/**  * HandVu - a library for computer vision-based hand gesture  * recognition.  * Copyright (C) 2004 Mathias Kolsch, matz@cs.ucsb.edu  *  * 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.  *  * $Id: hv_dc1394.cpp,v 1.7 2005/12/08 23:25:41 matz Exp $**/// hv_dc1394.c: frame capture from Linux' libdc1394 interface.  This// code started from Rev 1.4 of dc1394_multiview.c//#include <stdio.h>#include <stdlib.h>#include <string>#include <sys/time.h>#include <sys/mman.h>#include <sys/ioctl.h>#include <sys/types.h>#include <unistd.h>#include <signal.h>#include <X11/Xlib.h>#include <X11/Xutil.h>#include <X11/extensions/Xvlib.h>#include <X11/keysym.h>#include <getopt.h>#include <libraw1394/raw1394.h>#include <libdc1394/dc1394_control.h>// OpenCV#include <cxcore.h>#include <cv.h>// HandVu#include "Common.h"#include "HandVu.h"/* uncomment the following to drop frames to prevent delays */#define DROP_FRAMES 1#define MAX_PORTS 3#define MAX_CAMERAS 8#define NUM_BUFFERS 8/* ok the following constant should be by right included thru in Xvlib.h */#ifndef XV_YV12#define XV_YV12 0x32315659#endif#ifndef XV_YUY2#define XV_YUY2 0x32595559#endif#ifndef XV_UYVY#define XV_UYVY 0x59565955#endif/* declarations for libdc1394 */int                       numPorts = MAX_PORTS;raw1394handle_t           handles[MAX_PORTS];int                       numCameras = 0;dc1394_cameracapture      cameras[MAX_CAMERAS];nodeid_t                 *camera_nodes;dc1394_feature_set        features;/* declarations for video1394 */char                     *device_name = NULL;/* declarations for Xwindows */Display                  *display = NULL;Window                    window = (Window) NULL;long                      width, height;long                      device_width, device_height;int                       connection = -1;XvImage                  *xv_image = NULL;XvAdaptorInfo            *info;long                      format = 0;GC                        gc;/* declarations for OpenCV and HandVu */IplImage                 *iplImages[MAX_CAMERAS];IplImage                 *readOnlyImg = NULL;char* conductor_fname = "../config/default.conductor";bool async_processing = false;int num_async_bufs = 30;int m_async_bufID = -1;IplImage *m_async_image = 0;bool sync_display = async_processing && true;IplImage* async_display_image = 0;/* Other declarations */long                      frame_length;long                      frame_free;int                       frame = 0;int                       adaptor = -1;int                       freeze = 0;int                       average = 0;int                       fps;int                       res;int                       fullscreen;unsigned char            *frame_buffer = NULL;int                       verbose = 0;static struct option      long_options[] = {  {"device", 1, NULL, 0},  {"fps", 1, NULL, 0},  {"res", 1, NULL, 0},  {"fullscreen", 1, NULL, 0},  {"conductor", 1, NULL, 0},  {"help", 0, NULL, 0},  {NULL, 0, 0, 0}};voidget_options(int argc, char *argv[]){  int option_index = 0;  fps = 15;  res = 2;  fullscreen = 0;  while (getopt_long(argc, argv, "", long_options, &option_index) >= 0) {    if (optarg) {      switch (option_index) {        /* case values must match long_options */      case 0:        device_name = strdup(optarg);        break;      case 1:        fps = atoi(optarg);        break;      case 2:        res = atoi(optarg);        break;      case 3:        fullscreen = atoi(optarg);        break;      case 4:        conductor_fname = strdup(optarg);        break;      }    }    if (option_index == 5) {      printf("\n"             "        %s - multi-cam monitor for libdc1394 and XVideo\n\n"             "Usage:\n"             "        %s [--fps=[1,3,7,15,30]] [--res=[0,1,2]] [--device=/dev/video1394/x]\n"             "             --fps    - frames per second. default=15,\n"             "                        30 not compatible with --res=2\n"             "             --res    - resolution. 0 = 320x240,\n"             "                        1 = 640x480 YUV4:1:1, 2 = 640x480 RGB8 (default)\n"             "             --device - specifies video1394 device to use (optional)\n"             "                        default = /dev/video1394/<port#>\n"             "             --fullscreen\n"             "             --conductor   - handvu configuration file\n"             "             --help   - prints this message\n\n"             "Keyboard Commands:\n"             "        r = reset detection\n"             "        u = toggle undistortion on/off\n"             "        0-3 = set overlay level\n"             "        ESC/q = quit\n"             "        < -or- , = decrease scale\n"             "        > -or- . = increase scale\n", argv[0], argv[0]);      exit(0);    }  }}/* image format conversion functions */static inline voidiyu12yuy2(unsigned char *src, unsigned char *dest, int NumPixels){  int                       i = 0, j = 0;  register int              y0, y1, y2, y3, u, v;  while (i < NumPixels * 3 / 2) {    u = src[i++];    y0 = src[i++];    y1 = src[i++];    v = src[i++];    y2 = src[i++];    y3 = src[i++];    dest[j++] = y0;    dest[j++] = u;    dest[j++] = y1;    dest[j++] = v;    dest[j++] = y2;    dest[j++] = u;    dest[j++] = y3;    dest[j++] = v;  }}/* macro by Bart Nabbe */#define RGB2YUV(r, g, b, y, u, v)\  y = (9798*r + 19235*g + 3736*b)  / 32768;\  u = (-4784*r - 9437*g + 14221*b)  / 32768 + 128;\  v = (20218*r - 16941*g - 3277*b) / 32768 + 128;\  y = y < 0 ? 0 : y;\  u = u < 0 ? 0 : u;\  v = v < 0 ? 0 : v;\  y = y > 255 ? 255 : y;\  u = u > 255 ? 255 : u;\  v = v > 255 ? 255 : vstatic inline voidrgb2yuy2(unsigned char *RGB, unsigned char *YUV, int NumPixels){  int                       i, j;  register int              y0, y1, u0, u1, v0, v1;  register int              r, g, b;  for (i = 0, j = 0; i < 3 * NumPixels; i += 6, j += 4) {    r = RGB[i + 0];    g = RGB[i + 1];    b = RGB[i + 2];    RGB2YUV(r, g, b, y0, u0, v0);    r = RGB[i + 3];    g = RGB[i + 4];    b = RGB[i + 5];    RGB2YUV(r, g, b, y1, u1, v1);    YUV[j + 0] = y0;    YUV[j + 1] = (u0 + u1) / 2;    YUV[j + 2] = y1;    YUV[j + 3] = (v0 + v1) / 2;  }}/* helper functions */voidset_frame_length(long size, int numCameras){  frame_length = size;  if (verbose)     fprintf(stderr, "Setting frame size to %ld kb\n", size / 1024);  frame_free = 0;  frame_buffer = (unsigned char *) malloc(size * numCameras);}voidcapture_frame(){  static int                have_warned = 0;  dc1394_dma_multi_capture(cameras, numCameras);  if (!freeze && adaptor >= 0) {    for (int i = 0; i < numCameras; i++) {      // create OpenCV image      switch (res) {      case MODE_640x480_YUV411:	if (!have_warned) {	  have_warned = 1;	  printf("WARNING: no OpenCV conversion available for this format\n");	}        //iyu12yuy2((unsigned char *) cameras[i].capture_buffer,	//        frame_buffer + (i * frame_length),	//        (device_width * device_height));        break;      case MODE_320x240_YUV422:      case MODE_640x480_YUV422:	if (!have_warned) {	  have_warned = 1;	  printf("WARNING: no OpenCV conversion available for this format\n");	}	//        memcpy(frame_buffer + (i * frame_length),	//     cameras[i].capture_buffer, device_width * device_height * 2);        break;      case MODE_640x480_RGB:	// don't convert for OpenCV, this is the correct format	readOnlyImg->imageData = (char *) cameras[i].capture_buffer;        if (async_processing) {          if (i==0) {            hvAsyncGetImageBuffer(&m_async_image, &m_async_bufID);            cvCopy(readOnlyImg, m_async_image);          }        } else {          cvCopy(readOnlyImg, iplImages[i]);        }        break;      }            if (verbose) {        CvFont                    font;        cvInitFont(&font, CV_FONT_VECTOR0, 0.5f /* hscale */ ,                   0.5f /* vscale */ , 0.1f /*italic_scale */ ,                   1 /* thickness */ , 8);        char                      str[256];        sprintf(str, "camera id: %d", i);        CvSize                    textsize;        int                       underline;        cvGetTextSize(str, &font, &textsize, &underline);        CvPoint                   pos =          cvPoint(iplImages[i]->width - textsize.width - 5,                  textsize.height + 10);        cvPutText(iplImages[i], str, pos, &font, CV_RGB(0, 255, 0));	//        cvRectangle(iplImages[i], cvPoint(10, 10), cvPoint(100, 100),        //            cvScalar(255, 255, 255, 255), CV_FILLED, 8, 0);      }    }  }  for (int i = 0; i < numCameras; i++) {    dc1394_dma_done_with_buffer(&cameras[i]);  }}void process_frame(){  if (!freeze && adaptor >= 0) {    // main HandVu call    if (async_processing) {      hvAsyncProcessFrame(m_async_bufID);    } else {      hvProcessFrame(iplImages[0], iplImages[1]);    }  }}void display_frame(){  if (!freeze && adaptor >= 0) {    // copy into frame buffer for display    for (int i = 0; i < numCameras; i++) {      if (sync_display && i==0) {        rgb2yuy2((unsigned char *) async_display_image->imageData,                 frame_buffer + (i * frame_length),                 (device_width * device_height));      } else {        rgb2yuy2((unsigned char *) iplImages[i]->imageData,                 frame_buffer + (i * frame_length),                 (device_width * device_height));      }   }    xv_image =      XvCreateImage(display, info[adaptor].base_id, format, 		    (char*) frame_buffer,                    device_width, device_height * numCameras);    XvPutImage(display, info[adaptor].base_id, window, gc, xv_image, 0, 0,               device_width, device_height * numCameras, 0, 0, width, height);    xv_image = NULL;  }  XFlush(display);}void displayCallback(IplImage* image, hvAction action){  if (sync_display) {    cvCopy(image, async_display_image);  } else {    cvCopy(image, iplImages[0]);    display_frame();  }}voidcleanup(void){