Capture.C

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00001 /*!@file Capture.C  */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
00005 // by the University of Southern California (USC) and the iLab at USC.  //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: $
00035 // $Id: $
00036 //
00037  
00038 #include "Capture.H"
00039 
00040 // ######################################################################
00041 Capture::Capture(int width, int height, int fps) :
00042   itsWidth(width),
00043   itsHeight(height),
00044   itsFps(fps)
00045 {
00046 
00047 }
00048 
00049 // ######################################################################
00050 Capture::~Capture()
00051 {
00052   stopCapture();
00053 }
00054 
00055 // ######################################################################
00056 void Capture::initCapture()
00057 {
00058 
00059   //Requested Camera Resolution
00060   char* videodevice = "/dev/video0";
00061   
00062   int format = V4L2_PIX_FMT_MJPEG;
00063   int grabmethod = 1;
00064   char *avifilename = NULL;
00065   
00066   //Allocate our video input structure
00067   itsVideoIn = (struct vdIn *) calloc(1, sizeof(struct vdIn));
00068   //Initialize our color lookup tables
00069   initLut();
00070   //Initialize the video input data structure
00071   init_videoIn(itsVideoIn, (char *) videodevice, itsWidth, itsHeight, itsFps, format,
00072       grabmethod, avifilename);
00073 
00074   itsImg = new unsigned char[itsWidth*itsHeight*3];
00075 }
00076 
00077 //Perform Packed YUV422 to RGB24 conversion directly on an Image
00078 void Capture::yuv422_to_rgb24(const unsigned char* inPtr, unsigned char* dst,
00079     unsigned int width, unsigned int height)
00080 {
00081         const unsigned char *buff = inPtr;
00082 
00083   for (int j=0; j < height; j++)
00084     for(int i=0; i<width; i+=2)
00085     {
00086       const unsigned char Y = buff[0];
00087       const unsigned char U = buff[1];
00088       const unsigned char Y1 = buff[2];
00089       const unsigned char V = buff[3];
00090       buff += 4;
00091 
00092       *dst++ = R_FROMYV(Y,V);
00093       *dst++ = G_FROMYUV(Y,U,V);
00094       *dst++ = B_FROMYU(Y,U);
00095 
00096       *dst++ = R_FROMYV(Y1,V);
00097       *dst++ = G_FROMYUV(Y1,U,V);
00098       *dst++ = B_FROMYU(Y1,U);
00099     }
00100 } 
00101 
00102 // ######################################################################
00103 //Grab a single image from an attached USB webcam
00104 unsigned char* Capture::grabFrame() 
00105 {
00106   //Grab the image from the camera (also does MJPEG->JPEG->YUYV conversion)
00107   uvcGrab(itsVideoIn);
00108 
00109   yuv422_to_rgb24(itsVideoIn->framebuffer, itsImg, itsWidth, itsHeight);
00110 
00111   return itsImg;
00112 }
00113 
00114 // ######################################################################
00115 unsigned char* Capture::grabFrameRaw(unsigned int& frameSize) 
00116 {
00117   uvcGrabRaw(itsVideoIn);
00118   frameSize = itsVideoIn->buf.bytesused;
00119   return itsVideoIn->framebuffer;
00120 }
00121 
00122 // ######################################################################
00123 void Capture::stopCapture()
00124 {
00125   if (itsImg)
00126     free(itsImg);
00127   close_v4l2(itsVideoIn);
00128 }
00129   
00130 
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