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Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h

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t-moe
2015-06-07 19:03:29 +02:00
parent f432236628
commit c87220d192
9 changed files with 65 additions and 19 deletions
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241
common/app/pixy_frame.c Normal file
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#include "pixy_frame.h"
#include "pixy.h"
#include "tft.h"
#include <stdlib.h>
static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame);
static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame);
int pixy_render_full_frame(uint16_t x, uint16_t y) {
return pixy_render_cropped_frame(x,y,0,0,320,200);
}
int pixy_render_cropped_frame(uint16_t x, uint16_t y, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) {
uint8_t* videodata;
int32_t response;
int32_t fourccc;
int8_t renderflags;
uint16_t xwidth;
uint16_t ywidth;
uint32_t size;
int return_value = pixy_command("cam_getFrame", // String id for remote procedure
INT8(0x21), // mode
INT16(xoffset), // xoffset
INT16(yoffset), // yoffset
INT16(width), // width
INT16(height), // height
END_OUT_ARGS, // separator
&response, // pointer to mem address for return value
&fourccc,
&renderflags,
&xwidth,
&ywidth,
&size,
&videodata, // pointer to mem address for returned frame
END_IN_ARGS);
if(return_value==0) {
return_value = renderBA81(x,y,xwidth,ywidth,size,videodata);
}
return return_value;
}
int pixy_save_full_frame(FILE_HANDLE* handle) {
return pixy_save_cropped_frame(handle,0,0,320,200);
}
int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) {
uint8_t* videodata;
int32_t response;
int32_t fourccc;
int8_t renderflags;
uint16_t xwidth;
uint16_t ywidth;
uint32_t size;
int return_value = pixy_command("cam_getFrame", // String id for remote procedure
INT8(0x21), // mode
INT16(xoffset), // xoffset
INT16(yoffset), // yoffset
INT16(width), // width
INT16(height), // height
END_OUT_ARGS, // separator
&response, // pointer to mem address for return value
&fourccc,
&renderflags,
&xwidth,
&ywidth,
&size,
&videodata, // pointer to mem address for returned frame
END_IN_ARGS);
if(return_value==0) {
return_value = saveBA81(handle,xwidth,ywidth,size,videodata);
}
return return_value;
}
static void interpolateBayer(uint16_t width, uint16_t x, uint16_t y, uint8_t *pixel, uint8_t* r, uint8_t* g, uint8_t* b)
{
if (y&1)
{
if (x&1)
{
*r = *pixel;
*g = (*(pixel-1)+*(pixel+1)+*(pixel+width)+*(pixel-width))>>2;
*b = (*(pixel-width-1)+*(pixel-width+1)+*(pixel+width-1)+*(pixel+width+1))>>2;
}
else
{
*r = (*(pixel-1)+*(pixel+1))>>1;
*g = *pixel;
*b = (*(pixel-width)+*(pixel+width))>>1;
}
}
else
{
if (x&1)
{
*r = (*(pixel-width)+*(pixel+width))>>1;
*g = *pixel;
*b = (*(pixel-1)+*(pixel+1))>>1;
}
else
{
*r = (*(pixel-width-1)+*(pixel-width+1)+*(pixel+width-1)+*(pixel+width+1))>>2;
*g = (*(pixel-1)+*(pixel+1)+*(pixel+width)+*(pixel-width))>>2;
*b = *pixel;
}
}
}
static int renderBA81(uint16_t xpos, uint16_t ypos, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame)
{
uint16_t x, y;
uint8_t r, g, b;
// skip first line
frame += width;
// don't render top and bottom rows, and left and rightmost columns because of color
// interpolation
//uint32_t decodedimage[(width-2)*(height-2)];
uint16_t* decodedimage = malloc(sizeof(uint16_t)*(width-2)*(height-2));
if(decodedimage==NULL) { //not enough free space to decode image in memory
//decode & render image pixel by pixel
for (y=1; y<height-1; y++)
{
frame++;
for (x=1; x<width-1; x++, frame++)
{
interpolateBayer(width, x, y, frame, &r, &g, &b);
tft_draw_pixel(xpos+x-1,ypos+y-1,RGB(r,g,b));
}
frame++;
}
} else { //enough space
uint16_t* line = decodedimage;
for (y=1; y<height-1; y++)
{
//line = (unsigned int *)img.scanLine(y-1);
frame++;
for (x=1; x<width-1; x++, frame++)
{
interpolateBayer(width, x, y, frame, &r, &g, &b);
//*line++ = (0xff<<24) | (r<<16) | (g<<8) | (b<<0);
*line++ = RGB(r,g,b);
}
frame++;
}
tft_draw_bitmap_unscaled(xpos,ypos,width-2,height-2,decodedimage);
free(decodedimage);
}
return 0;
}
static int saveBA81(FILE_HANDLE* handle, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame)
{
uint16_t x, y;
uint8_t r, g, b;
uint32_t fpos = handle->fpos;
uint32_t row_size_padded = ((width-2)*3 + 3) & (~3); //row size aligned to 4 bytes
uint32_t fpos_end = fpos + row_size_padded* (height-2);
// skip first line
frame += width;
// don't render top and bottom rows, and left and rightmost columns because of color
// interpolation
for (y=1; y<height-1; y++)
{
frame++;
uint8_t rowbuf[row_size_padded];
//Bitmaps are saved "bottom-up". Seek to the right row.
if(filesystem_file_seek(handle,fpos_end-row_size_padded*y)!=F_OK) {
return -1;
}
for (x=1; x<width-1; x++, frame++)
{
interpolateBayer(width, x, y, frame, &r, &g, &b);
//bitmaps are saved in 24bit b,g,r format
rowbuf[(x-1)*3] = b;
rowbuf[(x-1)*3+1] = g;
rowbuf[(x-1)*3+2] = r;
}
if(filesystem_file_write(handle,rowbuf,row_size_padded)!=F_OK) {
return -1;
}
frame++;
}
return 0;
}
int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height) {
int32_t response;
int return_value = pixy_command("cc_setSigRegion", // String id for remote procedure
INT32(0), // type = normal color code
INT8(signum),
INT16(xoffset), // xoffset
INT16(yoffset), // yoffset
INT16(width), // width
INT16(height), // height
END_OUT_ARGS, // separator
&response, // pointer to mem address for return value
END_IN_ARGS);
return return_value;
}