diff options
Diffstat (limited to 'camera.c')
| -rw-r--r-- | camera.c | 80 |
1 files changed, 76 insertions, 4 deletions
@@ -145,6 +145,8 @@ bool pix_fmt_supported(uint32_t pixfmt) { case V4L2_PIX_FMT_YUYV: case V4L2_PIX_FMT_GREY: case V4L2_PIX_FMT_MJPEG: + case V4L2_PIX_FMT_YUV420: + case V4L2_PIX_FMT_YVU420: return true; } return false; @@ -345,10 +347,10 @@ static uint8_t *curr_frame_rgb24(Camera *camera) { } int32_t frame_width = camera_frame_width(camera); int32_t frame_height = camera_frame_height(camera); + const uint8_t *in = curr_frame, *in_y = NULL, *in_cb = NULL, *in_cr = NULL; + uint8_t *out = camera->decompression_buf; switch (camera_pixel_format(camera)) { case V4L2_PIX_FMT_BGR24: { - const uint8_t *in = curr_frame; - uint8_t *out = camera->decompression_buf; for (int32_t y = 0; y < frame_height; y++) { for (int32_t x = 0; x < frame_width; x++) { *out++ = in[2]; @@ -359,9 +361,18 @@ static uint8_t *curr_frame_rgb24(Camera *camera) { } return camera->decompression_buf; } break; + case V4L2_PIX_FMT_GREY: { + for (int32_t y = 0; y < frame_height; y++) { + for (int32_t x = 0; x < frame_width; x++) { + uint8_t b = *in++; + *out++ = b; + *out++ = b; + *out++ = b; + } + } + return camera->decompression_buf; + } break; case V4L2_PIX_FMT_YUYV: { - const uint8_t *in = curr_frame; - uint8_t *out = camera->decompression_buf; for (int32_t y = 0; y < frame_height; y++) { for (int32_t x = 0; x < frame_width / 2; x++) { float y0 = (float)(*in++) * (1.0f / 255.0f); @@ -381,6 +392,39 @@ static uint8_t *curr_frame_rgb24(Camera *camera) { } return camera->decompression_buf; } + case V4L2_PIX_FMT_YUV420: + in_y = curr_frame; + in_cb = curr_frame + (size_t)frame_width * (size_t)frame_height; + in_cr = curr_frame + (size_t)frame_width * (size_t)frame_height * 5 / 4; + goto yuv420_planar; + case V4L2_PIX_FMT_YVU420: + in_y = curr_frame; + in_cr = curr_frame + (size_t)frame_width * (size_t)frame_height; + in_cb = curr_frame + (size_t)frame_width * (size_t)frame_height * 5 / 4; + goto yuv420_planar; + yuv420_planar: + for (int32_t row = 0; row < frame_height; row++) { + for (int32_t col = 0; col < frame_width; col++) { + float y = (float)(*in_y++) * (1.0f / 255.0f); + float cb = (float)(*in_cb) * (1.0f / 255.0f); + float cr = (float)(*in_cr) * (1.0f / 255.0f); + if (col % 2 == 1) { + in_cb++; + in_cr++; + } + float rgb[3]; + ycbcr_ITU_R_601_to_rgb(y, cb, cr, rgb); + *out++ = (uint8_t)roundf(rgb[0] * 255); + *out++ = (uint8_t)roundf(rgb[1] * 255); + *out++ = (uint8_t)roundf(rgb[2] * 255); + } + if (row % 2 == 0) { + // go back to start of cb, cr row + in_cb -= frame_width / 2; + in_cr -= frame_width / 2; + } + } + return camera->decompression_buf; } assert(false); return NULL; @@ -552,6 +596,29 @@ void camera_update_gl_textures(Camera *camera, const GLuint textures[3]) { if (camera->frame_bytes_set >= (size_t)frame_width * (size_t)frame_height * 2) gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, frame_width / 2, frame_height, 0, GL_RGBA, GL_UNSIGNED_BYTE, curr_frame); break; + case V4L2_PIX_FMT_YUV420: + if (camera->frame_bytes_set >= (size_t)frame_width * (size_t)frame_height * 3 / 2) { + gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RED, frame_width, frame_height, 0, GL_RED, GL_UNSIGNED_BYTE, curr_frame); + gl.BindTexture(GL_TEXTURE_2D, textures[1]); + gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RED, frame_width / 2, frame_height / 2, 0, GL_RED, GL_UNSIGNED_BYTE, + curr_frame + (size_t)frame_width * (size_t)frame_height); + gl.BindTexture(GL_TEXTURE_2D, textures[2]); + gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RED, frame_width / 2, frame_height / 2, 0, GL_RED, GL_UNSIGNED_BYTE, + curr_frame + (size_t)frame_width * (size_t)frame_height * 5 / 4); + } + break; + case V4L2_PIX_FMT_YVU420: + if (camera->frame_bytes_set >= (size_t)frame_width * (size_t)frame_height * 3 / 2) { + // same as above, but swap textures[1] and textures[2] so that we only have to handle one case in the shader + gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RED, frame_width, frame_height, 0, GL_RED, GL_UNSIGNED_BYTE, curr_frame); + gl.BindTexture(GL_TEXTURE_2D, textures[2]); + gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RED, frame_width / 2, frame_height / 2, 0, GL_RED, GL_UNSIGNED_BYTE, + curr_frame + (size_t)frame_width * (size_t)frame_height); + gl.BindTexture(GL_TEXTURE_2D, textures[1]); + gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RED, frame_width / 2, frame_height / 2, 0, GL_RED, GL_UNSIGNED_BYTE, + curr_frame + (size_t)frame_width * (size_t)frame_height * 5 / 4); + } + break; case V4L2_PIX_FMT_MJPEG: { // "motion jpeg" is actually just a series of jpegs gl.TexImage2D(GL_TEXTURE_2D, 0, GL_RGB, frame_width, frame_height, 0, GL_RGB, GL_UNSIGNED_BYTE, @@ -709,6 +776,11 @@ static void cameras_from_device_with_fd(const char *dev_path, const char *serial // are there even any stepwise cameras out there?? who knows. uint32_t frame_width = frmsize.type == V4L2_FRMSIZE_TYPE_DISCRETE ? frmsize.discrete.width : frmsize.stepwise.max_width; uint32_t frame_height = frmsize.type == V4L2_FRMSIZE_TYPE_DISCRETE ? frmsize.discrete.height : frmsize.stepwise.max_height; + if (frame_width % 4 || frame_height % 4) { + // fucked up frame size + // (would probably break some YUV pixel formats) + continue; + } arr_add(camera->formats, ((PictureFormat) { .width = frame_width, .height = frame_height, |