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Merge pull request #224 from jss2a98aj/backport-linux-camera-support
[backport] Linux camera support
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,212 @@ | ||
| /**************************************************************************/ | ||
| /* buffer_decoder.cpp */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* 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. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #include "buffer_decoder.h" | ||
|
|
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| #include "servers/camera/camera_feed.h" | ||
|
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| #include <linux/videodev2.h> | ||
|
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| BufferDecoder::BufferDecoder(CameraFeed *p_camera_feed) { | ||
| camera_feed = p_camera_feed; | ||
| width = camera_feed->get_format().width; | ||
| height = camera_feed->get_format().height; | ||
| image.instantiate(); | ||
| } | ||
|
|
||
| AbstractYuyvBufferDecoder::AbstractYuyvBufferDecoder(CameraFeed *p_camera_feed) : | ||
| BufferDecoder(p_camera_feed) { | ||
| switch (camera_feed->get_format().pixel_format) { | ||
| case V4L2_PIX_FMT_YYUV: | ||
| component_indexes = new int[4]{ 0, 1, 2, 3 }; | ||
| break; | ||
| case V4L2_PIX_FMT_YVYU: | ||
| component_indexes = new int[4]{ 0, 2, 3, 1 }; | ||
| break; | ||
| case V4L2_PIX_FMT_UYVY: | ||
| component_indexes = new int[4]{ 1, 3, 0, 2 }; | ||
| break; | ||
| case V4L2_PIX_FMT_VYUY: | ||
| component_indexes = new int[4]{ 1, 3, 2, 0 }; | ||
| break; | ||
| default: | ||
| component_indexes = new int[4]{ 0, 2, 1, 3 }; | ||
| } | ||
| } | ||
|
|
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| AbstractYuyvBufferDecoder::~AbstractYuyvBufferDecoder() { | ||
| delete[] component_indexes; | ||
| } | ||
|
|
||
| SeparateYuyvBufferDecoder::SeparateYuyvBufferDecoder(CameraFeed *p_camera_feed) : | ||
| AbstractYuyvBufferDecoder(p_camera_feed) { | ||
| y_image_data.resize(width * height); | ||
| cbcr_image_data.resize(width * height); | ||
| y_image.instantiate(); | ||
| cbcr_image.instantiate(); | ||
| } | ||
|
|
||
| void SeparateYuyvBufferDecoder::decode(StreamingBuffer p_buffer) { | ||
| uint8_t *y_dst = (uint8_t *)y_image_data.ptrw(); | ||
| uint8_t *uv_dst = (uint8_t *)cbcr_image_data.ptrw(); | ||
| uint8_t *src = (uint8_t *)p_buffer.start; | ||
| uint8_t *y0_src = src + component_indexes[0]; | ||
| uint8_t *y1_src = src + component_indexes[1]; | ||
| uint8_t *u_src = src + component_indexes[2]; | ||
| uint8_t *v_src = src + component_indexes[3]; | ||
|
|
||
| for (int i = 0; i < width * height; i += 2) { | ||
| *y_dst++ = *y0_src; | ||
| *y_dst++ = *y1_src; | ||
| *uv_dst++ = *u_src; | ||
| *uv_dst++ = *v_src; | ||
|
|
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| y0_src += 4; | ||
| y1_src += 4; | ||
| u_src += 4; | ||
| v_src += 4; | ||
| } | ||
|
|
||
| if (y_image.is_valid()) { | ||
| y_image->set_data(width, height, false, Image::FORMAT_L8, y_image_data); | ||
| } else { | ||
| y_image.instantiate(width, height, false, Image::FORMAT_RGB8, y_image_data); | ||
| } | ||
| if (cbcr_image.is_valid()) { | ||
| cbcr_image->set_data(width, height, false, Image::FORMAT_L8, cbcr_image_data); | ||
| } else { | ||
| cbcr_image.instantiate(width, height, false, Image::FORMAT_RGB8, cbcr_image_data); | ||
| } | ||
|
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| camera_feed->set_YCbCr_imgs(y_image, cbcr_image); | ||
| } | ||
|
|
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| YuyvToGrayscaleBufferDecoder::YuyvToGrayscaleBufferDecoder(CameraFeed *p_camera_feed) : | ||
| AbstractYuyvBufferDecoder(p_camera_feed) { | ||
| image_data.resize(width * height); | ||
| } | ||
|
|
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| void YuyvToGrayscaleBufferDecoder::decode(StreamingBuffer p_buffer) { | ||
| uint8_t *dst = (uint8_t *)image_data.ptrw(); | ||
| uint8_t *src = (uint8_t *)p_buffer.start; | ||
| uint8_t *y0_src = src + component_indexes[0]; | ||
| uint8_t *y1_src = src + component_indexes[1]; | ||
|
|
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| for (int i = 0; i < width * height; i += 2) { | ||
| *dst++ = *y0_src; | ||
| *dst++ = *y1_src; | ||
|
|
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| y0_src += 4; | ||
| y1_src += 4; | ||
| } | ||
|
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| if (image.is_valid()) { | ||
| image->set_data(width, height, false, Image::FORMAT_L8, image_data); | ||
| } else { | ||
| image.instantiate(width, height, false, Image::FORMAT_RGB8, image_data); | ||
| } | ||
|
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| camera_feed->set_RGB_img(image); | ||
| } | ||
|
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| YuyvToRgbBufferDecoder::YuyvToRgbBufferDecoder(CameraFeed *p_camera_feed) : | ||
| AbstractYuyvBufferDecoder(p_camera_feed) { | ||
| image_data.resize(width * height * 3); | ||
| } | ||
|
|
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| void YuyvToRgbBufferDecoder::decode(StreamingBuffer p_buffer) { | ||
| uint8_t *src = (uint8_t *)p_buffer.start; | ||
| uint8_t *y0_src = src + component_indexes[0]; | ||
| uint8_t *y1_src = src + component_indexes[1]; | ||
| uint8_t *u_src = src + component_indexes[2]; | ||
| uint8_t *v_src = src + component_indexes[3]; | ||
| uint8_t *dst = (uint8_t *)image_data.ptrw(); | ||
|
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| for (int i = 0; i < width * height; i += 2) { | ||
| int u = *u_src; | ||
| int v = *v_src; | ||
| int u1 = (((u - 128) << 7) + (u - 128)) >> 6; | ||
| int rg = (((u - 128) << 1) + (u - 128) + ((v - 128) << 2) + ((v - 128) << 1)) >> 3; | ||
| int v1 = (((v - 128) << 1) + (v - 128)) >> 1; | ||
|
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| *dst++ = CLAMP(*y0_src + v1, 0, 255); | ||
| *dst++ = CLAMP(*y0_src - rg, 0, 255); | ||
| *dst++ = CLAMP(*y0_src + u1, 0, 255); | ||
|
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| *dst++ = CLAMP(*y1_src + v1, 0, 255); | ||
| *dst++ = CLAMP(*y1_src - rg, 0, 255); | ||
| *dst++ = CLAMP(*y1_src + u1, 0, 255); | ||
|
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| y0_src += 4; | ||
| y1_src += 4; | ||
| u_src += 4; | ||
| v_src += 4; | ||
| } | ||
|
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| if (image.is_valid()) { | ||
| image->set_data(width, height, false, Image::FORMAT_RGB8, image_data); | ||
| } else { | ||
| image.instantiate(width, height, false, Image::FORMAT_RGB8, image_data); | ||
| } | ||
|
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| camera_feed->set_RGB_img(image); | ||
| } | ||
|
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| CopyBufferDecoder::CopyBufferDecoder(CameraFeed *p_camera_feed, bool p_rgba) : | ||
| BufferDecoder(p_camera_feed) { | ||
| rgba = p_rgba; | ||
| image_data.resize(width * height * (rgba ? 4 : 2)); | ||
| } | ||
|
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| void CopyBufferDecoder::decode(StreamingBuffer p_buffer) { | ||
| uint8_t *dst = (uint8_t *)image_data.ptrw(); | ||
| memcpy(dst, p_buffer.start, p_buffer.length); | ||
|
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| if (image.is_valid()) { | ||
| image->set_data(width, height, false, rgba ? Image::FORMAT_RGBA8 : Image::FORMAT_LA8, image_data); | ||
| } else { | ||
| image.instantiate(width, height, false, rgba ? Image::FORMAT_RGBA8 : Image::FORMAT_LA8, image_data); | ||
| } | ||
|
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| camera_feed->set_RGB_img(image); | ||
| } | ||
|
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| JpegBufferDecoder::JpegBufferDecoder(CameraFeed *p_camera_feed) : | ||
| BufferDecoder(p_camera_feed) { | ||
| } | ||
|
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| void JpegBufferDecoder::decode(StreamingBuffer p_buffer) { | ||
| image_data.resize(p_buffer.length); | ||
| uint8_t *dst = (uint8_t *)image_data.ptrw(); | ||
| memcpy(dst, p_buffer.start, p_buffer.length); | ||
| if (image->load_jpg_from_buffer(image_data) == OK) { | ||
| camera_feed->set_RGB_img(image); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,116 @@ | ||
| /**************************************************************************/ | ||
| /* buffer_decoder.h */ | ||
| /**************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /**************************************************************************/ | ||
| /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ | ||
| /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ | ||
| /* */ | ||
| /* 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. */ | ||
| /**************************************************************************/ | ||
|
|
||
| #ifndef BUFFER_DECODER_H | ||
| #define BUFFER_DECODER_H | ||
|
|
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| #include "core/io/image.h" | ||
| #include "core/templates/vector.h" | ||
|
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| class CameraFeed; | ||
|
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| struct StreamingBuffer { | ||
| void *start = nullptr; | ||
| size_t length = 0; | ||
| }; | ||
|
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| class BufferDecoder { | ||
| protected: | ||
| CameraFeed *camera_feed = nullptr; | ||
| Ref<Image> image; | ||
| int width = 0; | ||
| int height = 0; | ||
|
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| public: | ||
| virtual void decode(StreamingBuffer p_buffer) = 0; | ||
|
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| BufferDecoder(CameraFeed *p_camera_feed); | ||
| virtual ~BufferDecoder() {} | ||
| }; | ||
|
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| class AbstractYuyvBufferDecoder : public BufferDecoder { | ||
| protected: | ||
| int *component_indexes = nullptr; | ||
|
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| public: | ||
| AbstractYuyvBufferDecoder(CameraFeed *p_camera_feed); | ||
| ~AbstractYuyvBufferDecoder(); | ||
| }; | ||
|
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| class SeparateYuyvBufferDecoder : public AbstractYuyvBufferDecoder { | ||
| private: | ||
| Vector<uint8_t> y_image_data; | ||
| Vector<uint8_t> cbcr_image_data; | ||
| Ref<Image> y_image; | ||
| Ref<Image> cbcr_image; | ||
|
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| public: | ||
| SeparateYuyvBufferDecoder(CameraFeed *p_camera_feed); | ||
| virtual void decode(StreamingBuffer p_buffer) override; | ||
| }; | ||
|
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| class YuyvToGrayscaleBufferDecoder : public AbstractYuyvBufferDecoder { | ||
| private: | ||
| Vector<uint8_t> image_data; | ||
|
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| public: | ||
| YuyvToGrayscaleBufferDecoder(CameraFeed *p_camera_feed); | ||
| virtual void decode(StreamingBuffer p_buffer) override; | ||
| }; | ||
|
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| class YuyvToRgbBufferDecoder : public AbstractYuyvBufferDecoder { | ||
| private: | ||
| Vector<uint8_t> image_data; | ||
|
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| public: | ||
| YuyvToRgbBufferDecoder(CameraFeed *p_camera_feed); | ||
| virtual void decode(StreamingBuffer p_buffer) override; | ||
| }; | ||
|
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| class CopyBufferDecoder : public BufferDecoder { | ||
| private: | ||
| Vector<uint8_t> image_data; | ||
| bool rgba = false; | ||
|
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| public: | ||
| CopyBufferDecoder(CameraFeed *p_camera_feed, bool p_rgba); | ||
| virtual void decode(StreamingBuffer p_buffer) override; | ||
| }; | ||
|
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| class JpegBufferDecoder : public BufferDecoder { | ||
| private: | ||
| Vector<uint8_t> image_data; | ||
|
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| public: | ||
| JpegBufferDecoder(CameraFeed *p_camera_feed); | ||
| virtual void decode(StreamingBuffer p_buffer) override; | ||
| }; | ||
|
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| #endif // BUFFER_DECODER_H |
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