Adding image_types.h and supporting reader code.
Change-Id: Ia0fb1a19ce9e992d2a9337ffbfaf8440f11d4e38
diff --git a/aos/vision/image/jpeg_routines.cc b/aos/vision/image/jpeg_routines.cc
new file mode 100644
index 0000000..e0c93dc
--- /dev/null
+++ b/aos/vision/image/jpeg_routines.cc
@@ -0,0 +1,249 @@
+#include "aos/vision/image/jpeg_routines.h"
+
+#include <errno.h>
+#include <setjmp.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <cstring>
+
+#include "aos/common/logging/logging.h"
+#include "third_party/libjpeg/jpeglib.h"
+
+namespace aos {
+namespace vision {
+
+namespace {
+
+void decompress_add_huff_table(j_decompress_ptr cinfo, JHUFF_TBL **htblptr,
+ const UINT8 *bits, const UINT8 *val);
+
+void standard_huff_tables(j_decompress_ptr cinfo);
+
+// Error handling form libjpeg
+struct JpegErrorManager {
+ /// "public" fields
+ struct jpeg_error_mgr pub;
+ // for return to caller
+ jmp_buf setjmp_buffer;
+};
+
+char JpegLastErrorMsg[JMSG_LENGTH_MAX];
+
+// TODO(parker): Error handling needs to be investigated bettter.
+void JpegErrorExit(j_common_ptr cinfo) {
+ JpegErrorManager myerr;
+ // cinfo->err actually points to a JpegErrorManager struct
+ ::std::memcpy(&myerr, cinfo->err, sizeof(myerr));
+ // JpegErrorManager* myerr = (JpegErrorManager*) cinfo->err;
+ // note : *(cinfo->err) is now equivalent to myerr->pub
+
+ // output_message is a method to print an error message
+ //(* (cinfo->err->output_message) ) (cinfo);
+
+ // Create the message
+ (*(cinfo->err->format_message))(cinfo, JpegLastErrorMsg);
+
+ // Jump to the setjmp point
+ longjmp(myerr.setjmp_buffer, 1);
+}
+
+// This is also adapted from libjpeg to be used on decompression tables rather
+// than compression tables as it was originally intended.
+void decompress_add_huff_table(j_decompress_ptr cinfo, JHUFF_TBL **htblptr,
+ const UINT8 *bits, const UINT8 *val) {
+ if (*htblptr == NULL) *htblptr = jpeg_alloc_huff_table((j_common_ptr)cinfo);
+
+ // Copy the number-of-symbols-of-each-code-length counts.
+ memcpy((*htblptr)->bits, bits, sizeof((*htblptr)->bits));
+
+ // Validate the counts. We do this here mainly so we can copy the right
+ // number of symbols from the val[] array, without risking marching off
+ // the end of memory. jchuff.c will do a more thorough test later.
+ int nsymbols = 0;
+ for (int len = 1; len <= 16; len++) nsymbols += bits[len];
+ if (nsymbols < 1 || nsymbols > 256) {
+ LOG(FATAL, "%s:%d: Error, bad huffman table", __FILE__, __LINE__);
+ }
+
+ memcpy((*htblptr)->huffval, val, nsymbols * sizeof(uint8_t));
+}
+
+// standard_huff_tables is taken from libjpeg compression stuff
+// and is here used to set up the same tables in the decompression structure.
+// Set up the standard Huffman tables (cf. JPEG standard section K.3)
+// IMPORTANT: these are only valid for 8-bit data precision!
+void standard_huff_tables(j_decompress_ptr cinfo) {
+ /* 0-base on first 0, */
+ static const UINT8 bits_dc_luminance[17] = {0, 0, 1, 5, 1, 1, 1, 1, 1,
+ 1, 0, 0, 0, 0, 0, 0, 0};
+ static const UINT8 val_dc_luminance[] = {0, 1, 2, 3, 4, 5,
+ 6, 7, 8, 9, 10, 11};
+
+ /* 0-base on first 0 */
+ static const UINT8 bits_dc_chrominance[17] = {0, 0, 3, 1, 1, 1, 1, 1, 1,
+ 1, 1, 1, 0, 0, 0, 0, 0};
+ static const UINT8 val_dc_chrominance[] = {0, 1, 2, 3, 4, 5,
+ 6, 7, 8, 9, 10, 11};
+
+ /* 0-base on first 0 */
+ static const UINT8 bits_ac_luminance[17] = {0, 0, 2, 1, 3, 3, 2, 4, 3,
+ 5, 5, 4, 4, 0, 0, 1, 0x7d};
+ static const UINT8 val_ac_luminance[] = {
+ 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};
+
+ /* 0-base on first 0 */
+ static const UINT8 bits_ac_chrominance[17] = {0, 0, 2, 1, 2, 4, 4, 3, 4,
+ 7, 5, 4, 4, 0, 1, 2, 0x77};
+ static const UINT8 val_ac_chrominance[] = {
+ 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};
+
+ decompress_add_huff_table(cinfo, &cinfo->dc_huff_tbl_ptrs[0],
+ bits_dc_luminance, val_dc_luminance);
+ decompress_add_huff_table(cinfo, &cinfo->ac_huff_tbl_ptrs[0],
+ bits_ac_luminance, val_ac_luminance);
+ decompress_add_huff_table(cinfo, &cinfo->dc_huff_tbl_ptrs[1],
+ bits_dc_chrominance, val_dc_chrominance);
+ decompress_add_huff_table(cinfo, &cinfo->ac_huff_tbl_ptrs[1],
+ bits_ac_chrominance, val_ac_chrominance);
+}
+
+void local_emit_message(jpeg_common_struct * /*cinfo*/, int /*msg_level*/) {
+ return;
+}
+
+} // namespace
+
+ImageFormat GetFmt(DataRef data) {
+ ImageFormat fmt;
+ struct jpeg_decompress_struct cinfo;
+ struct jpeg_error_mgr jerr;
+
+ cinfo.err = jpeg_std_error(&jerr);
+ jerr.emit_message = local_emit_message;
+
+ cinfo.out_color_space = JCS_RGB;
+ jpeg_create_decompress(&cinfo);
+
+ jpeg_mem_src(&cinfo, reinterpret_cast<unsigned char *>(
+ const_cast<char *>(data.data())),
+ data.size());
+
+ jpeg_read_header(&cinfo, TRUE);
+ fmt.w = cinfo.image_width;
+ fmt.h = cinfo.image_height;
+ jpeg_destroy_decompress(&cinfo);
+ return fmt;
+}
+
+// Returns true if successful false if an error was encountered.
+bool ProcessJpeg(DataRef data, PixelRef *out) {
+ /*
+ TODO(parker): sort of error handling.
+ struct jpeg_decompress_struct cinfo;
+ struct jpeg_error_mgr jerr;
+
+ cinfo.err = jpeg_std_error( &jerr );
+ jerr.emit_message = local_emit_message;
+
+ cinfo.out_color_space = JCS_RGB;
+ jpeg_create_decompress( &cinfo );
+ */
+
+ static bool lost_camera_connect = false;
+ struct jpeg_decompress_struct cinfo;
+
+ // We set up the normal JPEG error routines, then override error_exit.
+ JpegErrorManager jerr;
+ cinfo.err = jpeg_std_error(&jerr.pub);
+ jerr.pub.emit_message = local_emit_message;
+ jerr.pub.error_exit = JpegErrorExit;
+ // Establish the setjmp return context for my_error_exit to use.
+ if (setjmp(jerr.setjmp_buffer)) {
+ // If we get here, the JPEG code has signaled an error.
+ if (!lost_camera_connect) {
+ printf(
+ "Lost camera connection in process_jpeg.\nLooking for reconnect "
+ "...\n");
+ fflush(stdout);
+ lost_camera_connect = true;
+ }
+ jpeg_destroy_decompress(&cinfo);
+ return false;
+ }
+
+ cinfo.out_color_space = JCS_RGB;
+ jpeg_create_decompress(&cinfo);
+
+ jpeg_mem_src(&cinfo, reinterpret_cast<unsigned char *>(
+ const_cast<char *>(data.data())),
+ data.size());
+
+ jpeg_read_header(&cinfo, TRUE);
+ standard_huff_tables(&cinfo);
+
+ /*printf( "JPEG File Information: \n" );
+ printf( "Image width and height: %d pixels and %d pixels.\n",
+ cinfo.image_width, cinfo.image_height );
+ printf( "Color components per pixel: %d.\n", cinfo.num_components );
+ printf( "Color space: %d.\n", cinfo.jpeg_color_space );
+ printf("JpegDecompressed\n");*/
+
+ jpeg_start_decompress(&cinfo);
+
+ int offset = 0;
+ int step = cinfo.num_components * cinfo.image_width;
+ unsigned char *buffers[cinfo.image_height];
+ for (size_t i = 0; i < cinfo.image_height; ++i) {
+ buffers[i] = reinterpret_cast<unsigned char *>(&out[offset]);
+ offset += step;
+ }
+
+ while (cinfo.output_scanline < cinfo.image_height) {
+ jpeg_read_scanlines(&cinfo, &buffers[cinfo.output_scanline],
+ cinfo.image_height - cinfo.output_scanline);
+ }
+
+ jpeg_finish_decompress(&cinfo);
+ jpeg_destroy_decompress(&cinfo);
+
+ if (lost_camera_connect) {
+ printf("Camera connection restablished.\n");
+ fflush(stdout);
+ lost_camera_connect = false;
+ }
+
+ return true;
+}
+
+} // namespace vision
+} // namespace aos