Hirokazu,
Thanks a lot. I did what you said and that's precisely what I get now:

error: setting palette

Does it mean "it's incompatible-full-stop" or is there anything I could
still do?
We bougth this Philips model because a little market review showed that
they got the best maintained and documented Linux support. If this one
will not work, I would have two questions:

-is there a list of USB cams that ARToolkit supports?
-how about Firewire. Will all cameras work, or just some?

Obviously, I would much prefer to make my Philips Toucam Pro work with
ARToolkit...

pawel



On Tue, 2002-08-27 at 20:45, Hirokazu Kato wrote:
> >bash-2.05a$ simpleTest
> >arVideoOpen: channel# is not valid. 
> 
> Please change include/AR/config.h or config.h.in like:
> 
> #define   DEFAULT_VIDEO_CHANNEL       1
> --->
> #define   DEFAULT_VIDEO_CHANNEL       0
> 
> Then compile again.
> But you might get another error like:
> "error: setting palette"
> 
> This is from incompatibility of ARToolKit Video Libraru and your USB camera.
> 
> -- 
> ------------------------------------------------------------------
>   Hirokazu Kato
>   Faculty of Information Sciences
>   Hiroshima City University               Phone: 082-830-1705
>   Email: kato@s ........................     Fax: 082-830-1435
>   URL: http://www.sys.im.hiroshima-cu.ac.jp/people/kato/
> 

>Does it mean "it's incompatible-full-stop" or is there anything I could
>still do?

It's incompatible-full-stop.
There are several kind of pixel formats that video4linux outputs
to application programs like RGB, YUV411, YUV420 and so on.
But right now, ARToolKit supports only RGB.
Internal pixel format of ARToolKit is RGB 24bit or RGBA 32 bit.
So if video4linux outputs other pixel formats for your camera,
ARToolKit video library should convert the pixel format to RGB
pixel format.
I think it is not so difficult.
But because I do not have such kind of USB camera,
I cannot make and check the code.


>-is there a list of USB cams that ARToolkit supports?

If I have many USB cameras, I can list it up.
But I do not have. So I can not do this.
I hope many members in this ML report their own experience.


>-how about Firewire. Will all cameras work, or just some?

I am using iBot and dragonFly firewire camera.
They work fine and can output 640x480 image 30fps.

-- 
----
Hirokazu Kato

Thanks a lot Hirokazu.
Now I understand the problem. The Philips driver API docs
(http://www.smcc.demon.nl/webcam/api.html#palette) say that 
"the Philips webcam driver (as of version 7.0) only delivers the YUV420P
palette, or in techno speak YUV 4:2:0 planar".

I understand the problem of converting to RGB is simple but am not a
specialist here and would like to avoid writing it myself. However, I am
guessing that many people must have stumbled at that problem and am sure
the conversion algorithms have been written many times.

Perhaps there are ready to use tools / libraries that convert a YUV
stream into a RBG stream, and could be easily integrated with ARToolkit?

I would appreciate advice if anyone knows of such software. I could then
try to look in the ARToolkit source code and see what can be done.

pawel

On Wed, 2002-08-28 at 16:25, Hirokazu Kato wrote:
> >Does it mean "it's incompatible-full-stop" or is there anything I could
> >still do?
> 
> It's incompatible-full-stop.
> There are several kind of pixel formats that video4linux outputs
> to application programs like RGB, YUV411, YUV420 and so on.
> But right now, ARToolKit supports only RGB.
> Internal pixel format of ARToolKit is RGB 24bit or RGBA 32 bit.
> So if video4linux outputs other pixel formats for your camera,
> ARToolKit video library should convert the pixel format to RGB
> pixel format.
> I think it is not so difficult.
> But because I do not have such kind of USB camera,
> I cannot make and check the code.
> 
> 
> >-is there a list of USB cams that ARToolkit supports?
> 
> If I have many USB cameras, I can list it up.
> But I do not have. So I can not do this.
> I hope many members in this ML report their own experience.
> 
> 
> >-how about Firewire. Will all cameras work, or just some?
> 
> I am using iBot and dragonFly firewire camera.
> They work fine and can output 640x480 image 30fps.
> 
> -- 
> ----
> Hirokazu Kato
> 

>Now I understand the problem. The Philips driver API docs
>(http://www.smcc.demon.nl/webcam/api.html#palette) say that 
>"the Philips webcam driver (as of version 7.0) only delivers the YUV420P
>palette, or in techno speak YUV 4:2:0 planar".

OK. I understood supporting YUV420P is important.
I will try to add it into ARToolKit.
But I will not be in my office in two weeks.
So it would be late... 

-- 
------------------------------------------------------------------
  Hirokazu Kato
  Faculty of Information Sciences
  Hiroshima City University               Phone: +81-82-830-1705
  Email: kato@s ........................     Fax: +81-82-830-1435
  URL: http://www.sys.im.hiroshima-cu.ac.jp/people/kato/

Hello,


Last weekend I was sitting in the garden and had nothing else to do than 
to fix exactly that problem ;-)
Tomorrow, I can send you a patch to the sources which supports 
converting from YUV420P to RGB24.


Hirokazu Kato wrote:

>>Now I understand the problem. The Philips driver API docs
>>(http://www.smcc.demon.nl/webcam/api.html#palette) say that 
>>"the Philips webcam driver (as of version 7.0) only delivers the YUV420P
>>palette, or in techno speak YUV 4:2:0 planar".
>>
> 
> OK. I understood supporting YUV420P is important.
> I will try to add it into ARToolKit.
> But I will not be in my office in two weeks.
> So it would be late... 
> 
> 

Hi all,

I have just written codes which supports YUV420 palette in Video4Linux.
But I do not have any device which is available in YUV420 palette.
So I do not know this code works well or not.
Please let me know any comments about this code if you can check it.

------ lib/SRC/VideoLinuxV4L/video.c ------
/* 
 *   Video capture subrutine for Linux/Video4Linux devices 
 *   author: Nakazawa,Atsushi ( nakazawa@i .......................... )
             Hirokazu Kato ( kato@s ........................ )
 *
 *   Revision: 5.3   Date: 2002/08/31
 */
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <linux/types.h>
#include <linux/videodev.h>
#include <AR/config.h>
#include <AR/ar.h>
#include <AR/video.h>

#define MAXCHANNEL   10

static AR2VideoParamT   *vid = NULL;

static ARUint8 *ar2VideoGetImageRGB( AR2VideoParamT *vid );
static ARUint8 *ar2VideoGetImageYUV420( AR2VideoParamT *vid );

int arVideoDispOption( void )
{
    return  ar2VideoDispOption();
}

int arVideoOpen( char *config )
{
    if( vid != NULL ) {
        printf("Device has been opened!!\n");
        return -1;
    }
    vid = ar2VideoOpen( config );
    if( vid == NULL ) return -1;

    return 0;
}

int arVideoClose( void )
{
    if( vid == NULL ) return -1;

    return ar2VideoClose( vid );
}

int arVideoInqSize( int *x, int *y )
{
    if( vid == NULL ) return -1;

    return ar2VideoInqSize( vid, x, y );
}

ARUint8 *arVideoGetImage( void )
{
    if( vid == NULL ) return NULL;

    return ar2VideoGetImage( vid );
}

int arVideoCapStart( void )
{
    if( vid == NULL ) return -1;

    return ar2VideoCapStart( vid );
}

int arVideoCapStop( void )
{
    if( vid == NULL ) return -1;

    return ar2VideoCapStop( vid );
}

int arVideoCapNext( void )
{
    if( vid == NULL ) return -1;

    return ar2VideoCapNext( vid );
}

/*-------------------------------------------*/

int ar2VideoDispOption( void )
{
    printf(" -width=N\n");
    printf("    specifies expected width of image.\n");
    printf(" -height=N\n");
    printf("    specifies expected height of image.\n");
    printf(" -contrast=N\n");
    printf("    specifies contrast. (0.0 <-> 1.0)\n");
    printf(" -brightness=N\n");
    printf("    specifies brightness. (0.0 <-> 1.0)\n");
    printf(" -color=N\n");
    printf("    specifies color. (0.0 <-> 1.0)\n");
    printf(" -channel=N\n");
    printf("    specifies source channel.\n");
    printf(" -dev=filepath\n");
    printf("    specifies device file.\n");
    printf(" -mode=[PAL|NTSC|SECAM]\n");
    printf("    specifies TV signal mode.\n");
    printf("\n");

    return 0;
}

AR2VideoParamT *ar2VideoOpen( char *config )
{
    AR2VideoParamT            *vid;
    struct video_capability   vd;
    struct video_channel      vc[MAXCHANNEL];
    struct video_picture      vp;
    char                      *a, line[256];
    int                       i;

    arMalloc( vid, AR2VideoParamT, 1 );
    strcpy( vid->dev, DEFAULT_VIDEO_DEVICE );
    vid->width      = DEFAULT_VIDEO_WIDTH;
    vid->height     = DEFAULT_VIDEO_HEIGHT;
    vid->channel    = DEFAULT_VIDEO_CHANNEL;
    vid->mode       = DEFAULT_VIDEO_MODE;
    vid->palette    = AR_VIDEO_PALETTE_RGB;
    vid->debug      = 0;
    vid->contrast   = 0.5;
    vid->brightness = 0.5;
    vid->color      = 0.5;

    a = config;
    if( a != NULL) {
        for(;;) {
            while( *a == ' ' || *a == '\t' ) a++;
            if( *a == '\0' ) break;

            if( strncmp( a, "-width=", 7 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[7], "%d", &vid->width ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-height=", 8 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[8], "%d", &vid->height ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-contrast=", 10 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[10], "%lf", &vid->contrast ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-brightness=", 12 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[12], "%lf", &vid->brightness ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-color=", 7 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[7], "%lf", &vid->color ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-channel=", 9 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[9], "%d", &vid->channel ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-dev=", 5 ) == 0 ) {
                sscanf( a, "%s", line );
                if( sscanf( &line[5], "%s", vid->dev ) == 0 ) {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-mode=", 6 ) == 0 ) {
                if( strncmp( &a[6], "PAL", 3 ) == 0 )        vid->mode = VIDEO_MODE_PAL;
                else if( strncmp( &a[6], "NTSC", 4 ) == 0 )  vid->mode = VIDEO_MODE_NTSC;
                else if( strncmp( &a[6], "SECAM", 5 ) == 0 ) vid->mode = VIDEO_MODE_SECAM;
                else {
                    ar2VideoDispOption();
                    free( vid );
                    return 0;
                }
            }
            else if( strncmp( a, "-debug", 6 ) == 0 ) {
                vid->debug = 1;
            }
            else {
                ar2VideoDispOption();
                free( vid );
                return 0;
            }

            while( *a != ' ' && *a != '\t' && *a != '\0') a++;
        }
    }

    vid->fd = open(vid->dev, O_RDWR);
    if(vid->fd < 0){
        printf("video device (%s) open failed\n",vid->dev); 
        free( vid );
        return 0;
    }

    if(ioctl(vid->fd,VIDIOCGCAP,&vd) < 0){
        printf("ioctl failed\n");
        free( vid );
        return 0;
    }

    if( vid->debug ) {
        printf("=== debug info ===\n");
        printf("  vd.name      =   %s\n",vd.name);
        printf("  vd.channels  =   %d\n",vd.channels);
        printf("  vd.maxwidth  =   %d\n",vd.maxwidth);
        printf("  vd.maxheight =   %d\n",vd.maxheight);
        printf("  vd.minwidth  =   %d\n",vd.minwidth);
        printf("  vd.minheight =   %d\n",vd.minheight);
    }
    
    /* check capture size */
    if(vd.maxwidth  < vid->width  || vid->width  < vd.minwidth ||
       vd.maxheight < vid->height || vid->height < vd.minheight ) {
        printf("arVideoOpen: width or height oversize \n");
        free( vid );
        return 0;
    }

    /* check channel */
    if(vid->channel < 0 || vid->channel >= vd.channels){
        printf("arVideoOpen: channel# is not valid. \n");
        free( vid );
        return 0;
    }

    if( vid->debug ) {
        printf("==== capture device channel info ===\n");
    }

    for(i = 0;i < vd.channels && i < MAXCHANNEL; i++){
        vc[i].channel = i;
        if(ioctl(vid->fd,VIDIOCGCHAN,&vc[i]) < 0){
            printf("error: acquireing channel(%d) info\n",i);
            free( vid );
            return 0;
        }

        if( vid->debug ) {
            printf("    channel = %d\n",  vc[i].channel);
            printf("       name = %s\n",  vc[i].name);
            printf("     tuners = %d",    vc[i].tuners);

            printf("       flag = 0x%08x",vc[i].flags);
            if(vc[i].flags & VIDEO_VC_TUNER) 
                printf(" TUNER");
            if(vc[i].flags & VIDEO_VC_AUDIO) 
                printf(" AUDIO");
            printf("\n");

            printf("     vc[%d].type = 0x%08x", i, vc[i].type);
            if(vc[i].type & VIDEO_TYPE_TV) 
                printf(" TV");
            if(vc[i].type & VIDEO_TYPE_CAMERA) 
                printf(" CAMERA");
            printf("\n");       
        }
    }

    /* select channel */
    vc[vid->channel].norm = vid->mode;       /* 0: PAL 1: NTSC 2:SECAM 3:AUTO */
    if(ioctl(vid->fd, VIDIOCSCHAN, &vc[vid->channel]) < 0){
        printf("error: selecting channel %d\n", vid->channel);
        free( vid );
        return 0;
    }

    /* set video picture */
    vp.brightness = 32767 * 2.0 * vid->brightness;
    vp.hue        = 32767;
    vp.colour     = 32767 * 2.0 * vid->color;
    vp.contrast   = 32767 * 2.0 * vid->contrast;
    vp.whiteness  = 32767;
    vp.depth      = 24;                      /* color depth    */
#if defined(AR_PIX_FORMAT_BGRA)
    vp.palette    = VIDEO_PALETTE_RGB32;     /* palette format */
#elif defined(AR_PIX_FORMAT_BGR)
    vp.palette    = VIDEO_PALETTE_RGB24;     /* palette format */
#endif
    if(ioctl(vid->fd, VIDIOCSPICT, &vp)) {
        vid->palette = AR_VIDEO_PALETTE_YUV420;
        vp.palette = VIDEO_PALETTE_YUV420;
        if(ioctl(vid->fd, VIDIOCSPICT, &vp)) {
            printf("error: setting palette\n");
            free( vid );
            return 0;
        }
    }

    /* get mmap info */
    if(ioctl(vid->fd,VIDIOCGMBUF,&vid->vm) < 0){
        printf("error: videocgmbuf\n");
        free( vid );
        return 0;
    }

    if( vid->debug ) {
        printf("===== Image Buffer Info =====\n");
        printf("   size   =  %d[bytes]\n", vid->vm.size);
        printf("   frames =  %d\n", vid->vm.frames);
    }
    if(vid->vm.frames < 2){
        printf("this device can not be supported by libARvideo.\n");
        printf("(vm.frames < 2)\n");
        free( vid );
        return 0;
    }


    /* get memory mapped io */
    if((vid->map = (ARUint8 *)mmap(0, vid->vm.size, PROT_READ|PROT_WRITE, MAP_SHARED, vid->fd, 0)) < 0){
        printf("error: mmap\n");
        free( vid );
        return 0;
    }

/*-----------------------------------------*/
#if 0
{   
    struct video_window   vw;
    
    vw.x = 0;
    vw.y = 0;
    vw.width = vid->width;
    vw.height = vid->height;
    vw.chromakey = 0;
    vw.flags = (30 << 16);
    
    if(ioctl(vid->fd,VIDIOCSWIN,&vw) < 0){
        printf("error: videocswin\n");
        free( vid );
        return 0;
    }
}
#endif

    /* setup for vmm */ 
    vid->vmm.frame  = 0;
    vid->vmm.width  = vid->width;
    vid->vmm.height = vid->height;
    if( vid->palette == AR_VIDEO_PALETTE_RGB ) {
#if defined(AR_PIX_FORMAT_BGRA)
        vid->vmm.format = VIDEO_PALETTE_RGB32;
#elif defined(AR_PIX_FORMAT_BGR)
        vid->vmm.format = VIDEO_PALETTE_RGB24;
#endif
    }
    else {
        vid->vmm.format = VIDEO_PALETTE_YUV420;
        arMalloc( vid->image, ARUint8, (vid->width * vid->height * AR_PIX_SIZE) );
    }

    vid->video_cont_num = -1;

    return vid;
}

int ar2VideoClose( AR2VideoParamT *vid )
{
    if(vid->video_cont_num >= 0){
        ar2VideoCapStop( vid );
    }
    close(vid->fd);
    free( vid );

    return 0;
} 


int ar2VideoCapStart( AR2VideoParamT *vid )
{
    if(vid->video_cont_num >= 0){
        printf("arVideoCapStart has already been called.\n");
        return -1;
    }

    vid->video_cont_num = 0;
    vid->vmm.frame      = vid->video_cont_num;
    if(ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm) < 0) {
        return -1;
    }
    vid->vmm.frame = 1 - vid->vmm.frame;
    if( ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm) < 0) {
        return -1;
    }

    return 0;
}

int ar2VideoCapNext( AR2VideoParamT *vid )
{
    if(vid->video_cont_num < 0){
        printf("arVideoCapStart has never been called.\n");
        return -1;
    }

    vid->vmm.frame = 1 - vid->vmm.frame;
    ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm);

    return 0;
}

int ar2VideoCapStop( AR2VideoParamT *vid )
{
    if(vid->video_cont_num < 0){
        printf("arVideoCapStart has never been called.\n");
        return -1;
    }
    if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
        printf("error: videosync\n");
        return -1;
    }
    vid->video_cont_num = -1;

    return 0;
}

ARUint8 *ar2VideoGetImage( AR2VideoParamT *vid )
{
    if( vid->palette == AR_VIDEO_PALETTE_RGB ) {
        return ar2VideoGetImageRGB( vid );
    }
    else if( vid->palette == AR_VIDEO_PALETTE_YUV420 ) {
        return ar2VideoGetImageYUV420( vid );
    }
    else {
        return NULL;
    }
}

static ARUint8 *ar2VideoGetImageRGB( AR2VideoParamT *vid )
{
    if(vid->video_cont_num < 0){
        printf("arVideoCapStart has never been called.\n");
        return NULL;
    }

    if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
        printf("error: videosync\n");
        return NULL;
    }
    vid->video_cont_num = 1 - vid->video_cont_num;

    if(vid->video_cont_num == 0)
        return (vid->map + vid->vm.offsets[1]); 
    else
        return (vid->map + vid->vm.offsets[0]);
}

static ARUint8 *ar2VideoGetImageYUV420( AR2VideoParamT *vid )
{
    ARUint8  *p0, *p1, *p2, *p3;
    int       i, j;
    int R, G, B;
    int U0, V0, V20, U50, UV0;
    int U1, V1, V21, U51, UV1;
    int Y0, Y1, Y2, Y3;
    int Y4, Y5, Y6, Y7;

    if(vid->video_cont_num < 0){
        printf("arVideoCapStart has never been called.\n");
        return NULL;
    }

    if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
        printf("error: videosync\n");
        return NULL;
    }
    vid->video_cont_num = 1 - vid->video_cont_num;

    if(vid->video_cont_num == 0) p0 = vid->map + vid->vm.offsets[1];
    else                         p0 = vid->map + vid->vm.offsets[0];
    p1 =  p0 + vid->width * 3 / 2;
    p2 = vid->image + vid->height * vid->width * AR_PIX_SIZE - 1;
    p3 = p2 - vid->width * AR_PIX_SIZE;
    
    for( j = 0; j < vid->height/2; j++ ) {
        for( i = 0; i < vid->width/4; i++ ) {
              Y0  = (ARUint8)*p0++;
              Y1  = (ARUint8)*p0++;
              Y2  = (ARUint8)*p0++;
              Y3  = (ARUint8)*p0++;
              V0   = ((ARUint8)*p0++ - 128) * 0.354;
              V1   = ((ARUint8)*p0++ - 128) * 0.354;

              Y4  = (ARUint8)*p1++;
              Y5  = (ARUint8)*p1++;
              Y6  = (ARUint8)*p1++;
              Y7  = (ARUint8)*p1++;
              U0  = ((ARUint8)*p1++ - 128) * 0.707;
              U1  = ((ARUint8)*p1++ - 128) * 0.707;

              U50  = 5*U0;
              V20  = 2*V0;
              UV0  = - U0 - V0;
              U51  = 5*U1;
              V21  = 2*V1;
              UV1  = - U1 - V1;

              // Original equations
              // R = Y           + 1.402 V
              // G = Y - 0.344 U - 0.714 V
              // B = Y + 1.772 U
              R = Y0 + V20;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y0 + UV0;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y0 + U50;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p2-- = (ARUint8)B;
              *p2-- = (ARUint8)G;
              *p2-- = (ARUint8)R;

              //---
              R = Y1 + V20;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y1 + UV0;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y1 + U50;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p2-- = (ARUint8)B;
              *p2-- = (ARUint8)G;
              *p2-- = (ARUint8)R;

              //---
              R = Y2 + V21;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y2 + UV1;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y2 + U51;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p2-- = (ARUint8)B;
              *p2-- = (ARUint8)G;
              *p2-- = (ARUint8)R;

              //---
              R = Y3 + V21;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y3 + UV1;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y3 + U51;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p2-- = (ARUint8)B;
              *p2-- = (ARUint8)G;
              *p2-- = (ARUint8)R;

              //---
              R = Y4 + V20;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y4 + UV0;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y4 + U50;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p3-- = (ARUint8)B;
              *p3-- = (ARUint8)G;
              *p3-- = (ARUint8)R;

              //---
              R = Y5 + V20;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y5 + UV0;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y5 + U50;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p3-- = (ARUint8)B;
              *p3-- = (ARUint8)G;
              *p3-- = (ARUint8)R;

              //---
              R = Y6 + V21;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y6 + UV1;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y6 + U51;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p3-- = (ARUint8)B;
              *p3-- = (ARUint8)G;
              *p3-- = (ARUint8)R;

              //---
              R = Y7 + V21;
              if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;

              G = Y7 + UV1;
              if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;

              B = Y7 + U51;
              if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;

              *p3-- = (ARUint8)B;
              *p3-- = (ARUint8)G;
              *p3-- = (ARUint8)R;
        }
        p0 += vid->width * 3 / 2;
        p1 += vid->width * 3 / 2;
        p2 -= vid->width * AR_PIX_SIZE;
        p3 -= vid->width * AR_PIX_SIZE;
    }

    return vid->image;
}

int ar2VideoInqSize(AR2VideoParamT *vid, int *x,int *y)
{
    *x = vid->vmm.width;
    *y = vid->vmm.height;

    return 0;
}


------ include/AR/sys/videoLinuxV4L.h ------

/*******************************************************
 *
 * Author: Hirokazu Kato
 *
 *         kato@s ........................
 *
 * Revision: 4.5
 * Date: 2002/08/31
 *
*******************************************************/
#ifndef AR_VIDEO_LINUX_V4L_H
#define AR_VIDEO_LINUX_V4L_H
#ifdef  __cplusplus
extern "C" {
#endif

#include <stdlib.h>
#include <linux/types.h>
#include <linux/videodev.h>

#include <AR/config.h>
#include <AR/ar.h>

#define  AR_VIDEO_PALETTE_RGB       0
#define  AR_VIDEO_PALETTE_YUV420    1

typedef struct {
    char                dev[256];
    int                 width;
    int                 height;
    int                 channel;
    int                 mode;
    int                 palette;
    ARUint8             *image;
    int                 debug;
    double              contrast;
    double              brightness;
    double              color;

    int                 fd;
    int                 video_cont_num;
    ARUint8             *map;
    struct video_mbuf   vm;
    struct video_mmap   vmm;
} AR2VideoParamT;

#ifdef  __cplusplus
}
#endif
#endif




-- 
------------------------------------------------------------------
  Hirokazu Kato
  Faculty of Information Sciences
  Hiroshima City University               Phone: +81-82-830-1705
  Email: kato@s ........................     Fax: +81-82-830-1435
  URL: http://www.sys.im.hiroshima-cu.ac.jp/people/kato/

Hirokazu
Great! Your YUV420 implementation works. I didn't try calibration etc
yet, but I can see the picture on the screen. Two problems:
1) the picture is upside down
2) picture is reddish. For instance, yellow objects are shown orange.

These two problems do not apear with other camera viewer applications
like camstreams.
It would be great to fix (1) and I can live with (2).
pawel


On Wed, 2002-09-04 at 18:10, Hirokazu Kato wrote:
> Hi all,
> 
> I have just written codes which supports YUV420 palette in Video4Linux.
> But I do not have any device which is available in YUV420 palette.
> So I do not know this code works well or not.
> Please let me know any comments about this code if you can check it.
> 
> ------ lib/SRC/VideoLinuxV4L/video.c ------
> /* 
>  *   Video capture subrutine for Linux/Video4Linux devices 
>  *   author: Nakazawa,Atsushi ( nakazawa@i .......................... )
>              Hirokazu Kato ( kato@s ........................ )
>  *
>  *   Revision: 5.3   Date: 2002/08/31
>  */
> #include <sys/ioctl.h>
> #include <sys/types.h>
> #include <sys/stat.h>
> #include <sys/mman.h>
> #include <fcntl.h>
> #include <unistd.h>
> #include <stdio.h>
> #include <stdlib.h>
> #include <string.h>
> #include <linux/types.h>
> #include <linux/videodev.h>
> #include <AR/config.h>
> #include <AR/ar.h>
> #include <AR/video.h>
> 
> #define MAXCHANNEL   10
> 
> static AR2VideoParamT   *vid = NULL;
> 
> static ARUint8 *ar2VideoGetImageRGB( AR2VideoParamT *vid );
> static ARUint8 *ar2VideoGetImageYUV420( AR2VideoParamT *vid );
> 
> int arVideoDispOption( void )
> {
>     return  ar2VideoDispOption();
> }
> 
> int arVideoOpen( char *config )
> {
>     if( vid != NULL ) {
>         printf("Device has been opened!!\n");
>         return -1;
>     }
>     vid = ar2VideoOpen( config );
>     if( vid == NULL ) return -1;
> 
>     return 0;
> }
> 
> int arVideoClose( void )
> {
>     if( vid == NULL ) return -1;
> 
>     return ar2VideoClose( vid );
> }
> 
> int arVideoInqSize( int *x, int *y )
> {
>     if( vid == NULL ) return -1;
> 
>     return ar2VideoInqSize( vid, x, y );
> }
> 
> ARUint8 *arVideoGetImage( void )
> {
>     if( vid == NULL ) return NULL;
> 
>     return ar2VideoGetImage( vid );
> }
> 
> int arVideoCapStart( void )
> {
>     if( vid == NULL ) return -1;
> 
>     return ar2VideoCapStart( vid );
> }
> 
> int arVideoCapStop( void )
> {
>     if( vid == NULL ) return -1;
> 
>     return ar2VideoCapStop( vid );
> }
> 
> int arVideoCapNext( void )
> {
>     if( vid == NULL ) return -1;
> 
>     return ar2VideoCapNext( vid );
> }
> 
> /*-------------------------------------------*/
> 
> int ar2VideoDispOption( void )
> {
>     printf(" -width=N\n");
>     printf("    specifies expected width of image.\n");
>     printf(" -height=N\n");
>     printf("    specifies expected height of image.\n");
>     printf(" -contrast=N\n");
>     printf("    specifies contrast. (0.0 <-> 1.0)\n");
>     printf(" -brightness=N\n");
>     printf("    specifies brightness. (0.0 <-> 1.0)\n");
>     printf(" -color=N\n");
>     printf("    specifies color. (0.0 <-> 1.0)\n");
>     printf(" -channel=N\n");
>     printf("    specifies source channel.\n");
>     printf(" -dev=filepath\n");
>     printf("    specifies device file.\n");
>     printf(" -mode=[PAL|NTSC|SECAM]\n");
>     printf("    specifies TV signal mode.\n");
>     printf("\n");
> 
>     return 0;
> }
> 
> AR2VideoParamT *ar2VideoOpen( char *config )
> {
>     AR2VideoParamT            *vid;
>     struct video_capability   vd;
>     struct video_channel      vc[MAXCHANNEL];
>     struct video_picture      vp;
>     char                      *a, line[256];
>     int                       i;
> 
>     arMalloc( vid, AR2VideoParamT, 1 );
>     strcpy( vid->dev, DEFAULT_VIDEO_DEVICE );
>     vid->width      = DEFAULT_VIDEO_WIDTH;
>     vid->height     = DEFAULT_VIDEO_HEIGHT;
>     vid->channel    = DEFAULT_VIDEO_CHANNEL;
>     vid->mode       = DEFAULT_VIDEO_MODE;
>     vid->palette    = AR_VIDEO_PALETTE_RGB;
>     vid->debug      = 0;
>     vid->contrast   = 0.5;
>     vid->brightness = 0.5;
>     vid->color      = 0.5;
> 
>     a = config;
>     if( a != NULL) {
>         for(;;) {
>             while( *a == ' ' || *a == '\t' ) a++;
>             if( *a == '\0' ) break;
> 
>             if( strncmp( a, "-width=", 7 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[7], "%d", &vid->width ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-height=", 8 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[8], "%d", &vid->height ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-contrast=", 10 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[10], "%lf", &vid->contrast ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-brightness=", 12 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[12], "%lf", &vid->brightness ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-color=", 7 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[7], "%lf", &vid->color ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-channel=", 9 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[9], "%d", &vid->channel ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-dev=", 5 ) == 0 ) {
>                 sscanf( a, "%s", line );
>                 if( sscanf( &line[5], "%s", vid->dev ) == 0 ) {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-mode=", 6 ) == 0 ) {
>                 if( strncmp( &a[6], "PAL", 3 ) == 0 )        vid->mode = VIDEO_MODE_PAL;
>                 else if( strncmp( &a[6], "NTSC", 4 ) == 0 )  vid->mode = VIDEO_MODE_NTSC;
>                 else if( strncmp( &a[6], "SECAM", 5 ) == 0 ) vid->mode = VIDEO_MODE_SECAM;
>                 else {
>                     ar2VideoDispOption();
>                     free( vid );
>                     return 0;
>                 }
>             }
>             else if( strncmp( a, "-debug", 6 ) == 0 ) {
>                 vid->debug = 1;
>             }
>             else {
>                 ar2VideoDispOption();
>                 free( vid );
>                 return 0;
>             }
> 
>             while( *a != ' ' && *a != '\t' && *a != '\0') a++;
>         }
>     }
> 
>     vid->fd = open(vid->dev, O_RDWR);
>     if(vid->fd < 0){
>         printf("video device (%s) open failed\n",vid->dev); 
>         free( vid );
>         return 0;
>     }
> 
>     if(ioctl(vid->fd,VIDIOCGCAP,&vd) < 0){
>         printf("ioctl failed\n");
>         free( vid );
>         return 0;
>     }
> 
>     if( vid->debug ) {
>         printf("=== debug info ===\n");
>         printf("  vd.name      =   %s\n",vd.name);
>         printf("  vd.channels  =   %d\n",vd.channels);
>         printf("  vd.maxwidth  =   %d\n",vd.maxwidth);
>         printf("  vd.maxheight =   %d\n",vd.maxheight);
>         printf("  vd.minwidth  =   %d\n",vd.minwidth);
>         printf("  vd.minheight =   %d\n",vd.minheight);
>     }
>     
>     /* check capture size */
>     if(vd.maxwidth  < vid->width  || vid->width  < vd.minwidth ||
>        vd.maxheight < vid->height || vid->height < vd.minheight ) {
>         printf("arVideoOpen: width or height oversize \n");
>         free( vid );
>         return 0;
>     }
> 
>     /* check channel */
>     if(vid->channel < 0 || vid->channel >= vd.channels){
>         printf("arVideoOpen: channel# is not valid. \n");
>         free( vid );
>         return 0;
>     }
> 
>     if( vid->debug ) {
>         printf("==== capture device channel info ===\n");
>     }
> 
>     for(i = 0;i < vd.channels && i < MAXCHANNEL; i++){
>         vc[i].channel = i;
>         if(ioctl(vid->fd,VIDIOCGCHAN,&vc[i]) < 0){
>             printf("error: acquireing channel(%d) info\n",i);
>             free( vid );
>             return 0;
>         }
> 
>         if( vid->debug ) {
>             printf("    channel = %d\n",  vc[i].channel);
>             printf("       name = %s\n",  vc[i].name);
>             printf("     tuners = %d",    vc[i].tuners);
> 
>             printf("       flag = 0x%08x",vc[i].flags);
>             if(vc[i].flags & VIDEO_VC_TUNER) 
>                 printf(" TUNER");
>             if(vc[i].flags & VIDEO_VC_AUDIO) 
>                 printf(" AUDIO");
>             printf("\n");
> 
>             printf("     vc[%d].type = 0x%08x", i, vc[i].type);
>             if(vc[i].type & VIDEO_TYPE_TV) 
>                 printf(" TV");
>             if(vc[i].type & VIDEO_TYPE_CAMERA) 
>                 printf(" CAMERA");
>             printf("\n");       
>         }
>     }
> 
>     /* select channel */
>     vc[vid->channel].norm = vid->mode;       /* 0: PAL 1: NTSC 2:SECAM 3:AUTO */
>     if(ioctl(vid->fd, VIDIOCSCHAN, &vc[vid->channel]) < 0){
>         printf("error: selecting channel %d\n", vid->channel);
>         free( vid );
>         return 0;
>     }
> 
>     /* set video picture */
>     vp.brightness = 32767 * 2.0 * vid->brightness;
>     vp.hue        = 32767;
>     vp.colour     = 32767 * 2.0 * vid->color;
>     vp.contrast   = 32767 * 2.0 * vid->contrast;
>     vp.whiteness  = 32767;
>     vp.depth      = 24;                      /* color depth    */
> #if defined(AR_PIX_FORMAT_BGRA)
>     vp.palette    = VIDEO_PALETTE_RGB32;     /* palette format */
> #elif defined(AR_PIX_FORMAT_BGR)
>     vp.palette    = VIDEO_PALETTE_RGB24;     /* palette format */
> #endif
>     if(ioctl(vid->fd, VIDIOCSPICT, &vp)) {
>         vid->palette = AR_VIDEO_PALETTE_YUV420;
>         vp.palette = VIDEO_PALETTE_YUV420;
>         if(ioctl(vid->fd, VIDIOCSPICT, &vp)) {
>             printf("error: setting palette\n");
>             free( vid );
>             return 0;
>         }
>     }
> 
>     /* get mmap info */
>     if(ioctl(vid->fd,VIDIOCGMBUF,&vid->vm) < 0){
>         printf("error: videocgmbuf\n");
>         free( vid );
>         return 0;
>     }
> 
>     if( vid->debug ) {
>         printf("===== Image Buffer Info =====\n");
>         printf("   size   =  %d[bytes]\n", vid->vm.size);
>         printf("   frames =  %d\n", vid->vm.frames);
>     }
>     if(vid->vm.frames < 2){
>         printf("this device can not be supported by libARvideo.\n");
>         printf("(vm.frames < 2)\n");
>         free( vid );
>         return 0;
>     }
> 
> 
>     /* get memory mapped io */
>     if((vid->map = (ARUint8 *)mmap(0, vid->vm.size, PROT_READ|PROT_WRITE, MAP_SHARED, vid->fd, 0)) < 0){
>         printf("error: mmap\n");
>         free( vid );
>         return 0;
>     }
> 
> /*-----------------------------------------*/
> #if 0
> {   
>     struct video_window   vw;
>     
>     vw.x = 0;
>     vw.y = 0;
>     vw.width = vid->width;
>     vw.height = vid->height;
>     vw.chromakey = 0;
>     vw.flags = (30 << 16);
>     
>     if(ioctl(vid->fd,VIDIOCSWIN,&vw) < 0){
>         printf("error: videocswin\n");
>         free( vid );
>         return 0;
>     }
> }
> #endif
> 
>     /* setup for vmm */ 
>     vid->vmm.frame  = 0;
>     vid->vmm.width  = vid->width;
>     vid->vmm.height = vid->height;
>     if( vid->palette == AR_VIDEO_PALETTE_RGB ) {
> #if defined(AR_PIX_FORMAT_BGRA)
>         vid->vmm.format = VIDEO_PALETTE_RGB32;
> #elif defined(AR_PIX_FORMAT_BGR)
>         vid->vmm.format = VIDEO_PALETTE_RGB24;
> #endif
>     }
>     else {
>         vid->vmm.format = VIDEO_PALETTE_YUV420;
>         arMalloc( vid->image, ARUint8, (vid->width * vid->height * AR_PIX_SIZE) );
>     }
> 
>     vid->video_cont_num = -1;
> 
>     return vid;
> }
> 
> int ar2VideoClose( AR2VideoParamT *vid )
> {
>     if(vid->video_cont_num >= 0){
>         ar2VideoCapStop( vid );
>     }
>     close(vid->fd);
>     free( vid );
> 
>     return 0;
> } 
> 
> 
> int ar2VideoCapStart( AR2VideoParamT *vid )
> {
>     if(vid->video_cont_num >= 0){
>         printf("arVideoCapStart has already been called.\n");
>         return -1;
>     }
> 
>     vid->video_cont_num = 0;
>     vid->vmm.frame      = vid->video_cont_num;
>     if(ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm) < 0) {
>         return -1;
>     }
>     vid->vmm.frame = 1 - vid->vmm.frame;
>     if( ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm) < 0) {
>         return -1;
>     }
> 
>     return 0;
> }
> 
> int ar2VideoCapNext( AR2VideoParamT *vid )
> {
>     if(vid->video_cont_num < 0){
>         printf("arVideoCapStart has never been called.\n");
>         return -1;
>     }
> 
>     vid->vmm.frame = 1 - vid->vmm.frame;
>     ioctl(vid->fd, VIDIOCMCAPTURE, &vid->vmm);
> 
>     return 0;
> }
> 
> int ar2VideoCapStop( AR2VideoParamT *vid )
> {
>     if(vid->video_cont_num < 0){
>         printf("arVideoCapStart has never been called.\n");
>         return -1;
>     }
>     if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
>         printf("error: videosync\n");
>         return -1;
>     }
>     vid->video_cont_num = -1;
> 
>     return 0;
> }
> 
> ARUint8 *ar2VideoGetImage( AR2VideoParamT *vid )
> {
>     if( vid->palette == AR_VIDEO_PALETTE_RGB ) {
>         return ar2VideoGetImageRGB( vid );
>     }
>     else if( vid->palette == AR_VIDEO_PALETTE_YUV420 ) {
>         return ar2VideoGetImageYUV420( vid );
>     }
>     else {
>         return NULL;
>     }
> }
> 
> static ARUint8 *ar2VideoGetImageRGB( AR2VideoParamT *vid )
> {
>     if(vid->video_cont_num < 0){
>         printf("arVideoCapStart has never been called.\n");
>         return NULL;
>     }
> 
>     if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
>         printf("error: videosync\n");
>         return NULL;
>     }
>     vid->video_cont_num = 1 - vid->video_cont_num;
> 
>     if(vid->video_cont_num == 0)
>         return (vid->map + vid->vm.offsets[1]); 
>     else
>         return (vid->map + vid->vm.offsets[0]);
> }
> 
> static ARUint8 *ar2VideoGetImageYUV420( AR2VideoParamT *vid )
> {
>     ARUint8  *p0, *p1, *p2, *p3;
>     int       i, j;
>     int R, G, B;
>     int U0, V0, V20, U50, UV0;
>     int U1, V1, V21, U51, UV1;
>     int Y0, Y1, Y2, Y3;
>     int Y4, Y5, Y6, Y7;
> 
>     if(vid->video_cont_num < 0){
>         printf("arVideoCapStart has never been called.\n");
>         return NULL;
>     }
> 
>     if(ioctl(vid->fd, VIDIOCSYNC, &vid->video_cont_num) < 0){
>         printf("error: videosync\n");
>         return NULL;
>     }
>     vid->video_cont_num = 1 - vid->video_cont_num;
> 
>     if(vid->video_cont_num == 0) p0 = vid->map + vid->vm.offsets[1];
>     else                         p0 = vid->map + vid->vm.offsets[0];
>     p1 =  p0 + vid->width * 3 / 2;
>     p2 = vid->image + vid->height * vid->width * AR_PIX_SIZE - 1;
>     p3 = p2 - vid->width * AR_PIX_SIZE;
>     
>     for( j = 0; j < vid->height/2; j++ ) {
>         for( i = 0; i < vid->width/4; i++ ) {
>               Y0  = (ARUint8)*p0++;
>               Y1  = (ARUint8)*p0++;
>               Y2  = (ARUint8)*p0++;
>               Y3  = (ARUint8)*p0++;
>               V0   = ((ARUint8)*p0++ - 128) * 0.354;
>               V1   = ((ARUint8)*p0++ - 128) * 0.354;
> 
>               Y4  = (ARUint8)*p1++;
>               Y5  = (ARUint8)*p1++;
>               Y6  = (ARUint8)*p1++;
>               Y7  = (ARUint8)*p1++;
>               U0  = ((ARUint8)*p1++ - 128) * 0.707;
>               U1  = ((ARUint8)*p1++ - 128) * 0.707;
> 
>               U50  = 5*U0;
>               V20  = 2*V0;
>               UV0  = - U0 - V0;
>               U51  = 5*U1;
>               V21  = 2*V1;
>               UV1  = - U1 - V1;
> 
>               // Original equations
>               // R = Y           + 1.402 V
>               // G = Y - 0.344 U - 0.714 V
>               // B = Y + 1.772 U
>               R = Y0 + V20;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y0 + UV0;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y0 + U50;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p2-- = (ARUint8)B;
>               *p2-- = (ARUint8)G;
>               *p2-- = (ARUint8)R;
> 
>               //---
>               R = Y1 + V20;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y1 + UV0;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y1 + U50;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p2-- = (ARUint8)B;
>               *p2-- = (ARUint8)G;
>               *p2-- = (ARUint8)R;
> 
>               //---
>               R = Y2 + V21;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y2 + UV1;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y2 + U51;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p2-- = (ARUint8)B;
>               *p2-- = (ARUint8)G;
>               *p2-- = (ARUint8)R;
> 
>               //---
>               R = Y3 + V21;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y3 + UV1;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y3 + U51;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p2-- = (ARUint8)B;
>               *p2-- = (ARUint8)G;
>               *p2-- = (ARUint8)R;
> 
>               //---
>               R = Y4 + V20;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y4 + UV0;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y4 + U50;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p3-- = (ARUint8)B;
>               *p3-- = (ARUint8)G;
>               *p3-- = (ARUint8)R;
> 
>               //---
>               R = Y5 + V20;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y5 + UV0;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y5 + U50;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p3-- = (ARUint8)B;
>               *p3-- = (ARUint8)G;
>               *p3-- = (ARUint8)R;
> 
>               //---
>               R = Y6 + V21;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y6 + UV1;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y6 + U51;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p3-- = (ARUint8)B;
>               *p3-- = (ARUint8)G;
>               *p3-- = (ARUint8)R;
> 
>               //---
>               R = Y7 + V21;
>               if ((R >> 8) > 0) R = 255; else if (R < 0) R = 0;
> 
>               G = Y7 + UV1;
>               if ((G >> 8) > 0) G = 255; else if (G < 0) G = 0;
> 
>               B = Y7 + U51;
>               if ((B >> 8) > 0) B = 255; else if (B < 0) B = 0;
> 
>               *p3-- = (ARUint8)B;
>               *p3-- = (ARUint8)G;
>               *p3-- = (ARUint8)R;
>         }
>         p0 += vid->width * 3 / 2;
>         p1 += vid->width * 3 / 2;
>         p2 -= vid->width * AR_PIX_SIZE;
>         p3 -= vid->width * AR_PIX_SIZE;
>     }
> 
>     return vid->image;
> }
> 
> int ar2VideoInqSize(AR2VideoParamT *vid, int *x,int *y)
> {
>     *x = vid->vmm.width;
>     *y = vid->vmm.height;
> 
>     return 0;
> }
> 
> 
> ------ include/AR/sys/videoLinuxV4L.h ------
> 
> /*******************************************************
>  *
>  * Author: Hirokazu Kato
>  *
>  *         kato@s ........................
>  *
>  * Revision: 4.5
>  * Date: 2002/08/31
>  *
> *******************************************************/
> #ifndef AR_VIDEO_LINUX_V4L_H
> #define AR_VIDEO_LINUX_V4L_H
> #ifdef  __cplusplus
> extern "C" {
> #endif
> 
> #include <stdlib.h>
> #include <linux/types.h>
> #include <linux/videodev.h>
> 
> #include <AR/config.h>
> #include <AR/ar.h>
> 
> #define  AR_VIDEO_PALETTE_RGB       0
> #define  AR_VIDEO_PALETTE_YUV420    1
> 
> typedef struct {
>     char                dev[256];
>     int                 width;
>     int                 height;
>     int                 channel;
>     int                 mode;
>     int                 palette;
>     ARUint8             *image;
>     int                 debug;
>     double              contrast;
>     double              brightness;
>     double              color;
> 
>     int                 fd;
>     int                 video_cont_num;
>     ARUint8             *map;
>     struct video_mbuf   vm;
>     struct video_mmap   vmm;
> } AR2VideoParamT;
> 
> #ifdef  __cplusplus
> }
> #endif
> #endif
> 
> 
> 
> 
> -- 
> ------------------------------------------------------------------
>   Hirokazu Kato
>   Faculty of Information Sciences
>   Hiroshima City University               Phone: +81-82-830-1705
>   Email: kato@s ........................     Fax: +81-82-830-1435
>   URL: http://www.sys.im.hiroshima-cu.ac.jp/people/kato/
> 

Quoth Hirokazu Kato:

> > -how about Firewire. Will all cameras work, or just some?
> 
> I am using iBot and dragonFly firewire camera.
> They work fine and can output 640x480 image 30fps.

Sir,

We seem to have the same environment

Macintosh
G4/400MHz
128MB RAM
ATI Rage video (built-in on Titanium PowerBook)
Mac OS X 10.1.5
Firewire Orangemicro iBot
IOXperts Firewire Webcam Driver (evaluation version)

Software installed: ARToolKit 2.65
Behavior: all programs are run from Terminal.app and open a secondary
          window which is black.  All terminate with a segmentation fault.
          Running programs from gdb provides the following additional
          error message:

        Program received signal EXC_BAD_ACCESS, Could not access memory.
        0x75a3b654 in YUVU_YUVToRGB32ARGBBitColor ()

Regards,

David K. Drum
david@m .......

Quoth Hirokazu Kato:

> Could you tell me the version number of QuickTime.
> I am still using QuickTime5.0 and I have not tried 6.0 yet.
> Is it same as yours?

It was QuickTime 5.0.  I specifically did not upgrade to 6.0 because I
have a "Pro" key for version 5.0, which expires when 6.0 is installed.

I've since upgraded to 10.2 "Jaguar" and the code does not work at all.
There are many graphics differences between 10.1.5 and 10.2.  I have
heard from another project (Flightgear) that graphics performance drops
considerably in 10.2 (unless you rewrite your code to the new APIs,
I guess).

I am probably going to downgrade to 10.1.5, in order to continue progress
on this.  Mac OS X 10.2 is not a requirement for my project.

Regards,

David K. Drum
david@m .......

>Macintosh
>G4/400MHz
>128MB RAM
>ATI Rage video (built-in on Titanium PowerBook)
>Mac OS X 10.1.5
>Firewire Orangemicro iBot
>IOXperts Firewire Webcam Driver (evaluation version)
>
>Software installed: ARToolKit 2.65
>Behavior: all programs are run from Terminal.app and open a secondary
>          window which is black.  All terminate with a segmentation fault.
>          Running programs from gdb provides the following additional
>          error message:
>
>        Program received signal EXC_BAD_ACCESS, Could not access memory.
>        0x75a3b654 in YUVU_YUVToRGB32ARGBBitColor ()

Could you tell me the version number of QuickTime.
I am still using QuickTime5.0 and I have not tried 6.0 yet.
Is it same as yours?

-- 
------------------------------------------------------------------
  Hirokazu Kato
  Faculty of Information Sciences
  Hiroshima City University               Phone: +81-82-830-1705
  Email: kato@s ........................     Fax: +81-82-830-1435
  URL: http://www.sys.im.hiroshima-cu.ac.jp/people/kato/

Hi all,

I've some problems beginning using artoolkit.
Maybe can you help ?
Here's the result i got when i run a test with debug on:

  === debug info ===
  vd.name      =   OV511+ USB Camera
  vd.channels  =   1
  vd.maxwidth  =   640
  vd.maxheight =   480
  vd.minwidth  =   64
  vd.minheight =   48
  ==== capture device channel info ===
  channel = 0
  name = Camera
  tuners = 0       flag = 0x00000000
  vc[0].type = 0x00000002 CAMERA
  error: setting palette

Take a look at the last line. This problem doesn't appear with all PC,
and i'm using the same OS, the same version of program, and the same
camera ... All the params seems OK, but it fails.  

Any idea to help me ?

Thanks a lot !

-- 
   __o   
 _`\<,_  Marc Demlenne                   Public Key on www.keyserver.net
(_)/ (_) GPG/768FA483 BFD8 E61B 180C 3E7A 3435  D393 B605 9979 768F A483

Hm, I had the same problem. It's the USB camera you are using. Most 
likely it doesn't send it's pictures in RGB24 or RGB32 format, which is 
required by the ARToolkit. My camera (Philips ToUCam 740K) sends the 
pictures only in YUV420P format. If you are adventurous, you can look 
into the Firewire driver of the ARToolkit, they do some color conversion 
there...

It might be a good idea to modularize the ARToolkit a bit, so that one 
could more easily insert an image converter...

If your camera also uses the YUV420P format, I could send you the code 
that I used to convert the images... You'd have to paste that into the 
ARToolkit code, though. Which version are you using, 2.50?


Bye,
   Robert.


Marc Demlenne schrieb:
> Hi all,
> 
> I've some problems beginning using artoolkit.
> Maybe can you help ?
> Here's the result i got when i run a test with debug on:
> 
>   === debug info ===
>   vd.name      =   OV511+ USB Camera
>   vd.channels  =   1
>   vd.maxwidth  =   640
>   vd.maxheight =   480
>   vd.minwidth  =   64
>   vd.minheight =   48
>   ==== capture device channel info ===
>   channel = 0
>   name = Camera
>   tuners = 0       flag = 0x00000000
>   vc[0].type = 0x00000002 CAMERA
>   error: setting palette
> 
> Take a look at the last line. This problem doesn't appear with all PC,
> and i'm using the same OS, the same version of program, and the same
> camera ... All the params seems OK, but it fails.  
> 
> Any idea to help me ?
> 
> Thanks a lot !
> 

Hm, I had the same problem. It's the USB camera you are using. Most 
likely it doesn't send it's pictures in RGB24 or RGB32 format, which is 
required by the ARToolkit. My camera (Philips ToUCam 740K) sends the 
pictures only in YUV420P format. If you are adventurous, you can look 
into the Firewire driver of the ARToolkit, they do some color conversion 
there...

It might be a good idea to modularize the ARToolkit a bit, so that one 
could more easily insert an image converter...

If your camera also uses the YUV420P format, I could send you the code 
that I used to convert the images... You'd have to paste that into the 
ARToolkit code, though. Which version are you using, 2.50?


Bye,
   Robert.


Marc Demlenne schrieb:
> Hi all,
> 
> I've some problems beginning using artoolkit.
> Maybe can you help ?
> Here's the result i got when i run a test with debug on:
> 
>   === debug info ===
>   vd.name      =   OV511+ USB Camera
>   vd.channels  =   1
>   vd.maxwidth  =   640
>   vd.maxheight =   480
>   vd.minwidth  =   64
>   vd.minheight =   48
>   ==== capture device channel info ===
>   channel = 0
>   name = Camera
>   tuners = 0       flag = 0x00000000
>   vc[0].type = 0x00000002 CAMERA
>   error: setting palette
> 
> Take a look at the last line. This problem doesn't appear with all PC,
> and i'm using the same OS, the same version of program, and the same
> camera ... All the params seems OK, but it fails.  
> 
> Any idea to help me ?
> 
> Thanks a lot !
> 

How can i make sure of format used by the cam ? It's a Creative WebCam 
PRO [1] I've tried different mode by passing parameters while loading the
module, but nothing changed.

I'm under Linux, using ARToolKit version 2.61. I'd be happy with your
code. I'll take a look at it.

But i've also another problem with another camera. It's a PtGrey
Bumblebee stereocam[2], running over Firewire bus. When using it, ARToolKit
says the format isn't recognized... I'm still looking at it but it
seems IEEE1394 isn't fully supported in ARTK yet, am i wrong ?

[1] http://uk.europe.creative.com/products/product.asp?prod=332&page=1
[2] http://www.ptgrey.com/products/bumblebee/index.html

Thanks a lot

On Wed, Mar 05, 2003 at 12:55:27PM +0100, Robert Hinn wrote:
> 
> Hm, I had the same problem. It's the USB camera you are using. Most 
> likely it doesn't send it's pictures in RGB24 or RGB32 format, which is 
> required by the ARToolkit. My camera (Philips ToUCam 740K) sends the 
> pictures only in YUV420P format. If you are adventurous, you can look 
> into the Firewire driver of the ARToolkit, they do some color conversion 
> there...
> 
> It might be a good idea to modularize the ARToolkit a bit, so that one 
> could more easily insert an image converter...
> 
> If your camera also uses the YUV420P format, I could send you the code 
> that I used to convert the images... You'd have to paste that into the 
> ARToolkit code, though. Which version are you using, 2.50?
> 
> 
> Bye,
>   Robert.

-- 
   __o   
 _`\<,_  Marc Demlenne                   Public Key on www.keyserver.net
(_)/ (_) GPG/768FA483 BFD8 E61B 180C 3E7A 3435  D393 B605 9979 768F A483

hi

you can use the coriander application to test the different modes of the 
ieee1394 camera.
http://sourceforge.net/projects/coriander

i am using i-bot and fire-i ieee1394 camera on linux.

bye

christoph

Marc Demlenne wrote:
> But i've also another problem with another camera. It's a PtGrey
> Bumblebee stereocam[2], running over Firewire bus. When using it, ARToolKit
> says the format isn't recognized... I'm still looking at it but it
> seems IEEE1394 isn't fully supported in ARTK yet, am i wrong ?
> 
> [1] http://uk.europe.creative.com/products/product.asp?prod=332&page=1
> [2] http://www.ptgrey.com/products/bumblebee/index.html
> 

hi

you can use the coriander application to test the different modes of the 
ieee1394 camera.
http://sourceforge.net/projects/coriander

i am using i-bot and fire-i ieee1394 camera on linux.

bye

christoph

Marc Demlenne wrote:
> But i've also another problem with another camera. It's a PtGrey
> Bumblebee stereocam[2], running over Firewire bus. When using it, ARToolKit
> says the format isn't recognized... I'm still looking at it but it
> seems IEEE1394 isn't fully supported in ARTK yet, am i wrong ?
> 
> [1] http://uk.europe.creative.com/products/product.asp?prod=332&page=1
> [2] http://www.ptgrey.com/products/bumblebee/index.html
> 

Hi,

We have a Bumblebee stereo camera as well, and I don't think it uses either
the DC (web cam) or DV (video camera) protocols. Neither Linux or Windows XP
recognise it using the standard drivers. In order to make the camera work
under Windows you need to install their driver. To make the camera work you
would need to work out the protocol they use and then write a driver for it
possibly. I haven't really looked into this but I know it doesn't work out
of the box.

regards,
Wayne

----------------------------------------------------------------------------
Wayne Piekarski - PhD Researcher / Lecturer      pho:        +61-8-8302-3669
                                                 fax:        +61-8-8302-3381
Tinmith Project - Wearable Computer Lab          mob:           0407-395-889
Advanced Computing Research Centre               ema:  wayne@c ..............
University of South Australia                    www: http://www.tinmith.net



----- Original Message -----
From: "Marc Demlenne" <m.demlenne@s ........>
To: "Robert Hinn" <exodus@o ........>
Cc: <artoolkit@h ..................>
Sent: Wednesday, March 05, 2003 11:29 PM
Subject: Re: error: setting palette


> How can i make sure of format used by the cam ? It's a Creative WebCam
> PRO [1] I've tried different mode by passing parameters while loading the
> module, but nothing changed.
>
> I'm under Linux, using ARToolKit version 2.61. I'd be happy with your
> code. I'll take a look at it.
>
> But i've also another problem with another camera. It's a PtGrey
> Bumblebee stereocam[2], running over Firewire bus. When using it,
ARToolKit
> says the format isn't recognized... I'm still looking at it but it
> seems IEEE1394 isn't fully supported in ARTK yet, am i wrong ?
>
> [1] http://uk.europe.creative.com/products/product.asp?prod=332&page=1
> [2] http://www.ptgrey.com/products/bumblebee/index.html
>
> Thanks a lot
>
> On Wed, Mar 05, 2003 at 12:55:27PM +0100, Robert Hinn wrote:
> >
> > Hm, I had the same problem. It's the USB camera you are using. Most
> > likely it doesn't send it's pictures in RGB24 or RGB32 format, which is
> > required by the ARToolkit. My camera (Philips ToUCam 740K) sends the
> > pictures only in YUV420P format. If you are adventurous, you can look
> > into the Firewire driver of the ARToolkit, they do some color conversion
> > there...
> >
> > It might be a good idea to modularize the ARToolkit a bit, so that one
> > could more easily insert an image converter...
> >
> > If your camera also uses the YUV420P format, I could send you the code
> > that I used to convert the images... You'd have to paste that into the
> > ARToolkit code, though. Which version are you using, 2.50?
> >
> >
> > Bye,
> >   Robert.
>
> --
>    __o
>  _`\<,_  Marc Demlenne                   Public Key on www.keyserver.net
> (_)/ (_) GPG/768FA483 BFD8 E61B 180C 3E7A 3435  D393 B605 9979 768F A483
>

Hi,

We have a Bumblebee stereo camera as well, and I don't think it uses either
the DC (web cam) or DV (video camera) protocols. Neither Linux or Windows XP
recognise it using the standard drivers. In order to make the camera work
under Windows you need to install their driver. To make the camera work you
would need to work out the protocol they use and then write a driver for it
possibly. I haven't really looked into this but I know it doesn't work out
of the box.

regards,
Wayne

----------------------------------------------------------------------------
Wayne Piekarski - PhD Researcher / Lecturer      pho:        +61-8-8302-3669
                                                 fax:        +61-8-8302-3381
Tinmith Project - Wearable Computer Lab          mob:           0407-395-889
Advanced Computing Research Centre               ema:  wayne@c ..............
University of South Australia                    www: http://www.tinmith.net



----- Original Message -----
From: "Marc Demlenne" <m.demlenne@s ........>
To: "Robert Hinn" <exodus@o ........>
Cc: <artoolkit@h ..................>
Sent: Wednesday, March 05, 2003 11:29 PM
Subject: Re: error: setting palette


> How can i make sure of format used by the cam ? It's a Creative WebCam
> PRO [1] I've tried different mode by passing parameters while loading the
> module, but nothing changed.
>
> I'm under Linux, using ARToolKit version 2.61. I'd be happy with your
> code. I'll take a look at it.
>
> But i've also another problem with another camera. It's a PtGrey
> Bumblebee stereocam[2], running over Firewire bus. When using it,
ARToolKit
> says the format isn't recognized... I'm still looking at it but it
> seems IEEE1394 isn't fully supported in ARTK yet, am i wrong ?
>
> [1] http://uk.europe.creative.com/products/product.asp?prod=332&page=1
> [2] http://www.ptgrey.com/products/bumblebee/index.html
>
> Thanks a lot
>
> On Wed, Mar 05, 2003 at 12:55:27PM +0100, Robert Hinn wrote:
> >
> > Hm, I had the same problem. It's the USB camera you are using. Most
> > likely it doesn't send it's pictures in RGB24 or RGB32 format, which is
> > required by the ARToolkit. My camera (Philips ToUCam 740K) sends the
> > pictures only in YUV420P format. If you are adventurous, you can look
> > into the Firewire driver of the ARToolkit, they do some color conversion
> > there...
> >
> > It might be a good idea to modularize the ARToolkit a bit, so that one
> > could more easily insert an image converter...
> >
> > If your camera also uses the YUV420P format, I could send you the code
> > that I used to convert the images... You'd have to paste that into the
> > ARToolkit code, though. Which version are you using, 2.50?
> >
> >
> > Bye,
> >   Robert.
>
> --
>    __o
>  _`\<,_  Marc Demlenne                   Public Key on www.keyserver.net
> (_)/ (_) GPG/768FA483 BFD8 E61B 180C 3E7A 3435  D393 B605 9979 768F A483
>