diff options
| -rw-r--r-- | CMakeLists.txt | 71 | ||||
| -rw-r--r-- | ipe.pc.in | 10 | ||||
| -rw-r--r-- | src/config.h.in | 1 | ||||
| -rw-r--r-- | src/libipe-private.h | 15 | ||||
| -rw-r--r-- | src/libipe.c | 294 | ||||
| -rw-r--r-- | src/libipe.h | 27 | ||||
| -rw-r--r-- | src/versions.ldscript | 9 | ||||
| -rw-r--r-- | test/ipedec.c | 83 |
8 files changed, 510 insertions, 0 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..2f519ee --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,71 @@ +cmake_minimum_required(VERSION 2.8) +set(TARNAME "libipe") + +set(LIBIPE_API_VERSION "0.1.0") +set(LIBIPE_ABI_VERSION "0.1.0") +set(LIBIPE_ABI_MAJOR_VERSION "0") + +set(PACKAGE_VERSION "0.1.0") +set(PACKAGE_NAME "${TARNAME}") +set(PACKAGE_TARNAME "${TARNAME}") +set(PACKAGE_STRING "${PACKAGE_NAME} ${PACKAGE_VERSION}") +set(PACKAGE_BUGREPORT "http://ufo.kit.edu/ufo/newticket") + +if(NOT DEFINED BIN_INSTALL_DIR) + set(BIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/bin") +endif(NOT DEFINED BIN_INSTALL_DIR) + +if(NOT DEFINED LIB_INSTALL_DIR) + set(LIB_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib") +endif(NOT DEFINED LIB_INSTALL_DIR) + +if(NOT DEFINED INCLUDE_INSTALL_DIR) + set(INCLUDE_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/include/${PACKAGE_TARNAME}") +endif(NOT DEFINED INCLUDE_INSTALL_DIR) + +if(NOT DEFINED LOCALE_INSTALL_DIR) + set(LOCALE_INSTALL_DIR "${DATA_INSTALL_DIR}/locale/") +endif(NOT DEFINED LOCALE_INSTALL_DIR) + + +# --- Build library and install --------------------------------------------- +include_directories( + ${CMAKE_SOURCE_DIR}/src + ${CMAKE_CURRENT_BINARY_DIR} +) + +add_definitions("--std=c99 -Wall -O2") + +add_library(ipe SHARED src/libipe.c) + +set_target_properties(ipe PROPERTIES + VERSION ${LIBIPE_ABI_VERSION} + SOVERSION ${LIBIPE_ABI_MAJOR_VERSION} +) + +install(TARGETS ipe + LIBRARY DESTINATION lib${LIB_SUFFIX} +) + +install(FILES + src/libipe.h + DESTINATION include +) + +configure_file(ipe.pc.in ${CMAKE_CURRENT_BINARY_DIR}/ipe.pc) + +if ("${CMAKE_BUILD_TYPE}" MATCHES "Debug") + set(DEBUG "1") +endif() +configure_file(src/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h) + +install(FILES + ${CMAKE_CURRENT_BINARY_DIR}/ipe.pc + DESTINATION ${LIB_INSTALL_DIR}/pkgconfig) + + +# --- Build test executable ------------------------------------------------- +add_executable(ipedec test/ipedec.c) +target_link_libraries(ipedec ipe) + +install(TARGETS ipedec DESTINATION ${BIN_INSTALL_DIR}) diff --git a/ipe.pc.in b/ipe.pc.in new file mode 100644 index 0000000..bbd9311 --- /dev/null +++ b/ipe.pc.in @@ -0,0 +1,10 @@ +prefix=${CMAKE_INSTALL_PREFIX} +exec_prefix=${BIN_INSTALL_DIR} +libdir=${LIB_INSTALL_DIR} +includedir=${INCLUDE_INSTALL_DIR} + +Name: libipe +Description: Decoding routines for the UFO camera +Version: ${PACKAGE_VERSION} +Libs: -L${LIB_INSTALL_DIR} -lipe +Cflags: -I${INCLUDE_INSTALL_DIR} diff --git a/src/config.h.in b/src/config.h.in new file mode 100644 index 0000000..e5d0189 --- /dev/null +++ b/src/config.h.in @@ -0,0 +1 @@ +#cmakedefine DEBUG diff --git a/src/libipe-private.h b/src/libipe-private.h new file mode 100644 index 0000000..8d7de1c --- /dev/null +++ b/src/libipe-private.h @@ -0,0 +1,15 @@ +#ifndef LIB_IPE_PRIVATE_H +#define LIB_IPE_PRIVATE_H + +#include <stdbool.h> + +struct ipe_decoder_t { + uint32_t height; + uint32_t *raw; + size_t num_bytes; + uint32_t current_pos; +}; + + +#endif + diff --git a/src/libipe.c b/src/libipe.c new file mode 100644 index 0000000..7b919d5 --- /dev/null +++ b/src/libipe.c @@ -0,0 +1,294 @@ + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <errno.h> +#include "libipe.h" +#include "libipe-private.h" +#include "config.h" + +#define IPECAMERA_NUM_CHANNELS 16 +#define IPECAMERA_PIXELS_PER_CHANNEL 128 +#define IPECAMERA_WIDTH (IPECAMERA_NUM_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL) + + +#define CHECK_VALUE(value, expected) \ + if (value != expected) { \ + fprintf(stderr, "<%s:%i> 0x%x != 0x%x\n", __FILE__, __LINE__, value, expected); \ + err = 1; \ + } + +#define CHECK_FLAG(flag, check, ...) \ + if (!(check)) { \ + fprintf(stderr, "<%s:%i> Unexpected value 0x%x of " flag "\n", __FILE__, __LINE__, __VA_ARGS__); \ + err = 1; \ + } + + +/** + * \brief Setup a new decoder instance + * + * \param height Number of rows that are expected in the data stream + * \param raw The data stream from the camera or NULL if set later with + * ipe_decoder_set_raw_data. + * \param num_bytes Size of the data stream buffer in bytes + * + * \return A new decoder instance that can be used to iterate over the frames + * using ipe_decoder_get_next_frame. + */ +ipe_decoder ipe_decoder_new(uint32_t height, uint32_t *raw, size_t num_bytes) +{ + ipe_decoder decoder = malloc(sizeof(struct ipe_decoder_t)); + if (decoder == NULL) + return NULL; + + decoder->height = height; + ipe_decoder_set_raw_data(decoder, raw, num_bytes); + return decoder; +} + + +/** + * \brief Release decoder instance + * + * \param decoder An ipe_decoder instance + */ +void ipe_decoder_free(ipe_decoder decoder) +{ + free(decoder); +} + + +/** + * \brief Set raw data stream + * + * \param decoder An ipe_decoder instance + * \param raw Raw data stream + * \param num_bytes Size of data stream buffer in bytes + */ +void ipe_decoder_set_raw_data(ipe_decoder decoder, uint32_t *raw, size_t num_bytes) +{ + decoder->raw = raw; + decoder->num_bytes = num_bytes; + decoder->current_pos = 0; +} + + +static int ipe_decode_frame(uint16_t *pixel_buffer, uint32_t *raw, int num_rows, int *offset) +{ + static int channel_order[IPECAMERA_NUM_CHANNELS] = { 15, 13, 14, 12, 10, 8, 11, 7, 9, 6, 5, 2, 4, 3, 0, 1 }; + + int info; + int row = 0; + int channel = 0; + int pos = 0; + uint32_t data; + + do { + info = raw[0]; + channel = info & 0x0F; + row = (info >> 4) & 0x7FF; + int pixels = (info >> 20) & 0xFF; + + channel = channel_order[channel]; + int base = row * IPECAMERA_WIDTH + channel * IPECAMERA_PIXELS_PER_CHANNEL; + +#ifdef DEBUG + int err = 0; + int header = (info >> 30) & 0x03; // 2 bits + const int bpp = (info >> 16) & 0x0F; // 4 bits + CHECK_FLAG("raw header magick", header == 2, header); + CHECK_FLAG("pixel size, only 10 bits are supported", bpp == 10, bpp); + CHECK_FLAG("channel, limited by %i output channels", channel < IPECAMERA_NUM_CHANNELS, channel, IPECAMERA_NUM_CHANNELS); +#endif + + /* "Correct" missing pixel */ + if ((row < 2) && (pixels == (IPECAMERA_PIXELS_PER_CHANNEL - 1))) { + pixel_buffer[base] = 0; + base++; + } +#ifdef DEBUG + else + CHECK_FLAG("number of pixels, %i is expected", pixels == IPECAMERA_PIXELS_PER_CHANNEL, pixels, IPECAMERA_PIXELS_PER_CHANNEL); +#endif + + int bytes = 43; + /* bytes = pixels / 3; */ + /* int ppw = pixels - bytes * 3; */ + /* if (ppw) */ + /* ++bytes; */ + + for (int i = 1; i < bytes; i++) { + data = raw[i]; + +#ifdef DEBUG + header = (data >> 30) & 0x03; + CHECK_FLAG("raw data magick", header == 3, header); + if (err) + return err; +#endif + pixel_buffer[base++] = (data >> 20) & 0x3FF; + pixel_buffer[base++] = (data >> 10) & 0x3FF; + pixel_buffer[base++] = data & 0x3FF; + } + + data = raw[bytes]; + +#ifdef DEBUG + header = (data >> 30) & 0x03; + CHECK_FLAG("raw data magick", header == 3, header); + CHECK_FLAG("raw footer magick", (data & 0x3FF) == 0x55, (data & 0x3FF)); + if (err) + return err; +#endif + + int ppw = pixels >> 6; + for (int j = 0; j < ppw; j++) + pixel_buffer[base++] = (data >> (10 * (ppw - j))) & 0x3FF; + + pos += bytes + 1; + raw += bytes + 1; + } while ((row < (num_rows - 1)) || (channel != 1)); + + *offset = pos; + return 0; +} + + +/** + * \brief Deinterlace by interpolating between two rows + * + * \param in Input frame + * \param out Destination of interpolated frame + * \param width Width of frame in pixels + * \param heigh Height of frame in pixels + */ +void ipe_deinterlace_interpolate(const uint16_t *in, uint16_t *out, int width, int height) +{ + const size_t row_size_bytes = width * sizeof(uint16_t); + + for (int row = 0; row < height; row++) { + /* Copy one line */ + memcpy(out, in + row*width, row_size_bytes); + out += width; + + /* Interpolate between source row and row+1 */ + for (int x = 0; x < width; x++) { + out[x] = (int) (0.5 * in[row*width + x] + 0.5 * in[(row+1)*width + x]); + } + out += width; + } + + /* Copy last row */ + memcpy(out, in + width * (height - 1), row_size_bytes); +} + + +/** + * \brief Deinterlace by "weaving" the rows of two frames + * + * \param in1 First frame + * \param in2 Second frame + * \param out Destination of weaved frame + * \param width Width of frame in pixels + * \param heigh Height of frame in pixels + */ +void ipe_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *out, int width, int height) +{ + const size_t row_size_bytes = width * sizeof(uint16_t); + for (int row = 0; row < height; row++) { + memcpy(out, in1 + row*width, row_size_bytes); + out += width; + memcpy(out, in2 + row*width, row_size_bytes); + out += width; + } +} + + +/** + * \brief Iterate and decode next frame + * + * This function tries to decode the next frame in the currently set raw data + * stream. + * + * \param decoder An ipe_decoder instance + * \param pixels If pointer with NULL content is passed, a new buffer is + * allocated otherwise, this user-supplied buffer is used. + * \param frame_number Frame number as reported in the header + * \param time_stamp Time stamp of the frame as reported in the header + * + * \return 0 in case of no error, ENOSR if end of stream was reached, ENOMEM if + * NULL was passed but no memory could be allocated, EILSEQ if data stream is + * corrupt and EFAULT if pixels is a NULL-pointer. + */ +int ipe_decoder_get_next_frame(ipe_decoder decoder, uint16_t **pixels, uint32_t *frame_number, uint32_t *time_stamp) +{ + + uint32_t *raw = decoder->raw; + int err = 0; + int pos = decoder->current_pos; + int advance; + const int num_words = decoder->num_bytes / 4; + + if (pixels == NULL) + return EFAULT; + + if (pos >= num_words) + return ENOSR; + + if (num_words < 16) + return EILSEQ; + + if (*pixels == NULL) { + *pixels = (uint16_t *) malloc(IPECAMERA_WIDTH * decoder->height * sizeof(uint16_t)); + if (*pixels == NULL) + return ENOMEM; + } + +#ifdef DEBUG + CHECK_VALUE(raw[pos++], 0x51111111); + CHECK_VALUE(raw[pos++], 0x52222222); + CHECK_VALUE(raw[pos++], 0x53333333); + CHECK_VALUE(raw[pos++], 0x54444444); + CHECK_VALUE(raw[pos++], 0x55555555); + CHECK_VALUE(raw[pos++], 0x56666666); + CHECK_VALUE(raw[pos] >> 28, 0x5); + *frame_number = raw[pos++] & 0xF0000000; + CHECK_VALUE(raw[pos] >> 28, 0x5); + *time_stamp = raw[pos++] & 0xF0000000; + if (err) + return EILSEQ; +#else + pos += 8; +#endif + + err = ipe_decode_frame(*pixels, raw + pos, decoder->height, &advance); + if (err) + return EILSEQ; + + pos += advance; + +#ifdef DEBUG + CHECK_VALUE(raw[pos++], 0x0AAAAAAA); + CHECK_VALUE(raw[pos++], 0x0BBBBBBB); + CHECK_VALUE(raw[pos++], 0x0CCCCCCC); + CHECK_VALUE(raw[pos++], 0x0DDDDDDD); + CHECK_VALUE(raw[pos++], 0x0EEEEEEE); + CHECK_VALUE(raw[pos++], 0x0FFFFFFF); + CHECK_VALUE(raw[pos++], 0x00000000); + CHECK_VALUE(raw[pos++], 0x01111111); +#else + pos += 8; +#endif + + /* if bytes left and we see fill bytes, skip them */ + if ((raw[pos] == 0x0) && (raw[pos+1] == 0x1111111)) { + pos += 2; + while ((pos < num_words) && ((raw[pos] == 0x89abcdef) || (raw[pos] == 0x1234567))) + pos++; + } + + decoder->current_pos = pos; + return 0; +} + diff --git a/src/libipe.h b/src/libipe.h new file mode 100644 index 0000000..5abc6e4 --- /dev/null +++ b/src/libipe.h @@ -0,0 +1,27 @@ +#ifndef LIB_IPE_H +#define LIB_IPE_H + +#include <inttypes.h> + +typedef struct ipe_decoder_t *ipe_decoder; + +#ifdef __cplusplus +extern "C" { +#endif + + +ipe_decoder ipe_decoder_new(uint32_t height, uint32_t *raw, size_t num_bytes); +void ipe_decoder_free(ipe_decoder decoder); +void ipe_decoder_set_raw_data(ipe_decoder decoder, uint32_t *raw, size_t num_bytes); +int ipe_decoder_get_next_frame(ipe_decoder decoder, uint16_t **pixels, uint32_t *frame_number, uint32_t *time_stamp); + +void ipe_deinterlace_interpolate(const uint16_t *frame_in, uint16_t *frame_out, int width, int height); +void ipe_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *out, int width, int height); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/src/versions.ldscript b/src/versions.ldscript new file mode 100644 index 0000000..e2ccee0 --- /dev/null +++ b/src/versions.ldscript @@ -0,0 +1,9 @@ +libipe_0.1 { + global: + ipe_decoder ipe_decoder_new; + ipe_decoder_free; + ipe_decoder_set_raw_data; + ipe_decoder_next_frame; + local: + *; +}; diff --git a/test/ipedec.c b/test/ipedec.c new file mode 100644 index 0000000..1aef1d6 --- /dev/null +++ b/test/ipedec.c @@ -0,0 +1,83 @@ +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <unistd.h> +#include <sys/time.h> +#include <errno.h> +#include <libipe.h> + + +int read_raw_file(const char *filename, char **buffer, size_t *length) +{ + FILE *fp = fopen(filename, "rb"); + if (fp == NULL) + return ENOENT; + + fseek(fp, 0, SEEK_END); + *length = ftell(fp); + rewind(fp); + + *buffer = (char *) malloc(*length); + if (*buffer == NULL) { + fclose(fp); + return ENOMEM; + } + + size_t buffer_length = fread(*buffer, 1, *length, fp); + fclose(fp); + if (buffer_length != *length) { + free(buffer); + return ERANGE; + } + return 0; +} + + +int main(int argc, char const* argv[]) +{ + if (argc < 3) { + fprintf(stderr, "Usage: ipedec <filename> <number of lines per frame>\n"); + return EXIT_FAILURE; + } + + char *buffer = NULL; + size_t num_bytes = 0; + if (read_raw_file(argv[1], &buffer, &num_bytes)) + return EXIT_FAILURE; + + const int rows = atoi(argv[2]); + + ipe_decoder decoder = ipe_decoder_new(rows, (uint32_t *) buffer, num_bytes); + int err = 0; + uint16_t *pixels = (uint16_t *) malloc(2048 * rows * sizeof(uint16_t)); + uint32_t frame_number, time_stamp; + int num_frames = 0; + struct timeval start, end; + long seconds = 0L, useconds = 0L; + + /* FILE *fp = fopen("test.raw", "wb"); */ + + while (!err) { + gettimeofday(&start, NULL); + err = ipe_decoder_get_next_frame(decoder, &pixels, &frame_number, &time_stamp); + gettimeofday(&end, NULL); + + if (!err) { + num_frames++; + seconds += end.tv_sec - start.tv_sec; + useconds += end.tv_usec - start.tv_usec; + /* fwrite(pixels, sizeof(uint16_t), 2048 * 1088, fp); */ + } + } + /* fclose(fp); */ + + float mtime = seconds * 1000.0 + useconds / 1000.0; + printf("Decoded %i frames in %.5fms\n", num_frames, mtime); + + free(pixels); + ipe_decoder_free(decoder); + free(buffer); + + return 0; +} + |