openni_image_yuv_422.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011 2011 Willow Garage, Inc.
00005  *    Suat Gedikli <gedikli@willowgarage.com>
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00009  *  Redistribution and use in source and binary forms, with or without
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00012  *
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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   // 0  1   2  3
00064   // u  y1  v  y2
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_->WritableData();
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   // u y1 v y2
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_->WritableData() + 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 } //namespace


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Thu Jun 6 2019 20:16:13