Adding v4l2 and video interface. In progress

Signed-off-by: Steven Lovegrove <[email protected]>
christian-rauch · Apr 10, 2011 · 6b2a927 · 6b2a927
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diff --git a/LICENCE b/LICENCE
@@ -0,0 +1,22 @@
+Copyright (c) 2011 Steven Lovegrove and Richard Newcombe
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use,
+copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
diff --git a/examples/SimpleVideo/main.cpp b/examples/SimpleVideo/main.cpp
@@ -5,47 +5,140 @@
  **/
 
 #include <pangolin/pangolin.h>
-#include <pangolin/videosource.h>
+#include <pangolin/firewire.h>
+#include <pangolin/v4l.h>
 
 using namespace pangolin;
 
-int main( int /*argc*/, char* argv[] )
+int firewire_sample()
 {
-  // Setup Firewire Camera
-  FirewireVideo video(0,DC1394_VIDEO_MODE_640x480_RGB8,DC1394_FRAMERATE_30,DC1394_ISO_SPEED_400,50);
-  const unsigned w = video.Width();
-  const unsigned h = video.Height();
-
-  // Create Glut window
-  pangolin::CreateGlutWindowAndBind("Main",w,h);
+    // Setup Firewire Camera
+    FirewireVideo video(0,DC1394_VIDEO_MODE_640x480_RGB8,DC1394_FRAMERATE_30,DC1394_ISO_SPEED_400,50);
+    const unsigned w = video.Width();
+    const unsigned h = video.Height();
 
-  // Create viewport for video with fixed aspect
-  View& vVideo = Display("Video").SetAspect((float)w/h);
+    // Create Glut window
+    pangolin::CreateGlutWindowAndBind("Main",w,h);
 
-  // OpenGl Texture for video frame
-  GlTexture texVideo(w,h,GL_RGBA8);
+    // Create viewport for video with fixed aspect
+    View& vVideo = Display("Video").SetAspect((float)w/h);
 
-  for(int frame=0; !pangolin::ShouldQuit(); ++frame)
-  {
-    glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+    // OpenGl Texture for video frame
+    GlTexture texVideo(w,h,GL_RGBA8);
 
-    // Get newest frame from camera and upload to GPU as texture
+    for(int frame=0; !pangolin::ShouldQuit(); ++frame)
     {
-      FirewireFrame frame = video.GetNewest(true);
-      texVideo.Upload(frame.Image(),GL_RGB,GL_UNSIGNED_BYTE);
-      video.PutFrame(frame);
+        glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+        // Get newest frame from camera and upload to GPU as texture
+        {
+            FirewireFrame frame = video.GetNewest(true);
+            texVideo.Upload(frame.Image(),GL_RGB,GL_UNSIGNED_BYTE);
+            video.PutFrame(frame);
+        }
+
+        // Activate video viewport and render texture
+        vVideo.Activate();
+        texVideo.RenderToViewportFlipY();
+
+        // Swap back buffer with front
+        glutSwapBuffers();
+
+        // Process window events via GLUT
+        glutMainLoopEvent();
     }
 
-    // Activate video viewport and render texture
-    vVideo.Activate();
-    texVideo.RenderToViewportFlipY();
+    return 0;
+}
+
+// borrowed tempararily and altered from libfreenect
+// https://github.com/OpenKinect/libfreenect/blob/master/src/cameras.c
+#define CLAMP(x) if (x < 0) {x = 0;} if (x > 255) {x = 255;}
+static void convert_yuyv_to_rgb(uint8_t *raw_buf, uint8_t *proc_buf)
+{
+	int x, y;
+	for(y = 0; y < 480; ++y) {
+		for(x = 0; x < 640; x+=2) {
+			int i = (640 * y + x);
+			int y1 = raw_buf[2*i];
+			int u  = raw_buf[2*i+1];
+			int y2 = raw_buf[2*i+2];
+			int v  = raw_buf[2*i+3];
+			int r1 = (y1-16)*1164/1000 + (v-128)*1596/1000;
+			int g1 = (y1-16)*1164/1000 - (v-128)*813/1000 - (u-128)*391/1000;
+			int b1 = (y1-16)*1164/1000 + (u-128)*2018/1000;
+			int r2 = (y2-16)*1164/1000 + (v-128)*1596/1000;
+			int g2 = (y2-16)*1164/1000 - (v-128)*813/1000 - (u-128)*391/1000;
+			int b2 = (y2-16)*1164/1000 + (u-128)*2018/1000;
+			CLAMP(r1);
+			CLAMP(g1);
+			CLAMP(b1);
+			CLAMP(r2);
+			CLAMP(g2);
+			CLAMP(b2);
+			proc_buf[3*i]  =r1;
+			proc_buf[3*i+1]=g1;
+			proc_buf[3*i+2]=b1;
+			proc_buf[3*i+3]=r2;
+			proc_buf[3*i+4]=g2;
+			proc_buf[3*i+5]=b2;
+		}
+	}
+}
+#undef CLAMP
+
+// !V4L interface subject to change dramatically
+int v4l_sample()
+{
+    // Setup Firewire Camera
+    V4lVideo video("/dev/video0");
+    //    FirewireVideo video(0,DC1394_VIDEO_MODE_640x480_RGB8,DC1394_FRAMERATE_30,DC1394_ISO_SPEED_400,50);
+    const unsigned w = video.Width();
+    const unsigned h = video.Height();
+
+    // Create Glut window
+    pangolin::CreateGlutWindowAndBind("Main",w,h);
+
+    // Create viewport for video with fixed aspect
+    View& vVideo = Display("Video").SetAspect((float)w/h);
+
+    // OpenGl Texture for video frame
+    GlTexture texVideo(w,h,GL_RGBA8);
+
+    for(int frame=0; !pangolin::ShouldQuit(); ++frame)
+    {
+        glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+        // Get newest frame from camera and upload to GPU as texture
+        //        {
+        //            FirewireFrame frame = video.GetNewest(true);
+        //            texVideo.Upload(frame.Image(),GL_RGB,GL_UNSIGNED_BYTE);
+        //            video.PutFrame(frame);
+        //        }
+        {
+            static unsigned char yuv[640*480*3];
+            static unsigned char rgb[640*480*3];
+            video.GrabNext(yuv,true);
+            convert_yuyv_to_rgb(yuv,rgb);
+            texVideo.Upload(rgb,GL_RGB,GL_UNSIGNED_BYTE);
+        }
 
-    // Swap back buffer with front
-    glutSwapBuffers();
+        // Activate video viewport and render texture
+        vVideo.Activate();
+        texVideo.RenderToViewportFlipY();
 
-    // Process window events via GLUT
-    glutMainLoopEvent();
-  }
+        // Swap back buffer with front
+        glutSwapBuffers();
 
-  return 0;
+        // Process window events via GLUT
+        glutMainLoopEvent();
+    }
+
+    return 0;
+}
+
+int main( int /*argc*/, char* argv[] )
+{
+//    firewire_sample();
+    v4l_sample();
 }
diff --git a/pangolin/CMakeLists.txt b/pangolin/CMakeLists.txt
@@ -11,7 +11,7 @@ SET(
   widgets.h widgets.cpp
   plotter.h plotter.cpp
   gl.h glcuda.h cg.h
-  videosource.h videosource.cpp
+  video.h firewire.h firewire.cpp v4l.h v4l.cpp
 )
 
 #######################################################

diff --git a/pangolin/videosource.cpp → pangolin/firewire.cpp b/pangolin/videosource.cpp → pangolin/firewire.cpp
@@ -1,4 +1,4 @@
-#include "videosource.h"
+#include "firewire.h"
 #ifdef HAVE_DC1394
 
 #include <stdio.h>

diff --git a/pangolin/videosource.h → pangolin/firewire.h b/pangolin/videosource.h → pangolin/firewire.h
@@ -25,10 +25,12 @@
  * OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#ifndef PANGOLIN_VIDEOSOURCE_H
-#define PANGOLIN_VIDEOSOURCE_H
+#ifndef PANGOLIN_FIREWIRE_H
+#define PANGOLIN_FIREWIRE_H
 
 #include "pangolin.h"
+#include "video.h"
+
 #ifdef HAVE_DC1394
 
 #include <dc1394/dc1394.h>
@@ -40,14 +42,6 @@
 namespace pangolin
 {
 
-struct VideoException : std::exception
-{
-  VideoException(std::string str) : desc(str) {}
-  ~VideoException() throw() {}
-  const char* what() const throw() { return desc.c_str(); }
-  std::string desc;
-};
-
 class FirewireFrame
 {
   friend class FirewireVideo;
@@ -68,7 +62,7 @@ struct Guid
     uint64_t guid;
 };
 
-class FirewireVideo
+class FirewireVideo : public VideoSource
 {
 public:
   FirewireVideo(
@@ -89,21 +83,22 @@ class FirewireVideo
 
   ~FirewireVideo();
 
-  int Width() const { return width; }
-  int Height() const { return height; }
+  //! Implement VideoSource::Width()
+  unsigned Width() const { return width; }
+
+  //! Implement VideoSource::Height()
+  unsigned Height() const { return height; }
 
+  //! Implement VideoSource::Start()
   void Start();
+
+  //! Implement VideoSource::Stop()
   void Stop();
 
-  //! Copy the next frame from the camera to image.
-  //! Optionally wait for a frame if one isn't ready
-  //! Returns true iff image was copied
+  //! Implement VideoSource::GrabNext()
   bool GrabNext( unsigned char* image, bool wait = true );
 
-  //! Copy the newest frame from the camera to image
-  //! discarding all older frames.
-  //! Optionally wait for a frame if one isn't ready
-  //! Returns true iff image was copied
+  //! Implement VideoSource::GrabNewest()
   bool GrabNewest( unsigned char* image, bool wait = true );
 
   //! Return object containing reference to image data within
@@ -134,7 +129,7 @@ class FirewireVideo
 
   bool running;
   dc1394camera_t *camera;
-  unsigned int width, height;
+  unsigned width, height;
   //dc1394featureset_t features;
   dc1394_t * d;
   dc1394camera_list_t * list;
@@ -145,4 +140,4 @@ class FirewireVideo
 
 
 #endif // HAVE_DC1394
-#endif // PANGOLIN_VIDEOSOURCE_H
+#endif // PANGOLIN_FIREWIRE_H