RobotKernal-UESTC/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/frame-mjpeg.c

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/**
 * @defgroup frame Frame processing
 */
#include "libuvc/libuvc.h"
#include "libuvc/libuvc_internal.h"
#include <jpeglib.h>
#include <setjmp.h>

extern uvc_error_t uvc_ensure_frame_size(uvc_frame_t *frame, size_t need_bytes);

struct error_mgr {
  struct jpeg_error_mgr super;
  jmp_buf jmp;
};

static void _error_exit(j_common_ptr dinfo) {
  struct error_mgr *myerr = (struct error_mgr *)dinfo->err;
  (*dinfo->err->output_message)(dinfo);
  longjmp(myerr->jmp, 1);
}

/* ISO/IEC 10918-1:1993(E) K.3.3. Default Huffman tables used by MJPEG UVC devices
   which don't specify a Huffman table in the JPEG stream. */
static const unsigned char dc_lumi_len[] = 
  {0, 0, 1, 5, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0};
static const unsigned char dc_lumi_val[] = 
  {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11};

static const unsigned char dc_chromi_len[] = 
  {0, 0, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0};
static const unsigned char dc_chromi_val[] = 
  {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11};

static const unsigned char ac_lumi_len[] = 
  {0, 0, 2, 1, 3, 3, 2, 4, 3, 5, 5, 4, 4, 0, 0, 1, 0x7d};
static const unsigned char ac_lumi_val[] = 
  {0x01, 0x02, 0x03, 0x00, 0x04, 0x11, 0x05, 0x12, 0x21,
   0x31, 0x41, 0x06, 0x13, 0x51, 0x61, 0x07, 0x22, 0x71,
   0x14, 0x32, 0x81, 0x91, 0xa1, 0x08, 0x23, 0x42, 0xb1,
   0xc1, 0x15, 0x52, 0xd1, 0xf0, 0x24, 0x33, 0x62, 0x72,
   0x82, 0x09, 0x0a, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x25,
   0x26, 0x27, 0x28, 0x29, 0x2a, 0x34, 0x35, 0x36, 0x37,
   0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48,
   0x49, 0x4a, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59,
   0x5a, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a,
   0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x83,
   0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93,
   0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3,
   0xa4, 0xa5, 0xa6, 0xa7, 0xa8, 0xa9, 0xaa, 0xb2, 0xb3,
   0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xc2, 0xc3,
   0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3,
   0xd4, 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe1, 0xe2,
   0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9, 0xea, 0xf1,
   0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa};
static const unsigned char ac_chromi_len[] = 
  {0, 0, 2, 1, 2, 4, 4, 3, 4, 7, 5, 4, 4, 0, 1, 2, 0x77};
static const unsigned char ac_chromi_val[] = 
  {0x00, 0x01, 0x02, 0x03, 0x11, 0x04, 0x05, 0x21, 0x31,
   0x06, 0x12, 0x41, 0x51, 0x07, 0x61, 0x71, 0x13, 0x22,
   0x32, 0x81, 0x08, 0x14, 0x42, 0x91, 0xa1, 0xb1, 0xc1,
   0x09, 0x23, 0x33, 0x52, 0xf0, 0x15, 0x62, 0x72, 0xd1,
   0x0a, 0x16, 0x24, 0x34, 0xe1, 0x25, 0xf1, 0x17, 0x18,
   0x19, 0x1a, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x35, 0x36,
   0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47,
   0x48, 0x49, 0x4a, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58,
   0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69,
   0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a,
   0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a,
   0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a,
   0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, 0xa8, 0xa9, 0xaa,
   0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba,
   0xc2, 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca,
   0xd2, 0xd3, 0xd4, 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda,
   0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9, 0xea,
   0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa};

#define COPY_HUFF_TABLE(dinfo,tbl,name) do { \
  if(dinfo->tbl == NULL) dinfo->tbl = jpeg_alloc_huff_table((j_common_ptr)dinfo); \
  memcpy(dinfo->tbl->bits, name##_len, sizeof(name##_len)); \
  memset(dinfo->tbl->huffval, 0, sizeof(dinfo->tbl->huffval)); \
  memcpy(dinfo->tbl->huffval, name##_val, sizeof(name##_val)); \
} while(0)

static void insert_huff_tables(j_decompress_ptr dinfo) {
  COPY_HUFF_TABLE(dinfo, dc_huff_tbl_ptrs[0], dc_lumi);
  COPY_HUFF_TABLE(dinfo, dc_huff_tbl_ptrs[1], dc_chromi);
  COPY_HUFF_TABLE(dinfo, ac_huff_tbl_ptrs[0], ac_lumi);
  COPY_HUFF_TABLE(dinfo, ac_huff_tbl_ptrs[1], ac_chromi);
}

static uvc_error_t uvc_mjpeg_convert(uvc_frame_t *in, uvc_frame_t *out) {
  struct jpeg_decompress_struct dinfo;
  struct error_mgr jerr;
  size_t lines_read;
  dinfo.err = jpeg_std_error(&jerr.super);
  jerr.super.error_exit = _error_exit;

  if (setjmp(jerr.jmp)) {
    goto fail;
  }

  jpeg_create_decompress(&dinfo);
  jpeg_mem_src(&dinfo, in->data, in->data_bytes);
  jpeg_read_header(&dinfo, TRUE);

  if (dinfo.dc_huff_tbl_ptrs[0] == NULL) {
    /* This frame is missing the Huffman tables: fill in the standard ones */
    insert_huff_tables(&dinfo);
  }

  if (out->frame_format == UVC_FRAME_FORMAT_RGB)
    dinfo.out_color_space = JCS_RGB;
  else if (out->frame_format == UVC_FRAME_FORMAT_GRAY8)
    dinfo.out_color_space = JCS_GRAYSCALE;
  else
    goto fail;

  dinfo.dct_method = JDCT_IFAST;

  jpeg_start_decompress(&dinfo);

  lines_read = 0;
  while (dinfo.output_scanline < dinfo.output_height) {
    unsigned char *buffer[1] = {( unsigned char*) out->data + lines_read * out->step };
    int num_scanlines;

    num_scanlines = jpeg_read_scanlines(&dinfo, buffer, 1);
    lines_read += num_scanlines;
  }

  jpeg_finish_decompress(&dinfo);
  jpeg_destroy_decompress(&dinfo);
  return 0;

fail:
  jpeg_destroy_decompress(&dinfo);
  return UVC_ERROR_OTHER;
}

/** @brief Convert an MJPEG frame to RGB
 * @ingroup frame
 *
 * @param in MJPEG frame
 * @param out RGB frame
 */
uvc_error_t uvc_mjpeg2rgb(uvc_frame_t *in, uvc_frame_t *out) {
  if (in->frame_format != UVC_FRAME_FORMAT_MJPEG)
    return UVC_ERROR_INVALID_PARAM;

  if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
    return UVC_ERROR_NO_MEM;

  out->width = in->width;
  out->height = in->height;
  out->frame_format = UVC_FRAME_FORMAT_RGB;
  out->step = in->width * 3;
  out->sequence = in->sequence;
  out->capture_time = in->capture_time;
  out->capture_time_finished = in->capture_time_finished;
  out->source = in->source;

  return uvc_mjpeg_convert(in, out);
}

/** @brief Convert an MJPEG frame to GRAY8
 * @ingroup frame
 *
 * @param in MJPEG frame
 * @param out GRAY8 frame
 */
uvc_error_t uvc_mjpeg2gray(uvc_frame_t *in, uvc_frame_t *out) {
  if (in->frame_format != UVC_FRAME_FORMAT_MJPEG)
    return UVC_ERROR_INVALID_PARAM;

  if (uvc_ensure_frame_size(out, in->width * in->height) < 0)
    return UVC_ERROR_NO_MEM;

  out->width = in->width;
  out->height = in->height;
  out->frame_format = UVC_FRAME_FORMAT_GRAY8;
  out->step = in->width;
  out->sequence = in->sequence;
  out->capture_time = in->capture_time;
  out->capture_time_finished = in->capture_time_finished;
  out->source = in->source;

  return uvc_mjpeg_convert(in, out);
}