From 7d908a588dbb471b19ac57d2ef3b7806314d16c4 Mon Sep 17 00:00:00 2001
From: Matthias Vogelgesang <matthias.vogelgesang@kit.edu>
Date: Mon, 12 Mar 2012 17:10:42 +0100
Subject: Add version 4 frame decoding
Beware, only version 0 can be decoded with SSE. To decode version 4 frames, you
have to set the release mode to Debug.
---
src/ufodecode-private.h | 2 +-
src/ufodecode.c | 236 ++++++++++++++++++++++++++++++++++++++++++++----
src/ufodecode.h | 13 ++-
3 files changed, 230 insertions(+), 21 deletions(-)
(limited to 'src')
diff --git a/src/ufodecode-private.h b/src/ufodecode-private.h
index 947936f..19746ce 100644
--- a/src/ufodecode-private.h
+++ b/src/ufodecode-private.h
@@ -4,7 +4,7 @@
#include <stdbool.h>
struct ufo_decoder_t {
- uint32_t height;
+ int32_t height;
uint32_t width;
uint32_t *raw;
size_t num_bytes;
diff --git a/src/ufodecode.c b/src/ufodecode.c
index 1cdb1db..1fda5dc 100644
--- a/src/ufodecode.c
+++ b/src/ufodecode.c
@@ -12,6 +12,7 @@
#define CHECKS
+#define IPECAMERA_NUM_ROWS 1088
#define IPECAMERA_NUM_CHANNELS 16 /**< Number of channels per row */
#define IPECAMERA_PIXELS_PER_CHANNEL 128 /**< Number of pixels per channel */
#define IPECAMERA_WIDTH (IPECAMERA_NUM_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL) /**< Total pixel width of row */
@@ -52,7 +53,8 @@
/**
* \brief Setup a new decoder instance
*
- * \param height Number of rows that are expected in the data stream
+ * \param height Number of rows that are expected in the data stream. Set this
+ * smaller 0 to let the decoder figure out the number of rows.
* \param raw The data stream from the camera or NULL if set later with
* ufo_decoder_set_raw_data.
* \param num_bytes Size of the data stream buffer in bytes
@@ -60,7 +62,7 @@
* \return A new decoder instance that can be used to iterate over the frames
* using ufo_decoder_get_next_frame.
*/
-ufo_decoder ufo_decoder_new(uint32_t height, uint32_t width, uint32_t *raw, size_t num_bytes)
+ufo_decoder ufo_decoder_new(int32_t height, uint32_t width, uint32_t *raw, size_t num_bytes)
{
if (width % IPECAMERA_PIXELS_PER_CHANNEL)
return NULL;
@@ -100,7 +102,7 @@ void ufo_decoder_set_raw_data(ufo_decoder decoder, uint32_t *raw, size_t num_byt
decoder->current_pos = 0;
}
-static int ufo_decode_frame_channels(ufo_decoder decoder,
+static int ufo_decode_frame_channels_v0(ufo_decoder decoder,
uint16_t *pixel_buffer, uint16_t *cmask, uint32_t *raw,
size_t num_words, size_t *offset)
{
@@ -241,6 +243,149 @@ static int ufo_decode_frame_channels(ufo_decoder decoder,
return 0;
}
+static int ufo_decode_frame_channels_v4(ufo_decoder decoder,
+ uint16_t *pixel_buffer, uint16_t *cmask, uint32_t *raw,
+ size_t num_words, size_t num_rows, size_t *offset)
+{
+ static const int channel_order[IPECAMERA_NUM_CHANNELS] = { 15, 13, 14, 12, 10, 8, 11, 7, 9, 6, 5, 2, 4, 3, 0, 1 };
+ static const int channel_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3);
+
+ const int bytes = channel_size - 1;
+ const size_t channels_per_row = (decoder->width / IPECAMERA_PIXELS_PER_CHANNEL);
+ const size_t cpi = num_rows * channels_per_row;
+ int pos = 0;
+ uint32_t data;
+
+#if defined(HAVE_SSE) && !defined(DEBUG)
+ __m128i mask = _mm_set_epi32(0x3FF, 0x3FF, 0x3FF, 0x3FF);
+ __m128i packed;
+ __m128i tmp1, tmp2;
+ uint32_t result[4] __attribute__ ((aligned (16))) = {0};
+#endif
+
+ if (cpi * channel_size > num_words) {
+#ifdef DEBUG
+ fprintf(stderr, "Not enough data to decode frame, expected %lu bytes, but received %lu\n", cpi * channel_size * sizeof(uint32_t), num_words * sizeof(uint32_t));
+#endif
+ return EILSEQ;
+ }
+
+ for (size_t c = 0; c < cpi; c++) {
+ const int info = raw[0];
+ int row = (info >> 4) & 0x7FF;
+ int channel = info & 0x0F;
+ int pixels = (info >> 20) & 0xFF;
+
+#ifdef DEBUG
+ int err = 0;
+ int header = (info >> 30) & 0x03;
+ const int bpp = (info >> 16) & 0x0F;
+ CHECK_FLAG("raw header magick", header == 2, header);
+
+ /* XXX: rows are numbered absolutely so this becomes unnecessary */
+ /* CHECK_FLAG("row number, only %i rows requested", row < num_rows, row, num_rows); */
+
+ CHECK_FLAG("pixel size, only 10 bits are supported", bpp == 10, bpp);
+ CHECK_FLAG("channel, limited by %zu output channels", channel < channels_per_row, channel, channels_per_row);
+ CHECK_FLAG("channel (line %i), duplicate entry",
+ (!cmask) || (cmask[row] & (1 << channel_order[channel])) == 0,
+ channel_order[channel], row);
+#endif
+
+ if ((channel > channels_per_row) || (pixels > IPECAMERA_PIXELS_PER_CHANNEL))
+ return EILSEQ;
+
+ channel = channel_order[channel];
+ int base = row * IPECAMERA_WIDTH + channel * IPECAMERA_PIXELS_PER_CHANNEL;
+
+ if (cmask)
+ cmask[row] |= (1 << channel);
+
+ /* "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 */
+
+#if defined(HAVE_SSE) && !defined(DEBUG)
+ for (int i = 1 ; i < bytes-4; i += 4, base += 12) {
+ packed = _mm_set_epi32(raw[i], raw[i+1], raw[i+2], raw[i+3]);
+
+ tmp1 = _mm_srli_epi32(packed, 20);
+ tmp2 = _mm_and_si128(tmp1, mask);
+ _mm_storeu_si128((__m128i*) result, tmp2);
+
+ pixel_buffer[base+0] = result[3];
+ pixel_buffer[base+3] = result[2];
+ pixel_buffer[base+6] = result[1];
+ pixel_buffer[base+9] = result[0];
+
+ tmp1 = _mm_srli_epi32(packed, 10);
+ tmp2 = _mm_and_si128(tmp1, mask);
+ _mm_storeu_si128((__m128i*) result, tmp2);
+ pixel_buffer[base+1] = result[3];
+ pixel_buffer[base+4] = result[2];
+ pixel_buffer[base+7] = result[1];
+ pixel_buffer[base+10] = result[0];
+
+ tmp1 = _mm_and_si128(packed, mask);
+ _mm_storeu_si128((__m128i*) result, tmp1);
+ pixel_buffer[base+2] = result[3];
+ pixel_buffer[base+5] = result[2];
+ pixel_buffer[base+8] = result[1];
+ pixel_buffer[base+11] = result[0];
+ }
+
+ /* Compute last pixels by hand */
+ data = raw[41];
+ pixel_buffer[base++] = (data >> 20) & 0x3FF;
+ pixel_buffer[base++] = (data >> 10) & 0x3FF;
+ pixel_buffer[base++] = data & 0x3FF;
+
+ data = raw[42];
+ pixel_buffer[base++] = (data >> 20) & 0x3FF;
+ pixel_buffer[base++] = (data >> 10) & 0x3FF;
+ pixel_buffer[base++] = data & 0x3FF;
+#else
+ for (int i = 1 ; i < bytes; i++) {
+ data = raw[i];
+#ifdef DEBUG
+ header = (data >> 30) & 0x03;
+ CHECK_FLAG("raw data magic", 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;
+ }
+#endif
+
+ data = raw[bytes];
+#ifdef DEBUG
+ header = (data >> 30) & 0x03;
+ CHECK_FLAG("raw data magic", header == 3, header);
+ CHECK_FLAG("raw footer magic", (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 += channel_size;
+ raw += channel_size;
+ }
+
+ *offset = pos;
+ return 0;
+}
+
/**
* \brief Deinterlace by interpolating between two rows
*
@@ -306,38 +451,90 @@ void ufo_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *o
* \return number of decoded bytes or 0 in case of error
*/
size_t ufo_decoder_decode_frame(ufo_decoder decoder, uint32_t *raw,
- size_t num_bytes, uint16_t *pixels, uint32_t *frame_number,
- uint32_t *time_stamp, uint16_t *cmask)
+ size_t num_bytes, uint16_t *pixels,
+ uint32_t *num_rows, uint32_t *frame_number, uint32_t *time_stamp,
+ uint16_t *cmask)
{
int err = 0;
size_t pos = 0;
- size_t advance;
+ size_t advance = 0;
const size_t num_words = num_bytes / 4;
if ((pixels == NULL) || (num_words < 16))
return 0;
-#ifdef CHECKS
+ size_t rows_per_frame = decoder->height;
+ const int version = (raw[pos+6] >> 24) & 0xF;
+
+#ifdef DEBUG
+ int starting_row = 0;
+ int num_skipped_rows = 0;
+
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++] & 0xFFFFFFF;
- CHECK_VALUE(raw[pos] >> 28, 0x5);
- *time_stamp = raw[pos++] & 0xFFFFFFF;
+
+ switch (version) {
+ case 0:
+ CHECK_VALUE(raw[pos++], 0x56666666);
+ CHECK_VALUE(raw[pos] >> 28, 0x5);
+ *frame_number = raw[pos++] & 0xFFFFFFF;
+ CHECK_VALUE(raw[pos] >> 28, 0x5);
+ *time_stamp = raw[pos++] & 0xFFFFFFF;
+ break;
+
+ case 4:
+ CHECK_VALUE(raw[pos] >> 28, 0x5);
+ starting_row = (raw[pos] >> 18) & 0x3FF;
+ num_skipped_rows = (raw[pos] >> 11) & 0x7F;
+ rows_per_frame = raw[pos] & 0x7FF;
+ pos++;
+ *frame_number = raw[pos++] & 0x1FFFFFF;
+ CHECK_VALUE(raw[pos] >> 24, 0x50);
+ *time_stamp = raw[pos++] & 0xFFFFFF;
+ break;
+
+ default:
+ fprintf(stderr, "Unsupported data format detected\n");
+ return 0;
+ }
+
if (err)
return 0;
#else
- *frame_number = raw[pos + 6] & 0xFFFFFFF;
- *time_stamp = raw[pos + 7] & 0xFFFFFFF;
+ switch (version) {
+ case 0:
+ *frame_number = raw[pos + 6] & 0xFFFFFFF;
+ *time_stamp = raw[pos + 7] & 0xFFFFFFF;
+ break;
+ case 4:
+ *frame_number = raw[pos + 6] & 0x1FFFFFF;
+ *time_stamp = raw[pos + 7] & 0xFFFFFF;
+ break;
+ default:
+ fprintf(stderr, "Unsupported data format detected\n");
+ return 0;
+ }
+
pos += 8;
#endif
- err = ufo_decode_frame_channels(decoder, pixels, cmask, raw + pos, num_words - pos - 8, &advance);
+ *num_rows = rows_per_frame;
+
+ switch (version) {
+ case 0:
+ err = ufo_decode_frame_channels_v0(decoder, pixels, cmask, raw + pos, num_words - pos - 8, &advance);
+ break;
+ case 4:
+ err = ufo_decode_frame_channels_v4(decoder, pixels, cmask, raw + pos, num_words - pos - 8, rows_per_frame, &advance);
+ break;
+ default:
+ break;
+ }
+
if (err)
return 0;
@@ -371,6 +568,7 @@ size_t ufo_decoder_decode_frame(ufo_decoder decoder, uint32_t *raw,
* \param decoder An ufo_decoder instance
* \param pixels If pointer with NULL content is passed, a new buffer is
* allocated otherwise, this user-supplied buffer is used.
+ * \param num_rows Number of actual decoded rows
* \param frame_number Frame number as reported in the header
* \param time_stamp Time stamp of the frame as reported in the header
* \paran cmask Change-mask
@@ -379,7 +577,9 @@ size_t ufo_decoder_decode_frame(ufo_decoder decoder, uint32_t *raw,
* NULL was passed but no memory could be allocated, EILSEQ if data stream is
* corrupt and EFAULT if pixels is a NULL-pointer.
*/
-int ufo_decoder_get_next_frame(ufo_decoder decoder, uint16_t **pixels, uint32_t *frame_number, uint32_t *time_stamp, uint16_t *cmask)
+int ufo_decoder_get_next_frame(ufo_decoder decoder, uint16_t **pixels,
+ uint32_t *num_rows, uint32_t *frame_number, uint32_t *time_stamp,
+ uint16_t *cmask)
{
uint32_t *raw = decoder->raw;
size_t pos = decoder->current_pos;
@@ -404,7 +604,9 @@ int ufo_decoder_get_next_frame(ufo_decoder decoder, uint16_t **pixels, uint32_t
while (raw[pos] != 0x51111111)
pos++;
- advance = ufo_decoder_decode_frame(decoder, raw + pos, decoder->num_bytes - pos, *pixels, frame_number, time_stamp, cmask);
+ advance = ufo_decoder_decode_frame(decoder, raw + pos, decoder->num_bytes -
+ pos, *pixels, num_rows, frame_number, time_stamp, cmask);
+
if (!advance)
return EILSEQ;
diff --git a/src/ufodecode.h b/src/ufodecode.h
index 3ae7f70..9e2cbc4 100644
--- a/src/ufodecode.h
+++ b/src/ufodecode.h
@@ -10,11 +10,18 @@ extern "C" {
#endif
-ufo_decoder ufo_decoder_new(uint32_t height, uint32_t width, uint32_t *raw, size_t num_bytes);
+ufo_decoder ufo_decoder_new(int32_t height, uint32_t width, uint32_t *raw, size_t num_bytes);
+
void ufo_decoder_free(ufo_decoder decoder);
-size_t ufo_decoder_decode_frame(ufo_decoder decoder, uint32_t *raw, size_t num_bytes, uint16_t *pixels, uint32_t *frame_number, uint32_t *time_stamp, uint16_t *cmask);
+
+size_t ufo_decoder_decode_frame(ufo_decoder decoder,
+ uint32_t *raw, size_t num_bytes, uint16_t *pixels,
+ uint32_t *num_rows, uint32_t *frame_number, uint32_t *time_stamp, uint16_t *cmask);
+
void ufo_decoder_set_raw_data(ufo_decoder decoder, uint32_t *raw, size_t num_bytes);
-int ufo_decoder_get_next_frame(ufo_decoder decoder, uint16_t **pixels, uint32_t *frame_number, uint32_t *time_stamp, uint16_t *cmask);
+
+int ufo_decoder_get_next_frame(ufo_decoder decoder, uint16_t **pixels,
+ uint32_t *num_rows, uint32_t *frame_number, uint32_t *time_stamp, uint16_t *cmask);
void ufo_deinterlace_interpolate(const uint16_t *frame_in, uint16_t *frame_out, int width, int height);
void ufo_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *out, int width, int height);
--
cgit v1.2.3