mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
[bebop] front camera streaming in color (low resolution)
This commit is contained in:
Christophe De Wagter
@@ -0,0 +1,61 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="bebop_front_camera" dir="computer_vision">
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<doc>
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<description>
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Video streaming for the Bebop front camera
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</description>
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<define name="BEBOP_FRONT_CAMERA_SHOT_PATH" value="/data/ftp/internal_000/images" description="Path where the images should be saved"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="video">
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<dl_setting var="bebop_front_camera.take_shot" min="0" step="1" max="1" shortname="take_shot" module="computer_vision/bebop_front_camera" handler="take_shot">
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<strip_button name="Shoot" icon="digital-camera.png" value="1" group="video"/>
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</dl_setting>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="bebop_front_camera.h"/>
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</header>
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<init fun="bebop_front_camera_init()"/>
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<periodic fun="bebop_front_camera_periodic()" freq="1" start="bebop_front_camera_start()" stop="bebop_front_camera_stop()" autorun="TRUE"/>
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<makefile target="ap">
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<file name="bebop_front_camera.c"/>
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<!-- Include the needed Computer Vision files -->
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<define name="modules/computer_vision" type="include"/>
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<file name="image.c" dir="modules/computer_vision/lib/vision"/>
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<file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
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<file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
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<file name="rtp.c" dir="modules/computer_vision/lib/encoding"/>
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<!-- Random flags -->
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<define name="__USE_GNU"/>
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<flag name="LDFLAGS" value="lrt"/>
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<flag name="LDFLAGS" value="static-libgcc"/>
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<raw>
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BEBOP_FRONT_CAMERA_HOST ?= $(MODEM_HOST)
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BEBOP_FRONT_CAMERA_PORT_OUT ?= 6000
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BEBOP_FRONT_CAMERA_BROADCAST ?= $(MODEM_BROADCAST)
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BEBOPVIEWVID_CFLAGS = -DBEBOP_FRONT_CAMERA_HOST=$(BEBOP_FRONT_CAMERA_HOST) -DBEBOP_FRONT_CAMERA_PORT_OUT=$(BEBOP_FRONT_CAMERA_PORT_OUT)
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ifeq ($(BEBOP_FRONT_CAMERA_USE_NC),)
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ap.CFLAGS += $(BEBOPVIEWVID_CFLAGS) -DBEBOP_FRONT_CAMERA_BROADCAST=$(BEBOP_FRONT_CAMERA_BROADCAST)
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else
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ap.CFLAGS += $(BEBOPVIEWVID_CFLAGS) -DBEBOP_FRONT_CAMERA_USE_NC
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endif
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</raw>
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</makefile>
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<makefile target="nps">
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<file name="BEBOP_FRONT_CAMERA_nps.c"/>
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</makefile>
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</module>
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@@ -36,5 +36,5 @@ void board_init(void)
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// We also try to initialize the video CMOS chips here (Bottom and front)
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mt9v117_init();
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//mt9f002_init();
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mt9f002_init();
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}
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@@ -0,0 +1,374 @@
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#ifndef MT9F002_H
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#define MT9F002_H
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#define MT9F002_NUM_OF_REGISTERS 367
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#define MT9F002_MODEL_ID 0x0000
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#define MT9F002_REVISION_NUMBER 0x0002
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#define MT9F002_MANUFACTURER_ID 0x0003
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#define MT9F002_SMIA_VERSION 0x0004
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#define MT9F002_FRAME_COUNT 0x0005
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#define MT9F002_PIXEL_ORDER 0x0006
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#define MT9F002_DATA_PEDESTAL 0x0008
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#define MT9F002_FRAME_FORMAT_MODEL_TYPE 0x0040
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#define MT9F002_FRAME_FORMAT_MODEL_SUBTYPE 0x0041
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_0 0x0042
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_1 0x0044
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_2 0x0046
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_3 0x0048
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_4 0x004A
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_5 0x004C
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_6 0x004E
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_7 0x0050
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_8 0x0052
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_9 0x0054
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_10 0x0056
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_11 0x0058
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_12 0x005A
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_13 0x005C
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#define MT9F002_FRAME_FORMAT_DESCRIPTOR_14 0x005E
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#define MT9F002_ANALOG_GAIN_CAPABILITY 0x0080
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#define MT9F002_ANALOG_GAIN_CODE_MIN 0x0084
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#define MT9F002_ANALOG_GAIN_CODE_MAX 0x0086
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#define MT9F002_ANALOG_GAIN_CODE_STEP 0x0088
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#define MT9F002_ANALOG_GAIN_TYPE 0x008A
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#define MT9F002_ANALOG_GAIN_M0 0x008C
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#define MT9F002_ANALOG_GAIN_C0 0x008E
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#define MT9F002_ANALOG_GAIN_M1 0x0090
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#define MT9F002_ANALOG_GAIN_C1 0x0092
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#define MT9F002_DATA_FORMAT_MODEL_TYPE 0x00C0
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#define MT9F002_DATA_FORMAT_MODEL_SUBTYPE 0x00C1
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_0 0x00C2
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_1 0x00C4
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_2 0x00C6
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_3 0x00C8
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_4 0x00CA
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_5 0x00CC
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#define MT9F002_DATA_FORMAT_DESCRIPTOR_6 0x00CE
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#define MT9F002_MODE_SELECT 0x0100
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#define MT9F002_IMAGE_ORIENTATION 0x0101
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#define MT9F002_SOFTWARE_RESET 0x0103
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#define MT9F002_GROUPED_PARAMETER_HOLD 0x0104
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#define MT9F002_MASK_CORRUPTED_FRAMES 0x0105
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#define MT9F002_CPP_CHANNEL_IDENTIFIER 0x0110
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#define MT9F002_CPP2_SIGNALLING_MODE 0x0111
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#define MT9F002_CPP_DATA_FORMAT 0x0112
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#define MT9F002_GAIN_MODE 0x0120
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#define MT9F002_FINE_INTEGRATION_TIME 0x0200
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#define MT9F002_COARSE_INTEGRATION_TIME 0x0202
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#define MT9F002_ANALOG_GAIN_CODE_GLOBAL 0x0204
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#define MT9F002_ANALOG_GAIN_CODE_GREENR 0x0206
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#define MT9F002_ANALOG_GAIN_CODE_RED 0x0208
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#define MT9F002_ANALOG_GAIN_CODE_BLUE 0x020A
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#define MT9F002_ANALOG_GAIN_CODE_GREENB 0x020C
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#define MT9F002_DIGITAL_GAIN_GREENR 0x020E
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#define MT9F002_DIGITAL_GAIN_RED 0x0210
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#define MT9F002_DIGITAL_GAIN_BLUE 0x0212
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#define MT9F002_DIGITAL_GAIN_GREENB 0x0214
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#define MT9F002_VT_PIX_CLK_DIV 0x0300
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#define MT9F002_VT_SYS_CLK_DIV 0x0302
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#define MT9F002_PRE_PLL_CLK_DIV 0x0304
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#define MT9F002_PLL_MULTIPLIER 0x0306
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#define MT9F002_OP_PIX_CLK_DIV 0x0308
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#define MT9F002_OP_SYS_CLK_DIV 0x030A
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#define MT9F002_FRAME_LENGTH_LINES 0x0340
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#define MT9F002_LINE_LENGTH_PCK 0x0342
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#define MT9F002_X_ADDR_START 0x0344
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#define MT9F002_Y_ADDR_START 0x0346
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#define MT9F002_X_ADDR_END 0x0348
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#define MT9F002_Y_ADDR_END 0x034A
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#define MT9F002_X_OUTPUT_SIZE 0x034C
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#define MT9F002_Y_OUTPUT_SIZE 0x034E
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#define MT9F002_X_EVEN_INC 0x0380
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#define MT9F002_X_ODD_INC 0x0382
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#define MT9F002_Y_EVEN_INC 0x0384
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#define MT9F002_Y_ODD_INC 0x0386
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#define MT9F002_SCALING_MODE 0x0400
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#define MT9F002_SPATIAL_SAMPLING 0x0402
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#define MT9F002_SCALE_M 0x0404
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#define MT9F002_SCALE_N 0x0406
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#define MT9F002_COMPRESSION_MODE 0x0500
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#define MT9F002_TEST_PATTERN_MODE 0x0600
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#define MT9F002_TEST_DATA_RED 0x0602
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#define MT9F002_TEST_DATA_GREENR 0x0604
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#define MT9F002_TEST_DATA_BLUE 0x0606
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#define MT9F002_TEST_DATA_GREENB 0x0608
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#define MT9F002_HORIZONTAL_CURSOR_WIDTH 0x060A
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#define MT9F002_HORIZONTAL_CURSOR_POSITION 0x060C
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#define MT9F002_VERTICAL_CURSOR_WIDTH 0x060E
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#define MT9F002_VERTICAL_CURSOR_POSITION 0x0610
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#define MT9F002_INTEGRATION_TIME_CAPABILITY 0x1000
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#define MT9F002_COARSE_INTEGRATION_TIME_MIN 0x1004
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#define MT9F002_COARSE_INTEGRATION_TIME_MAX_MARGIN 0x1006
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#define MT9F002_FINE_INTEGRATION_TIME_MIN 0x1008
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#define MT9F002_FINE_INTEGRATION_TIME_MAX_MARGIN 0x100A
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#define MT9F002_DIGITAL_GAIN_CAPABILITY 0x1080
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#define MT9F002_DIGITAL_GAIN_MIN 0x1084
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#define MT9F002_DIGITAL_GAIN_MAX 0x1086
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#define MT9F002_DIGITAL_GAIN_STEP_SIZE 0x1088
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#define MT9F002_MIN_EXT_CLK_FREQ_MHZ 0x1100
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#define MT9F002_MAX_EXT_CLK_FREQ_MHZ 0x1104
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#define MT9F002_MIN_PRE_PLL_CLK_DIV 0x1108
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#define MT9F002_MAX_PRE_PLL_CLK_DIV 0x110A
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#define MT9F002_MIN_PLL_IP_FREQ_MHZ 0x110C
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#define MT9F002_MAX_PLL_IP_FREQ_MHZ 0x1110
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#define MT9F002_MIN_PLL_MULTIPLIER 0x1114
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#define MT9F002_MAX_PLL_MULTIPLIER 0x1116
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#define MT9F002_MIN_PLL_OP_FREQ_MHZ 0x1118
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#define MT9F002_MAX_PLL_OP_FREQ_MHZ 0x111C
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#define MT9F002_MIN_VT_SYS_CLK_DIV 0x1120
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#define MT9F002_MAX_VT_SYS_CLK_DIV 0x1122
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#define MT9F002_MIN_VT_SYS_CLK_FREQ_MHZ 0x1124
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#define MT9F002_MAX_VT_SYS_CLK_FREQ_MHZ 0x1128
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#define MT9F002_MIN_VT_PIX_CLK_FREQ_MHZ 0x112C
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#define MT9F002_MAX_VT_PIX_CLK_FREQ_MHZ 0x1130
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#define MT9F002_MIN_VT_PIX_CLK_DIV 0x1134
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#define MT9F002_MAX_VT_PIX_CLK_DIV 0x1136
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#define MT9F002_MIN_FRAME_LENGTH_LINES 0x1140
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#define MT9F002_MAX_FRAME_LENGTH_LINES 0x1142
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#define MT9F002_MIN_LINE_LENGTH_PCK 0x1144
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#define MT9F002_MAX_LINE_LENGTH_PCK 0x1146
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#define MT9F002_MIN_LINE_BLANKING_PCK 0x1148
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#define MT9F002_MIN_FRAME_BLANKING_LINES 0x114A
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#define MT9F002_MIN_OP_SYS_CLK_DIV 0x1160
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#define MT9F002_MAX_OP_SYS_CLK_DIV 0x1162
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#define MT9F002_MIN_OP_SYS_CLK_FREQ_MHZ 0x1164
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#define MT9F002_MAX_OP_SYS_CLK_FREQ_MHZ 0x1168
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#define MT9F002_MIN_OP_PIX_CLK_DIV 0x116C
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#define MT9F002_MAX_OP_PIX_CLK_DIV 0x116E
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#define MT9F002_MIN_OP_PIX_CLK_FREQ_MHZ 0x1170
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#define MT9F002_MAX_OP_PIX_CLK_FREQ_MHZ 0x1174
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#define MT9F002_X_ADDR_MIN 0x1180
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#define MT9F002_Y_ADDR_MIN 0x1182
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#define MT9F002_X_ADDR_MAX 0x1184
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#define MT9F002_Y_ADDR_MAX 0x1186
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#define MT9F002_MIN_EVEN_INC 0x11C0
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#define MT9F002_MAX_EVEN_INC 0x11C2
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#define MT9F002_MIN_ODD_INC 0x11C4
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#define MT9F002_MAX_ODD_INC 0x11C6
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#define MT9F002_SCALING_CAPABILITY 0x1200
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#define MT9F002_SCALER_M_MIN 0x1204
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#define MT9F002_SCALER_M_MAX 0x1206
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#define MT9F002_SCALER_N_MIN 0x1208
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#define MT9F002_SCALER_N_MAX 0x120A
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#define MT9F002_COMPRESSION_CAPABILITY 0x1300
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#define MT9F002_MATRIX_ELEMENT_REDINRED 0x1400
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#define MT9F002_MATRIX_ELEMENT_GREENINRED 0x1402
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#define MT9F002_MATRIX_ELEMENT_BLUEINRED 0x1404
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#define MT9F002_MATRIX_ELEMENT_REDINGREEN 0x1406
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#define MT9F002_MATRIX_ELEMENT_GREENINGREEN 0x1408
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#define MT9F002_MATRIX_ELEMENT_BLUEINGREEN 0x140A
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#define MT9F002_MATRIX_ELEMENT_REDINBLUE 0x140C
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#define MT9F002_MATRIX_ELEMENT_GREENINBLUE 0x0140E
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#define MT9F002_MATRIX_ELEMENT_BLUEINBLUE 0x1410
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#define MT9F002_MODEL_ID_ 0x3000
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#define MT9F002_Y_ADDR_START_ 0x3002
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#define MT9F002_X_ADDR_START_ 0x3004
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#define MT9F002_Y_ADDR_END_ 0x3006
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#define MT9F002_X_ADDR_END_ 0x3008
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#define MT9F002_FRAME_LENGTH_LINES_ 0x300A
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#define MT9F002_LINE_LENGTH_PCK_ 0x300C
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#define MT9F002_FINE_CORRECTION 0x3010
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#define MT9F002_COARSE_INTEGRATION_TIME_ 0x3012
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#define MT9F002_FINE_INTEGRATION_TIME_ 0x3014
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#define MT9F002_ROW_SPEED 0x3016
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#define MT9F002_EXTRA_DELAY 0x3018
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#define MT9F002_RESET_REGISTER 0x301A
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#define MT9F002_MODE_SELECT_ 0x301C
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#define MT9F002_IMAGE_ORIENTATION_ 0x301D
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#define MT9F002_DATA_PEDESTAL_ 0x301E
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#define MT9F002_SOFTWARE_RESET_ 0x3021
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#define MT9F002_GROUPED_PARAMETER_HOLD_ 0x3022
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#define MT9F002_MASK_CORRUPTED_FRAMES_ 0x3023
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#define MT9F002_PIXEL_ORDER_ 0x3024
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#define MT9F002_GPI_STATUS 0x3026
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#define MT9F002_ANALOG_GAIN_CODE_GLOBAL_ 0x3028
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#define MT9F002_ANALOG_GAIN_CODE_GREENR_ 0x302A
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#define MT9F002_ANALOG_GAIN_CODE_RED_ 0x302C
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#define MT9F002_ANALOG_GAIN_CODE_BLUE_ 0x302E
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#define MT9F002_ANALOG_GAIN_CODE_GREENB_ 0x3030
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#define MT9F002_DIGITAL_GAIN_GREENR_ 0x3032
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#define MT9F002_DIGITAL_GAIN_RED_ 0x3036
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#define MT9F002_DIGITAL_GAIN_BLUE_ 0x3038
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#define MT9F002_DIGITAL_GAIN_GREENB_ 0x3038
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#define MT9F002_SMIA_VERSION_ 0x303A
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#define MT9F002_FRAME_COUNT_ 0x303B
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#define MT9F002_FRAME_STATUS 0x303C
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#define MT9F002_READ_MODE 0x3040
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#define MT9F002_FLASH 0x3046
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#define MT9F002_FLASH_COUNT 0x3048
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#define MT9F002_GREEN1_GAIN 0x3056
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#define MT9F002_BLUE_GAIN 0x3058
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#define MT9F002_RED_GAIN 0x305A
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#define MT9F002_GREEN2_GAIN 0x305C
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#define MT9F002_GLOBAL_GAIN 0x305E
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#define MT9F002_DATAPATH_STATUS 0x306A
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#define MT9F002_DATAPATH_SELECT 0x306E
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#define MT9F002_TEST_PATTERN_MODE_ 0x3070
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#define MT9F002_TEST_DATA_RED_ 0x3072
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#define MT9F002_TEST_DATA_GREENR_ 0x3074
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#define MT9F002_TEST_DATA_BLUE_ 0x3076
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#define MT9F002_TEST_DATA_GREENB_ 0x3078
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#define MT9F002_TEST_RAW_MODE 0x307A
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#define MT9F002_X_EVEN_INC_ 0x30A0
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#define MT9F002_X_ODD_INC_ 0x30A2
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#define MT9F002_Y_EVEN_INC_ 0x30A4
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#define MT9F002_Y_ODD_INC_ 0x30A6
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#define MT9F002_CALIB_GREEN1_ASC1 0x30A8
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#define MT9F002_CALIB_BLUE_ASC1 0x30AA
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#define MT9F002_CALIB_RED_ASC1 0x30AC
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#define MT9F002_CALIB_GREEN2_ASC1 0x30AE
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||||
#define MT9F002_CALIB_GLOBAL 0x30BC
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#define MT9F002_CALIB_CONTROL 0x30C0
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#define MT9F002_CALIB_GREEN1 0x30C2
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#define MT9F002_CALIB_BLUE 0x30C4
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#define MT9F002_CALIB_RED 0x30C6
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#define MT9F002_CALIB_GREEN2 0x30C8
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#define MT9F002_CTX_CONTROL_REG 0x30E8
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#define MT9F002_CTX_WR_DATA_REG 0x30EA
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#define MT9F002_CTX_RD_DATA_REG 0x30EC
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||||
#define MT9F002_DARK_CONTROL3 0x30EE
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||||
#define MT9F002_OTPM_TCFG_READ_4B 0x3138
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||||
#define MT9F002_OTPM_CFG 0x3140
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||||
#define MT9F002_GLOBAL_FLASH_START 0x315A
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||||
#define MT9F002_GLOBAL_SEQ_TRIGGER 0x315E
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||||
#define MT9F002_GLOBAL_RST_END 0x3160
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||||
#define MT9F002_GLOBAL_SHUTTER_START1 0x3162
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||||
#define MT9F002_GLOBAL_SHUTTER_START2 0x3164
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||||
#define MT9F002_GLOBAL_READ_START 0x3166
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||||
#define MT9F002_GLOBAL_READ_START2 0x3168
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||||
#define MT9F002_DAC_RSTLO 0x316A
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||||
#define MT9F002_ANALOG_CONTROL5 0x3178
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||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_0 0x31A0
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||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_1 0x31A2
|
||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_2 0x31A4
|
||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_3 0x31A6
|
||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_4 0x31A8
|
||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_5 0x31AA
|
||||
#define MT9F002_SERIAL_FORMAT_DESCRIPTOR_6 0x31AC
|
||||
#define MT9F002_SERIAL_FORMAT 0x31AE
|
||||
#define MT9F002_FRAME_PREAMBLE 0x31B0
|
||||
#define MT9F002_LINE_PREAMBLE 0x31B2
|
||||
#define MT9F002_MIPI_TIMING_0 0x31B4
|
||||
#define MT9F002_MIPI_TIMING_1 0x31B6
|
||||
#define MT9F002_MIPI_TIMING_2 0x31B8
|
||||
#define MT9F002_MIPI_TIMING_3 0x31BA
|
||||
#define MT9F002_MIPI_TIMING_4 0x31BC
|
||||
#define MT9F002_HISPI_TIMING 0x31C0
|
||||
#define MT9F002_HISPI_CONTROL_STATUS 0x31C6
|
||||
#define MT9F002_HORIZONTAL_CURSOR_POSITION_ 0x31E8
|
||||
#define MT9F002_VERTICAL_CURSOR_POSITION_ 0x31EA
|
||||
#define MT9F002_HORIZONTAL_CURSOR_WIDTH_ 0x31EC
|
||||
#define MT9F002_VERTICAL_CURSOR_WIDTH_ 0x31EE
|
||||
#define MT9F002_I2C_IDS_MIPI_DEFAULT 0x31F2
|
||||
#define MT9F002_I2C_IDS 0x31FC
|
||||
#define MT9F002_P_GR_P0Q0 0x3600
|
||||
#define MT9F002_P_GR_P0Q1 0x3602
|
||||
#define MT9F002_P_GR_P0Q2 0x3604
|
||||
#define MT9F002_P_GR_P0Q3 0x3606
|
||||
#define MT9F002_P_GR_P0Q4 0x3608
|
||||
#define MT9F002_P_RD_P0Q0 0x360A
|
||||
#define MT9F002_P_RD_P0Q1 0x360C
|
||||
#define MT9F002_P_RD_P0Q2 0x360E
|
||||
#define MT9F002_P_RD_P0Q3 0x3610
|
||||
#define MT9F002_P_RD_P0Q4 0x3612
|
||||
#define MT9F002_P_BL_P0Q0 0x3614
|
||||
#define MT9F002_P_BL_P0Q1 0x3616
|
||||
#define MT9F002_P_BL_P0Q2 0x3618
|
||||
#define MT9F002_P_BL_P0Q3 0x361A
|
||||
#define MT9F002_P_BL_P0Q4 0x361C
|
||||
#define MT9F002_P_GB_P0Q0 0x361E
|
||||
#define MT9F002_P_GB_P0Q1 0x3620
|
||||
#define MT9F002_P_GB_P0Q2 0x3622
|
||||
#define MT9F002_P_GB_P0Q3 0x3624
|
||||
#define MT9F002_P_GB_P0Q4 0x3626
|
||||
#define MT9F002_P_GR_P1Q0 0x3640
|
||||
#define MT9F002_P_GR_P1Q1 0x3642
|
||||
#define MT9F002_P_GR_P1Q2 0x3644
|
||||
#define MT9F002_P_GR_P1Q3 0x3646
|
||||
#define MT9F002_P_GR_P1Q4 0x3648
|
||||
#define MT9F002_P_RD_P1Q0 0x364A
|
||||
#define MT9F002_P_RD_P1Q1 0x364C
|
||||
#define MT9F002_P_RD_P1Q2 0x364E
|
||||
#define MT9F002_P_RD_P1Q3 0x3650
|
||||
#define MT9F002_P_RD_P1Q4 0x3652
|
||||
#define MT9F002_P_BL_P1Q0 0x3654
|
||||
#define MT9F002_P_BL_P1Q1 0x3656
|
||||
#define MT9F002_P_BL_P1Q2 0x3658
|
||||
#define MT9F002_P_BL_P1Q3 0x365A
|
||||
#define MT9F002_P_BL_P1Q4 0x365C
|
||||
#define MT9F002_P_GB_P1Q0 0x365E
|
||||
#define MT9F002_P_GB_P1Q1 0x3660
|
||||
#define MT9F002_P_GB_P1Q2 0x3662
|
||||
#define MT9F002_P_GB_P1Q3 0x3664
|
||||
#define MT9F002_P_GB_P1Q4 0x3666
|
||||
#define MT9F002_P_GR_P2Q0 0x3680
|
||||
#define MT9F002_P_GR_P2Q1 0x3682
|
||||
#define MT9F002_P_GR_P2Q2 0x3684
|
||||
#define MT9F002_P_GR_P2Q3 0x3686
|
||||
#define MT9F002_P_GR_P2Q4 0x3688
|
||||
#define MT9F002_P_RD_P2Q0 0x368A
|
||||
#define MT9F002_P_RD_P2Q1 0x368C
|
||||
#define MT9F002_P_RD_P2Q2 0x368E
|
||||
#define MT9F002_P_RD_P2Q3 0x3690
|
||||
#define MT9F002_P_RD_P2Q4 0x3692
|
||||
#define MT9F002_P_BL_P2Q0 0x3694
|
||||
#define MT9F002_P_BL_P2Q1 0x3696
|
||||
#define MT9F002_P_BL_P2Q2 0x3698
|
||||
#define MT9F002_P_BL_P2Q3 0x369A
|
||||
#define MT9F002_P_BL_P2Q4 0x369C
|
||||
#define MT9F002_P_GB_P2Q0 0x369E
|
||||
#define MT9F002_P_GB_P2Q1 0x36A0
|
||||
#define MT9F002_P_GB_P2Q2 0x36A2
|
||||
#define MT9F002_P_GB_P2Q3 0x36A4
|
||||
#define MT9F002_P_GB_P2Q4 0x36A6
|
||||
#define MT9F002_P_GR_P3Q0 0x36C0
|
||||
#define MT9F002_P_GR_P3Q1 0x36C2
|
||||
#define MT9F002_P_GR_P3Q2 0x36C4
|
||||
#define MT9F002_P_GR_P3Q3 0x36C6
|
||||
#define MT9F002_P_GR_P3Q4 0x36C8
|
||||
#define MT9F002_P_RD_P3Q0 0x36CA
|
||||
#define MT9F002_P_RD_P3Q1 0x36CC
|
||||
#define MT9F002_P_RD_P3Q2 0x36CE
|
||||
#define MT9F002_P_RD_P3Q3 0x36D0
|
||||
#define MT9F002_P_RD_P3Q4 0x36D2
|
||||
#define MT9F002_P_BL_P3Q0 0x36D4
|
||||
#define MT9F002_P_BL_P3Q1 0x36D6
|
||||
#define MT9F002_P_BL_P3Q2 0x36D8
|
||||
#define MT9F002_P_BL_P3Q3 0x36DA
|
||||
#define MT9F002_P_BL_P3Q4 0x36DC
|
||||
#define MT9F002_P_GB_P3Q0 0x36DE
|
||||
#define MT9F002_P_GB_P3Q1 0x36E0
|
||||
#define MT9F002_P_GB_P3Q2 0x36E2
|
||||
#define MT9F002_P_GB_P3Q3 0x36E4
|
||||
#define MT9F002_P_GB_P3Q4 0x36E6
|
||||
#define MT9F002_P_GR_P4Q0 0x3700
|
||||
#define MT9F002_P_GR_P4Q1 0x3702
|
||||
#define MT9F002_P_GR_P4Q2 0x3704
|
||||
#define MT9F002_P_GR_P4Q3 0x3706
|
||||
#define MT9F002_P_GR_P4Q4 0x3708
|
||||
#define MT9F002_P_RD_P4Q0 0x370A
|
||||
#define MT9F002_P_RD_P4Q1 0x370C
|
||||
#define MT9F002_P_RD_P4Q2 0x370E
|
||||
#define MT9F002_P_RD_P4Q3 0x3710
|
||||
#define MT9F002_P_RD_P4Q4 0x3712
|
||||
#define MT9F002_P_BL_P4Q0 0x3714
|
||||
#define MT9F002_P_BL_P4Q1 0x3716
|
||||
#define MT9F002_P_BL_P4Q2 0x3718
|
||||
#define MT9F002_P_BL_P4Q3 0x371A
|
||||
#define MT9F002_P_BL_P4Q4 0x371C
|
||||
#define MT9F002_P_GB_P4Q0 0x371E
|
||||
#define MT9F002_P_GB_P4Q1 0x3720
|
||||
#define MT9F002_P_GB_P4Q2 0x3722
|
||||
#define MT9F002_P_GB_P4Q3 0x3724
|
||||
#define MT9F002_P_GB_P4Q4 0x3726
|
||||
#define MT9F002_POLY_SC_ENABLE 0x3780
|
||||
#define MT9F002_POLY_ORIGIN_C 0x3782
|
||||
#define MT9F002_POLY_ORIGIN_R 0x3784
|
||||
#define MT9F002_P_GR_Q5 0x37C0
|
||||
#define MT9F002_P_RD_Q5 0x37C2
|
||||
#define MT9F002_P_BL_Q5 0x37C4
|
||||
#define MT9F002_P_GB_Q5 0x37C6
|
||||
#define MT9F002_DAC_ID_FBIAS 0x3EF8
|
||||
|
||||
#endif /* MT9F002_H */
|
||||
+298
-218
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,239 @@
|
||||
/*
|
||||
* Copyright (C) 2012-2014 The Paparazzi Community
|
||||
* 2015 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file modules/computer_vision/bebop_front_camera.c
|
||||
*/
|
||||
|
||||
// Own header
|
||||
#include "modules/computer_vision/bebop_front_camera.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/time.h>
|
||||
#include <math.h>
|
||||
|
||||
// Video
|
||||
#include "lib/v4l/v4l2.h"
|
||||
#include "lib/vision/image.h"
|
||||
#include "lib/vision/bayern.h"
|
||||
#include "lib/encoding/jpeg.h"
|
||||
#include "lib/encoding/rtp.h"
|
||||
#include "udp_socket.h"
|
||||
|
||||
// Threaded computer vision
|
||||
#include <pthread.h>
|
||||
|
||||
#define MT9F002_WIDTH 1408
|
||||
#define MT9F002_HEIGHT 2112
|
||||
#define BEBOP_FRONT_CAMERA_WIDTH 272
|
||||
#define BEBOP_FRONT_CAMERA_HEIGHT 272
|
||||
|
||||
// The place where the shots are saved (without slash on the end)
|
||||
#ifndef BEBOP_FRONT_CAMERA_SHOT_PATH
|
||||
#define BEBOP_FRONT_CAMERA_SHOT_PATH /data/ftp/internal_000/images
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(BEBOP_FRONT_CAMERA_SHOT_PATH)
|
||||
|
||||
// Main thread
|
||||
static void *bebop_front_camera_thread(void *data);
|
||||
static void bebop_front_camera_save_shot(struct image_t *img_color, struct image_t *img_jpeg, struct image_t *raw_img);
|
||||
void bebop_front_camera_periodic(void) { }
|
||||
|
||||
// Initialize the bebop_front_camera structure with the defaults
|
||||
struct viewvideo_t bebop_front_camera = {
|
||||
.is_streaming = FALSE,
|
||||
.take_shot = FALSE,
|
||||
.shot_number = 0
|
||||
};
|
||||
|
||||
void bebop_front_camera_take_shot(bool_t take)
|
||||
{
|
||||
bebop_front_camera.take_shot = TRUE;
|
||||
}
|
||||
/**
|
||||
* Handles all the video streaming and saving of the image shots
|
||||
* This is a sepereate thread, so it needs to be thread safe!
|
||||
*/
|
||||
static void *bebop_front_camera_thread(void *data __attribute__((unused)))
|
||||
{
|
||||
struct UdpSocket video_sock;
|
||||
udp_socket_create(&video_sock, STRINGIFY(BEBOP_FRONT_CAMERA_HOST), BEBOP_FRONT_CAMERA_PORT_OUT, -1,
|
||||
BEBOP_FRONT_CAMERA_BROADCAST);
|
||||
|
||||
// Create the JPEG encoded image
|
||||
struct image_t img_jpeg;
|
||||
image_create(&img_jpeg, BEBOP_FRONT_CAMERA_WIDTH, BEBOP_FRONT_CAMERA_HEIGHT, IMAGE_JPEG);
|
||||
|
||||
// Create the Color image
|
||||
struct image_t img_color;
|
||||
image_create(&img_color, BEBOP_FRONT_CAMERA_WIDTH, BEBOP_FRONT_CAMERA_HEIGHT, IMAGE_YUV422);
|
||||
|
||||
// Start the streaming of the V4L2 device
|
||||
if (!v4l2_start_capture(bebop_front_camera.dev)) {
|
||||
printf("[bebop_front_camera-thread] Could not start capture of %s.\n", bebop_front_camera.dev->name);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Start streaming
|
||||
bebop_front_camera.is_streaming = TRUE;
|
||||
while (bebop_front_camera.is_streaming) {
|
||||
// Wait for a new frame (blocking)
|
||||
struct image_t img;
|
||||
v4l2_image_get(bebop_front_camera.dev, &img);
|
||||
|
||||
BayernToYUV(&img, &img_color, 0, 0);
|
||||
|
||||
if (bebop_front_camera.take_shot) {
|
||||
// Save the image
|
||||
bebop_front_camera_save_shot(&img_color, &img_jpeg, &img);
|
||||
bebop_front_camera.take_shot = FALSE;
|
||||
}
|
||||
|
||||
jpeg_encode_image(&img_color, &img_jpeg, 80, 0);
|
||||
|
||||
// Send image with RTP
|
||||
rtp_frame_send(
|
||||
&video_sock, // UDP socket
|
||||
&img_jpeg,
|
||||
0, // Format 422
|
||||
80, // Jpeg-Quality
|
||||
0, // DRI Header
|
||||
0 // 90kHz time increment
|
||||
);
|
||||
|
||||
|
||||
// Free the image
|
||||
v4l2_image_free(bebop_front_camera.dev, &img);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize the view video
|
||||
*/
|
||||
void bebop_front_camera_init(void)
|
||||
{
|
||||
// Initialize the V4L2 subdevice (TODO: fix hardcoded path, which and code)
|
||||
if (!v4l2_init_subdev("/dev/v4l-subdev1", 0, 0, V4L2_MBUS_FMT_SGBRG10_1X10, MT9F002_WIDTH, MT9F002_HEIGHT)) {
|
||||
printf("[bebop_front_camera] Could not initialize the v4l-subdev1 subdevice.\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// Initialize the V4L2 device
|
||||
bebop_front_camera.dev = v4l2_init("/dev/video1", MT9F002_WIDTH, MT9F002_HEIGHT, 10, V4L2_PIX_FMT_SGBRG10);
|
||||
if (bebop_front_camera.dev == NULL) {
|
||||
printf("[bebop_front_camera] Could not initialize the /dev/video1 V4L2 device.\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// Create the shot directory
|
||||
char save_name[128];
|
||||
sprintf(save_name, "mkdir -p %s", STRINGIFY(BEBOP_FRONT_CAMERA_SHOT_PATH));
|
||||
if (system(save_name) != 0) {
|
||||
printf("[bebop_front_camera] Could not create shot directory %s.\n", STRINGIFY(BEBOP_FRONT_CAMERA_SHOT_PATH));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Start with streaming
|
||||
*/
|
||||
void bebop_front_camera_start(void)
|
||||
{
|
||||
// Check if we are already running
|
||||
if (bebop_front_camera.is_streaming) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Start the streaming thread
|
||||
pthread_t tid;
|
||||
if (pthread_create(&tid, NULL, bebop_front_camera_thread, NULL) != 0) {
|
||||
printf("[vievideo] Could not create streaming thread.\n");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Stops the streaming
|
||||
* This could take some time, because the thread is stopped asynchronous.
|
||||
*/
|
||||
void bebop_front_camera_stop(void)
|
||||
{
|
||||
// Check if not already stopped streaming
|
||||
if (!bebop_front_camera.is_streaming) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Stop the streaming thread
|
||||
bebop_front_camera.is_streaming = FALSE;
|
||||
|
||||
// Stop the capturing
|
||||
if (!v4l2_stop_capture(bebop_front_camera.dev)) {
|
||||
printf("[bebop_front_camera] Could not stop capture of %s.\n", bebop_front_camera.dev->name);
|
||||
return;
|
||||
}
|
||||
|
||||
// TODO: wait for the thread to finish to be able to start the thread again!
|
||||
}
|
||||
|
||||
static void bebop_front_camera_save_shot(struct image_t *img, struct image_t *img_jpeg, struct image_t *raw_img)
|
||||
{
|
||||
|
||||
// Search for a file where we can write to
|
||||
char save_name[128];
|
||||
for (; bebop_front_camera.shot_number < 99999; bebop_front_camera.shot_number++) {
|
||||
sprintf(save_name, "%s/img_%05d.pgm", STRINGIFY(BEBOP_FRONT_CAMERA_SHOT_PATH), bebop_front_camera.shot_number);
|
||||
// Check if file exists or not
|
||||
if (access(save_name, F_OK) == -1) {
|
||||
FILE *fp = fopen(save_name, "w");
|
||||
if (fp == NULL) {
|
||||
printf("[bebop_front_camera-thread] Could not write shot %s.\n", save_name);
|
||||
} else {
|
||||
// Save it to the file and close it
|
||||
char pgm_header[] = "P5\n272 272\n255\n";
|
||||
fwrite(pgm_header, sizeof(char), 15, fp);
|
||||
fwrite(img->buf, sizeof(uint8_t), img->buf_size, fp);
|
||||
fclose(fp);
|
||||
|
||||
// JPEG
|
||||
jpeg_encode_image(img, img_jpeg, 99, 1);
|
||||
sprintf(save_name, "%s/img_%05d.jpg", STRINGIFY(BEBOP_FRONT_CAMERA_SHOT_PATH), bebop_front_camera.shot_number);
|
||||
fp = fopen(save_name, "w");
|
||||
fwrite(img_jpeg->buf, sizeof(uint8_t), img_jpeg->buf_size, fp);
|
||||
fclose(fp);
|
||||
|
||||
sprintf(save_name, "%s/img_%05d.raw", STRINGIFY(BEBOP_FRONT_CAMERA_SHOT_PATH), bebop_front_camera.shot_number);
|
||||
fp = fopen(save_name, "w");
|
||||
fwrite(raw_img->buf, sizeof(uint8_t), raw_img->buf_size, fp);
|
||||
fclose(fp);
|
||||
|
||||
}
|
||||
|
||||
// We don't need to seek for a next index anymore
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,48 @@
|
||||
/*
|
||||
* Copyright (C) 2012-2014 The Paparazzi Community
|
||||
* 2015 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file modules/computer_vision/bebop_front_camera.h
|
||||
*
|
||||
* Get live images from a RTP/UDP stream
|
||||
* and save pictures on internal memory
|
||||
*
|
||||
* Works on Bebop platforms
|
||||
*/
|
||||
|
||||
#ifndef BEBOP_FRONT_CAMERA_H
|
||||
#define BEBOP_FRONT_CAMERA_H
|
||||
|
||||
#include "std.h"
|
||||
#include "viewvideo.h"
|
||||
|
||||
extern struct viewvideo_t bebop_front_camera;
|
||||
|
||||
// Module functions
|
||||
extern void bebop_front_camera_init(void);
|
||||
extern void bebop_front_camera_periodic(void); ///< A dummy for now
|
||||
extern void bebop_front_camera_start(void);
|
||||
extern void bebop_front_camera_stop(void);
|
||||
extern void bebop_front_camera_take_shot(bool_t take);
|
||||
|
||||
#endif /* BEBOP_FRONT_CAMERA_H */
|
||||
|
||||
@@ -432,6 +432,9 @@ void jpeg_encode_image(struct image_t *in, struct image_t *out, uint32_t quality
|
||||
if (in->type == IMAGE_YUV422) {
|
||||
image_format = FOUR_TWO_TWO;
|
||||
}
|
||||
else if (in->type == IMAGE_GRAYSCALE) {
|
||||
image_format = FOUR_ZERO_ZERO;
|
||||
}
|
||||
|
||||
JPEG_ENCODER_STRUCTURE JpegStruct;
|
||||
JPEG_ENCODER_STRUCTURE *jpeg_encoder_structure = &JpegStruct;
|
||||
|
||||
@@ -174,7 +174,9 @@ bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t
|
||||
* @param[in] buffer_cnt The amount of buffers used for mapping
|
||||
* @return The newly create V4L2 device
|
||||
*/
|
||||
struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height, uint8_t buffers_cnt) {
|
||||
struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height, uint8_t buffers_cnt,
|
||||
uint32_t _pixelformat)
|
||||
{
|
||||
uint8_t i;
|
||||
struct v4l2_capability cap;
|
||||
struct v4l2_format fmt;
|
||||
@@ -198,12 +200,12 @@ struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height
|
||||
}
|
||||
|
||||
// Check if the device is capable of capturing and streaming
|
||||
if (!(cap.capabilities &V4L2_CAP_VIDEO_CAPTURE)) {
|
||||
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
|
||||
printf("[v4l2] %s is no V4L2 video capturing device\n", device_name);
|
||||
close(fd);
|
||||
return NULL;
|
||||
}
|
||||
if (!(cap.capabilities &V4L2_CAP_STREAMING)) {
|
||||
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
|
||||
printf("[v4l2] %s isn't capable of streaming (TODO: support reading)\n", device_name);
|
||||
close(fd);
|
||||
return NULL;
|
||||
@@ -215,7 +217,7 @@ struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height
|
||||
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
|
||||
fmt.fmt.pix.width = width;
|
||||
fmt.fmt.pix.height = height;
|
||||
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
|
||||
fmt.fmt.pix.pixelformat = _pixelformat;
|
||||
fmt.fmt.pix.field = V4L2_FIELD_NONE;
|
||||
|
||||
if (ioctl(fd, VIDIOC_S_FMT, &fmt) < 0) {
|
||||
|
||||
@@ -59,7 +59,8 @@ struct v4l2_device {
|
||||
|
||||
/* External functions */
|
||||
bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t code, uint16_t width, uint16_t height);
|
||||
struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height, uint8_t buffers_cnt);
|
||||
struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height, uint8_t buffers_cnt,
|
||||
uint32_t _pixelformat);
|
||||
void v4l2_image_get(struct v4l2_device *dev, struct image_t *img);
|
||||
bool_t v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img);
|
||||
void v4l2_image_free(struct v4l2_device *dev, struct image_t *img);
|
||||
|
||||
@@ -0,0 +1,102 @@
|
||||
/*
|
||||
* Copyright (C) 2012-2014 The Paparazzi Community
|
||||
* 2015 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, see
|
||||
* <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file modules/computer_vision/lib/vision/bayern.c
|
||||
*/
|
||||
|
||||
#ifndef BAYERN_H
|
||||
#define BAYERN_H
|
||||
|
||||
#include "lib/vision/image.h"
|
||||
|
||||
static inline uint8_t clip(uint16_t x)
|
||||
{
|
||||
if (x < 0) {
|
||||
return 0;
|
||||
}
|
||||
if (x > 255) {
|
||||
return 255;
|
||||
}
|
||||
return (uint8_t) x;
|
||||
}
|
||||
|
||||
|
||||
void BayernToYUV(struct image_t *Input, struct image_t *out,
|
||||
int RedX, int RedY);
|
||||
|
||||
|
||||
/**
|
||||
* @brief Decode Bayern Pattern
|
||||
* @param RedX, RedY the coordinates of the upper-rightmost green pixel
|
||||
* which has a red pixel next to it and a blue underneath
|
||||
*
|
||||
*/
|
||||
|
||||
void BayernToYUV(struct image_t *in, struct image_t *out,
|
||||
int RedX, int RedY)
|
||||
{
|
||||
uint16_t *ii = (uint8_t *) in->buf;
|
||||
uint8_t *oi = (uint8_t *) out->buf;
|
||||
int x, y;
|
||||
|
||||
|
||||
for (y = 0; y < out->h; y++) {
|
||||
for (x = 0; x < out->w; x += 2) {
|
||||
/* RGB Bayern:
|
||||
* RBRBRBRBRBRBRBRB
|
||||
* GRGRGRGRGRGRGRGR
|
||||
*/
|
||||
int i = 2 * (out->h - y) + RedX;
|
||||
int j = 2 * x + RedY;
|
||||
if ((i < in->w) && (j < in->h)) {
|
||||
uint16_t G1 = ii[i + j * in->w] / 2;
|
||||
uint16_t R1 = ii[i + j * in->w + 1] / 2;
|
||||
uint16_t B1 = ii[i + (j + 1) * in->w] / 2;
|
||||
j += 2;
|
||||
uint16_t G2 = ii[i + j * in->w] / 2;
|
||||
uint16_t R2 = ii[i + j * in->w + 1] / 2;
|
||||
uint16_t B2 = ii[i + (j + 1) * in->w] / 2;
|
||||
|
||||
uint32_t u, y1, v, y2;
|
||||
|
||||
y1 = (0.256788 * R1 + 0.504129 * G1 + 0.097906 * B1) / 128 + 16;
|
||||
y2 = (0.256788 * R2 + 0.504129 * G2 + 0.097906 * B2) / 128 + 16;
|
||||
u = (-0.148223 * (R1 + R2) - 0.290993 * (G1 + G2) + 0.439216 * (B1 + B2)) / 256 + 128;
|
||||
v = (0.439216 * (R1 + R2) - 0.367788 * (G1 + G2) - 0.071427 * (B1 + B2)) / 256 + 128;
|
||||
|
||||
|
||||
oi[(x + y * out->w) * 2] = clip(u);
|
||||
oi[(x + y * out->w) * 2 + 1] = clip(y1);
|
||||
oi[(x + y * out->w) * 2 + 2] = clip(v);
|
||||
oi[(x + y * out->w) * 2 + 3] = clip(y2);
|
||||
} else {
|
||||
oi[(x + y * out->w) * 2] = 0;
|
||||
oi[(x + y * out->w) * 2 + 1] = 0;
|
||||
oi[(x + y * out->w) * 2 + 2] = 0;
|
||||
oi[(x + y * out->w) * 2 + 3] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* BAYERN_H */
|
||||
@@ -127,7 +127,7 @@ void opticflow_module_init(void)
|
||||
#endif
|
||||
|
||||
/* Try to initialize the video device */
|
||||
opticflow_dev = v4l2_init(STRINGIFY(OPTICFLOW_DEVICE), OPTICFLOW_DEVICE_SIZE, OPTICFLOW_DEVICE_BUFFERS);
|
||||
opticflow_dev = v4l2_init(STRINGIFY(OPTICFLOW_DEVICE), OPTICFLOW_DEVICE_SIZE, OPTICFLOW_DEVICE_BUFFERS,V4L2_PIX_FMT_UYVY);
|
||||
if (opticflow_dev == NULL) {
|
||||
printf("[opticflow_module] Could not initialize the video device\n");
|
||||
}
|
||||
|
||||
@@ -311,7 +311,7 @@ void viewvideo_init(void)
|
||||
#endif
|
||||
|
||||
// Initialize the V4L2 device
|
||||
viewvideo.dev = v4l2_init(STRINGIFY(VIEWVIDEO_DEVICE), VIEWVIDEO_DEVICE_SIZE, VIEWVIDEO_DEVICE_BUFFERS);
|
||||
viewvideo.dev = v4l2_init(STRINGIFY(VIEWVIDEO_DEVICE), VIEWVIDEO_DEVICE_SIZE, VIEWVIDEO_DEVICE_BUFFERS, V4L2_PIX_FMT_UYVY);
|
||||
if (viewvideo.dev == NULL) {
|
||||
printf("[viewvideo] Could not initialize the %s V4L2 device.\n", STRINGIFY(VIEWVIDEO_DEVICE));
|
||||
return;
|
||||
|
||||
Reference in New Issue
Block a user