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00037 #include <openni_camera/openni_image_yuv_422.h>
00038 #include <sstream>
00039 #include <iostream>
00040
00041 #define CLIP_CHAR(c) ((c)>255?255:(c)<0?0:(c))
00042
00043 using namespace std;
00044 namespace openni_wrapper
00045 {
00046
00047 ImageYUV422::ImageYUV422 (boost::shared_ptr<xn::ImageMetaData> image_meta_data) throw ()
00048 : Image (image_meta_data)
00049 {
00050 }
00051
00052 ImageYUV422::~ImageYUV422 () throw ()
00053 {
00054 }
00055
00056 bool ImageYUV422::isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const
00057 {
00058 return ImageYUV422::resizingSupported (input_width, input_height, output_width, output_height);
00059 }
00060
00061 void ImageYUV422::fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step) const throw (OpenNIException)
00062 {
00063
00064
00065
00066 if (image_md_->XRes() != width && image_md_->YRes() != height)
00067 {
00068 if (width > image_md_->XRes () || height > image_md_->YRes ())
00069 THROW_OPENNI_EXCEPTION ("Upsampling not supported. Request was: %d x %d -> %d x %d", image_md_->XRes (), image_md_->YRes (), width, height);
00070
00071 if ( image_md_->XRes () % width != 0 || image_md_->YRes () % height != 0
00072 || (image_md_->XRes () / width) & 0x01 || (image_md_->YRes () / height & 0x01) )
00073 THROW_OPENNI_EXCEPTION ("Downsampling only possible for power of two scale in both dimensions. Request was %d x %d -> %d x %d.", image_md_->XRes (), image_md_->YRes (), width, height);
00074 }
00075
00076 register const XnUInt8* yuv_buffer = image_md_->Data();
00077
00078 unsigned rgb_line_skip = 0;
00079 if (rgb_line_step != 0)
00080 rgb_line_skip = rgb_line_step - width * 3;
00081
00082 if (image_md_->XRes() == width && image_md_->YRes() == height)
00083 {
00084 for( register unsigned yIdx = 0; yIdx < height; ++yIdx, rgb_buffer += rgb_line_skip )
00085 {
00086 for( register unsigned xIdx = 0; xIdx < width; xIdx += 2, rgb_buffer += 6, yuv_buffer += 4 )
00087 {
00088 int v = yuv_buffer[2] - 128;
00089 int u = yuv_buffer[0] - 128;
00090
00091 rgb_buffer[0] = CLIP_CHAR (yuv_buffer[1] + ((v * 18678 + 8192 ) >> 14));
00092 rgb_buffer[1] = CLIP_CHAR (yuv_buffer[1] + ((v * -9519 - u * 6472 + 8192 ) >> 14));
00093 rgb_buffer[2] = CLIP_CHAR (yuv_buffer[1] + ((u * 33292 + 8192 ) >> 14));
00094
00095 rgb_buffer[3] = CLIP_CHAR (yuv_buffer[3] + ((v * 18678 + 8192 ) >> 14));
00096 rgb_buffer[4] = CLIP_CHAR (yuv_buffer[3] + ((v * -9519 - u * 6472 + 8192 ) >> 14));
00097 rgb_buffer[5] = CLIP_CHAR (yuv_buffer[3] + ((u * 33292 + 8192 ) >> 14));
00098 }
00099 }
00100 }
00101 else
00102 {
00103 register unsigned yuv_step = image_md_->XRes() / width;
00104 register unsigned yuv_x_step = yuv_step << 1;
00105 register unsigned yuv_skip = (image_md_->YRes() / height - 1) * ( image_md_->XRes() << 1 );
00106
00107 for( register unsigned yIdx = 0; yIdx < image_md_->YRes(); yIdx += yuv_step, yuv_buffer += yuv_skip, rgb_buffer += rgb_line_skip )
00108 {
00109 for( register unsigned xIdx = 0; xIdx < image_md_->XRes(); xIdx += yuv_step, rgb_buffer += 3, yuv_buffer += yuv_x_step )
00110 {
00111 int v = yuv_buffer[2] - 128;
00112 int u = yuv_buffer[0] - 128;
00113
00114 rgb_buffer[0] = CLIP_CHAR (yuv_buffer[1] + ((v * 18678 + 8192 ) >> 14));
00115 rgb_buffer[1] = CLIP_CHAR (yuv_buffer[1] + ((v * -9519 - u * 6472 + 8192 ) >> 14));
00116 rgb_buffer[2] = CLIP_CHAR (yuv_buffer[1] + ((u * 33292 + 8192 ) >> 14));
00117 }
00118 }
00119 }
00120 }
00121
00122 void ImageYUV422::fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step) const throw (OpenNIException)
00123 {
00124
00125 if (width > image_md_->XRes () || height > image_md_->YRes ())
00126 THROW_OPENNI_EXCEPTION ("Upsampling not supported. Request was: %d x %d -> %d x %d", image_md_->XRes (), image_md_->YRes (), width, height);
00127
00128 if (image_md_->XRes () % width != 0 || image_md_->YRes () % height != 0)
00129 THROW_OPENNI_EXCEPTION ("Downsampling only possible for integer scales in both dimensions. Request was %d x %d -> %d x %d.", image_md_->XRes (), image_md_->YRes (), width, height);
00130
00131 unsigned gray_line_skip = 0;
00132 if (gray_line_step != 0)
00133 gray_line_skip = gray_line_step - width;
00134
00135 register unsigned yuv_step = image_md_->XRes() / width;
00136 register unsigned yuv_x_step = yuv_step << 1;
00137 register unsigned yuv_skip = (image_md_->YRes() / height - 1) * ( image_md_->XRes() << 1 );
00138 register const XnUInt8* yuv_buffer = (image_md_->Data() + 1);
00139
00140 for( register unsigned yIdx = 0; yIdx < image_md_->YRes(); yIdx += yuv_step, yuv_buffer += yuv_skip, gray_buffer += gray_line_skip )
00141 {
00142 for( register unsigned xIdx = 0; xIdx < image_md_->XRes(); xIdx += yuv_step, ++gray_buffer, yuv_buffer += yuv_x_step )
00143 {
00144 *gray_buffer = *yuv_buffer;
00145 }
00146 }
00147 }
00148 }