/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************//*  CCVT: ColourConVerT: simple library for converting colourspaces    Copyright (C) 2002 Nemosoft Unv.    This program is free software; you can redistribute it and/or modify    it under the terms of the GNU General Public License as published by    the Free Software Foundation; either version 2 of the License, or    (at your option) any later version.    This program is distributed in the hope that it will be useful,    but WITHOUT ANY WARRANTY; without even the implied warranty of    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the    GNU General Public License for more details.    You should have received a copy of the GNU General Public License    along with this program; if not, write to the Free Software    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA    For questions, remarks, patches, etc. for this program, the author can be    reached at nemosoft@smcc.demon.nl.*//* This file contains CCVT functions that aren't available in assembly yet   (or are not worth programming) *//*  * $Log: ccvt_misc.c,v $ * Revision 1.2  2006/04/06 00:30:09  stachnis * added the new header to all *.c *.h files * * Revision 1.1  2005/12/12 20:11:40  nickr * *** empty log message *** * * Revision 1.1  2005/07/22 02:41:34  nickr * Initial check-in of camera module * * Revision 1.1.1.1  2004/05/10 19:15:50  anrp * imported iPhilipsCamera * * Revision 1.7  2003/01/02 04:10:19  nemosoft * Adding ''upside down" conversion to rgb/bgr routines * * Revision 1.6  2002/12/03 23:29:11  nemosoft * *** empty log message *** * * Revision 1.5  2002/12/03 23:27:41  nemosoft * fixing log messages (gcc 3.2 complaining) *   Revision 1.4  2002/12/03 22:29:07  nemosoft   Fixing up FTP stuff and some video   Revision 1.3  2002/11/03 22:46:25  nemosoft   Adding various RGB to RGB functions.   Adding proper copyright header too. */#include "ccvt.h"#include "ccvt_types.h"/* YUYV: two Y's and one U/V */void ccvt_yuyv_rgb32(int width, int height, const void *src, void *dst){}void ccvt_yuyv_bgr32(int width, int height, const void *src, void *dst){   const unsigned char *s;   PIXTYPE_bgr32 *d;   int l, c;   int r, g, b, cr, cg, cb, y1, y2;      l = height;   s = src;   d = dst;   while (l--) {      c = width >> 2;      while (c--) {         y1 = *s++;         cb = ((*s - 128) * 454) >> 8;         cg = (*s++ - 128) * 88;         y2 = *s++;         cr = ((*s - 128) * 359) >> 8;         cg = (cg + (*s++ - 128) * 183) >> 8;         r = y1 + cr;         b = y1 + cb;         g = y1 - cg;         SAT(r);         SAT(g);         SAT(b);                        d->b = b;	         d->g = g;                    d->r = r;                   d++;                      r = y2 + cr;         b = y2 + cb;         g = y2 - cg;         SAT(r);         SAT(g);         SAT(b);                        d->b = b;         d->g = g;                    d->r = r;                   d++;                   }   }   }void ccvt_yuyv_420p(int width, int height, const void *src, void *dsty, void *dstu, void *dstv){   int n, l, j;   const unsigned char *s1, *s2;   unsigned char *dy, *du, *dv;      dy = (unsigned char *)dsty;   du = (unsigned char *)dstu;   dv = (unsigned char *)dstv;   s1 = (unsigned char *)src;   s2 = s1; // keep pointer   n = width * height;   for (; n > 0; n--) {      *dy = *s1;      dy++;      s1 += 2;   }      /* Two options here: average U/V values, or skip every second row */   s1 = s2; // restore pointer   s1++; // point to U   for (l = 0; l < height; l += 2) {      s2 = s1 + width * 2; // odd line      for (j = 0; j < width; j += 2) {         *du = (*s1 + *s2) / 2;         du++;         s1 += 2;         s2 += 2;         *dv = (*s1 + *s2) / 2;         dv++;         s1 += 2;         s2 += 2;      }      s1 = s2;   }}/* RGB/BGR to RGB/BGR */#define RGBBGR_BODY24(TIN, TOUT) \void ccvt_ ## TIN ## _ ## TOUT (int width, int height, const void *const src, void *const dst) \{ \   const PIXTYPE_ ## TIN *in = src; \   PIXTYPE_ ## TOUT *out = dst; \   int l, c, stride = 0; \   \   if (height < 0) { stride = width; height = -height; } \   out += ((height - 1) * width); \   stride *= 2; \   for (l = 0; l < height; l++) { \      for (c = 0; c < width; c++) { \         out->r = in->r; \         out->g = in->g; \         out->b = in->b; \         in++; \         out++; \      } \      out -= stride; \   } \}#define RGBBGR_BODY32(TIN, TOUT) \void ccvt_ ## TIN ## _ ## TOUT (int width, int height, const void *const src, void *const dst) \{ \   const PIXTYPE_ ## TIN *in = src; \   PIXTYPE_ ## TOUT *out = dst; \   int l, c, stride = 0; \   \   if (height < 0) { stride = width; height = -height; } \   out += ((height - 1) * width); \   stride *= 2; \   for (l = 0; l < height; l++) { \      for (c = 0; c < width; c++) { \         out->r = in->r; \         out->g = in->g; \         out->b = in->b; \         out->z = 0; \         in++; \         out++; \      } \      out -= stride; \   } \}RGBBGR_BODY32(bgr24, bgr32)RGBBGR_BODY32(bgr24, rgb32)RGBBGR_BODY32(rgb24, bgr32)RGBBGR_BODY32(rgb24, rgb32)RGBBGR_BODY24(bgr32, bgr24)RGBBGR_BODY24(bgr32, rgb24)RGBBGR_BODY24(rgb32, bgr24)RGBBGR_BODY24(rgb32, rgb24)