dest->GetData();
+
 		cdata->cinfo.err = jpeg_std_error(&jerr.pub);
 		jerr.pub.error_exit = jpg_error_exit;
 		if (setjmp(jerr.setjmp_buffer)) {
@@ -437,8 +450,7 @@ int Convert (ConvertData *cdata, VideoFrame *dest, unsigned char *ptrsrc, int sr
 
 		break;
 	default:
-			printf ("%s:%d Error no default possible, need to finish\n", __FILE__, __LINE__);
+			errorexit ((char*)"%s:%d Error no default possible, need to finish\n", __FILE__, __LINE__);
-			exit (-1);
 			break;
 	}
 

detect.cc

@@ -180,8 +180,8 @@ void Detect::InputDetect(int *posx, int *posy) {
 
 	image.SetSize (objectW, objectH);
 	SetInputSize(inFrame.w, inFrame.h);
-	pxs = inFrame.data;
+	pxs = (unsigned char*)inFrame.GetData();
-	pxi = image.data;
+	pxi = (unsigned char*)image.GetData();
 	*posx = 0;
 	*posy = 0;
 
@@ -258,8 +258,8 @@ void Detect::InputDetectCrossC(int *posx, int *posy) {
 
 	image.SetSize (objectW, objectH);
 	SetInputSize(inFrame.w, inFrame.h);
-	pxi = inFrame.data;
+	pxi = (unsigned char*)inFrame.GetData();
-	pxo = oldFrame.data;
+	pxo = (unsigned char*)oldFrame.GetData();
 
 	mxx = mxy = 0;
 	for (shifty = 0; shifty < DET_MAXSHIFT; shifty++) {
@@ -316,8 +316,8 @@ void Detect::CopyObjectImage(int objx, int objy) {
 	unsigned char *pxi;	// input image
 	unsigned char *pxd; // destination image
 
-	pxi = inFrame.data;
+	pxi = (unsigned char*)inFrame.GetData();
-	pxd = image.data;
+	pxd = (unsigned char*)image.GetData();
 
 	//
 	// copy image data to destination

filter.cc

@@ -99,7 +99,7 @@ void Filter::ComposeOutput() {
 
 	image.SetSize(inFrame.w, inFrame.h);
 	pixd = image.data;
-	pixs = inFrame.data;
+	pixs = (unsigned char*)inFrame.GetData();
 
 	if (pixd == NULL || pixs == NULL) return;
 	if (newimage) {

video.cc

@@ -484,7 +484,7 @@ gboolean cb_thread_video (gpointer data) {
 			videoctrl_grid_build();
 			cbdata->running = 2;
 		}
-		if (vf->w <= 0 || vf->h <= 0 || vf->data == NULL) vf = NULL;
+		if (vf->w <= 0 || vf->h <= 0) vf = NULL;
 	}
 	if (videodev == NULL) return false;
 

videodev-v4l2.cc

@@ -1,4 +1,5 @@
 
+#include "simpleskycam.h"
 #include "convert.h"
 #include "videodev-v4l2.h"
 
@@ -280,15 +281,14 @@ int VideoDev_V4L2::InitMMap() {
 
 		if(ioctl(fd, VIDIOC_QUERYBUF, &bufinfo) < 0){
 			perror("VIDIOC_QUERYBUF");
-			exit(1);
+			errorexit((char*)"%s:%d\n", __FILE__, __LINE__);
 		}
 
 		inbuffer[i].size = bufinfo.length;
 		inbuffer[i].data = (unsigned char*)mmap(NULL, bufinfo.length, PROT_READ | PROT_WRITE,
 				MAP_SHARED, fd, bufinfo.m.offset);
 		if (inbuffer[i].data == MAP_FAILED) {
-			printf ( "%s:%d error on mmap %s\n", __FILE__, __LINE__, strerror(errno));
+			errorexit ((char*)"%s:%d error on mmap %s\n", __FILE__, __LINE__, strerror(errno));
-			exit (1);
 		}
     }
     return VDEV_STATUS_OK;
@@ -327,8 +327,7 @@ int VideoDev_V4L2::UnInit() {
     	for (inbuffer_idx = 0; inbuffer_idx < VDEV_INBUFFERS; inbuffer_idx++)
     		if (inbuffer[inbuffer_idx].data) {
 				if (-1 == munmap(inbuffer[inbuffer_idx].data, inbuffer[inbuffer_idx].size)){
-					fprintf(stderr, "Fatal Error @ %s:%d munmap Error:%s\n", __FILE__, __LINE__, strerror(errno));
+					errorexit((char*)"Fatal Error @ %s:%d munmap Error:%s\n", __FILE__, __LINE__, strerror(errno));
-					exit(1);
 				}
 				inbuffer[inbuffer_idx].data = NULL;
 				inbuffer[inbuffer_idx].size = 0;

videoframe.cc

@@ -3,14 +3,14 @@
 #include "video.h"
 #include "config.h"
 #include "gui.h"
-
+#include "simpleskycam.h"
-#define VIDEOFRAME_DEPTH_BYTES 3
 
 VideoFrame::VideoFrame() {
 	data = NULL;
 	w = 0;
 	h = 0;
 	size = 0;
+	pixelsize = 3;
 };
 
 
@@ -28,8 +28,8 @@ VideoFrame::~VideoFrame() {
 
 //
 // we will only allocate a new image if the needed size increases
-void VideoFrame::SetSize(int nw, int nh) {
+void VideoFrame::SetMemorySize(int nw, int nh, int nps) {
-	uint32_t newsize = VIDEOFRAME_DEPTH_BYTES * nh * nw;
+	uint32_t newsize = nps * nh * nw;
 
 	if (newsize > size || data == NULL) {
 		unsigned char *newdata = (unsigned char *) malloc (newsize);
@@ -39,12 +39,14 @@ void VideoFrame::SetSize(int nw, int nh) {
 	}
 	w = nw;
 	h = nh;
+	pixelsize = nps;
 };
 
 
 VideoFrame VideoFrame::operator=(VideoFrame rightside) {
 	w = rightside.w;
 	h = rightside.h;
+	pixelsize = rightside.pixelsize;
 	size = rightside.size;
 	if (size > 0) data = (unsigned char *) malloc (rightside.size);
 	if (rightside.data != NULL && size > 0) {
@@ -55,16 +57,20 @@ VideoFrame VideoFrame::operator=(VideoFrame rightside) {
 
 
 void VideoFrame::CopyFrom(VideoFrame *source) {
+	SetPixelSize(source->pixelsize);
 	SetSize (source->w, source->h);
-	memcpy(data, source->data, VIDEOFRAME_DEPTH_BYTES * w * h);
+	memcpy(data, source->data, pixelsize * w * h);
 }
 
 
 
+/*
+ * will copy the FloatImage to VideoFrame
+ * with respect of the bits per pixel (3 or 6).
+ */
 void VideoFrame::CopyFrom(FloatImage *source) {
 	float min, max, f;
 	int x, y, i, idx;
-	unsigned char v;
 
 	SetSize (source->w, source->h);
 
@@ -78,30 +84,67 @@ void VideoFrame::CopyFrom(FloatImage *source) {
 			if (max < source->data[idx+i]) max = source->data[idx+i];
 		}
 
-	for (y = 0; y < h; y++) for (x = 0; x < w; x++)
+	//
-		for (i = 0; i < 3; i++) {
+	// 3 bytes per pixel (each channel ^ 1 byte)
-			idx = 3 * (y * w + x);
+	if (pixelsize == 3) {
-			f = (float)(255.0 * (source->data[idx+i]-min) / (max-min));
+		unsigned char v;
-			if (f < 0.0) v = 0;
+
-			else if (f > 255.0) v = 255;
+		for (y = 0; y < h; y++) for (x = 0; x < w; x++)
-			else v = f;
+			for (i = 0; i < 3; i++) {
-			data[idx+i] = v;
+				idx = pixelsize * (y * w + x);
-		}
+				f = (float)(255.0 * (source->data[idx+i]-min) / (max-min));
+				if (f < 0.0) v = 0;
+				else if (f > 255.0) v = 255;
+				else v = f;
+				data[idx+i] = v;
+			}
+	}
+	//
+	// 6 bytes per pixel (each channel ^ 2 byte)
+	else if (pixelsize == 6) {
+		uint16_t v;
+		int max = (2^16)-1;
+
+		for (y = 0; y < h; y++) for (x = 0; x < w; x++)
+			for (i = 0; i < 3; i++) {
+				idx = pixelsize * (y * w + x);
+				f = (float)(double(max) * (source->data[idx+i]-min) / (max-min));
+				if (f < 0.0) v = 0;
+				else if (f > double(max)) v = max;
+				else v = f;
+				memcpy(data+(idx+2*i), &v, 2);
+			}
+	}
+	else {
+		errorexit((char*)"Pixelsize not known or implemented. pixelsize should be 3 or 6, current value is:%d\n", pixelsize);
+	}
 }
 
 
 
 void VideoFrame::CopyTo(FloatImage *dest) {
 	int x, y, i, idx;
-
 	if (dest == NULL) return;
-
 	dest->SetSize (w, h);
-	for (y = 0; y < h; y++) for (x = 0; x < w; x++)
+
-		for (i = 0; i < 3; i++) {
+	if (pixelsize == 3) {
-			idx = 3 * (y * w + x);
+		for (y = 0; y < h; y++) for (x = 0; x < w; x++)
-			dest->data[idx+i] = data[idx+i];
+			for (i = 0; i < 3; i++) {
-		}
+				idx = 3 * (y * w + x);
+				dest->data[idx+i] = data[idx+i];
+			}
+	}
+	else if (pixelsize == 6) {
+		uint16_t *sdata = (uint16_t*)data;
+		for (y = 0; y < h; y++) for (x = 0; x < w; x++)
+			for (i = 0; i < 3; i++) {
+				idx = 3 * (y * w + x);
+				dest->data[idx+i] = sdata[idx+i];
+			}
+	}
+	else {
+		errorexit ((char*) "pixelsize not supported.\n");
+	}
 }
 
 
@@ -112,23 +155,37 @@ void VideoFrame::ToPixbuf(GdkPixbuf* dest) {
 
 	if (dest == NULL) return;
 
-	desth = gdk_pixbuf_get_height(dest);
+	if (pixelsize == 3) {
-	destw = gdk_pixbuf_get_width(dest);
+		desth = gdk_pixbuf_get_height(dest);
-	destpixel = gdk_pixbuf_get_pixels(dest);
+		destw = gdk_pixbuf_get_width(dest);
+		destpixel = gdk_pixbuf_get_pixels(dest);
 
-	if (destw * desth < h * w) {
+		if (destw * desth < h * w) {
-		destw = w;
+			destw = w;
-		desth = h;
+			desth = h;
-	}
+		}
 
-	memcpy (destpixel, data, 3*destw*desth);
+		memcpy (destpixel, data, 3*destw*desth);
+	}
+	else if (pixelsize == 6) {
+		desth = gdk_pixbuf_get_height(dest);
+		destw = gdk_pixbuf_get_width(dest);
+		destpixel = gdk_pixbuf_get_pixels(dest);
+		uint16_t *sdata = (uint16_t*)data;
+		int x, y, idx, i;
+
+		for (y = 0; y < desth; y++) for (x = 0; x < destw; x++)
+			for (i = 0; i < 3; i++) {
+				idx = 3 * (y * w + x);
+				destpixel[idx+i] = sdata[idx+i];
+			}
+	}
+	else {
+		errorexit ((char*) "pixelsize (%d) not supported.\n", pixelsize);
+	}
 }
 
 
-
-
-
-
 FloatImage::FloatImage() {
 	data = NULL;
 	w = 0;

videoframe.h

@@ -26,20 +26,25 @@ public:
 
 class VideoFrame {
 private:
+	void SetMemorySize (int nw, int nh, int nps);
+	unsigned char *data;
 public:
 	int w;
 	int h;
+	uint32_t pixelsize;
+
 	uint32_t size;
-	unsigned char *data;
 
 	VideoFrame();
 	~VideoFrame();
 
 	VideoFrame operator=(VideoFrame rightside);
 
-	void SetSize(int nw, int nh);
+	void SetSize(int nw, int nh) { SetMemorySize (nw, nh, pixelsize); };
-	void SetW(int nw) { SetSize(nw, h); };
+	void* GetData() { return data; };
-	void SetH(int nh) { SetSize(w, nh); };
+	void SetPixelSize(uint32_t nps)  { SetMemorySize (w, h, nps); };
+	void SetW(int nw) { SetMemorySize(nw, h, pixelsize); };
+	void SetH(int nh) { SetMemorySize(w, nh, pixelsize); };
 	void CopyFrom(VideoFrame *source);
 	void CopyFrom(FloatImage *source);
 	void CopyTo(FloatImage *dest);