ArDrone SDK 1.8 added
[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VLIB / Platform / x86 / UVLC / uvlc_codec.c
diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Platform/x86/UVLC/uvlc_codec.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Platform/x86/UVLC/uvlc_codec.c
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+#include <VLIB/Platform/video_utils.h>
+#include <VLIB/Platform/video_config.h>
+
+#include <VLIB/video_quantizer.h>
+#include <VLIB/video_dct.h>
+#include <VLIB/video_mem32.h>
+#include <VLIB/video_packetizer.h>
+
+#include <VLIB/UVLC/uvlc_codec.h>
+#include <VLIB/UVLC/uvlc.h>
+
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_assert.h>
+
+#if TARGET_CPU_X86 == 1
+
+#ifdef HAS_UVLC_DECODE_BLOCKLINE
+C_RESULT uvlc_read_block_unquantize( video_controller_t* controller, int16_t* data, int32_t quant, int32_t nc )
+{
+  video_stream_t* stream = &controller->in_stream;
+  int32_t* zztable;
+  int32_t index, code, run, last;
+
+  zztable = &video_zztable_t81[0];
+
+  // DC coeff
+  code = run = last = 0;
+  video_read_data( stream, (uint32_t*) &code, 10 );
+
+  if( controller->picture_type == VIDEO_PICTURE_INTRA ) // intra
+  {
+    code <<= 3;
+  }
+  else
+  {
+    code = quant*( 2*code + 1 );
+    if( quant & 1 )
+      code -= 1;
+  }
+  data[0] = code;
+
+  if( nc > 0 )
+  {
+    // AC coeff
+    while( last == 0 )
+    {
+      code = run = last = 0;
+      uvlc_decode( stream, &run, &code, &last);
+
+      VP_OS_ASSERT( run < 64 );
+
+      if( last == 0 )
+      {
+        zztable    += (run+1);
+        index       = *zztable;
+
+        code = quant*( 2*code + 1 );
+        if( quant & 1 )
+          code -= 1;
+
+        data[index] = code;
+      }
+    }
+  }
+
+  return C_OK;
+}
+
+C_RESULT uvlc_read_mb_layer_unquantize( video_controller_t* controller, video_macroblock_t* mb, int32_t num_macro_blocks )
+{
+  int16_t* data;
+  uint32_t code;
+
+  video_zeromem32( (uint32_t*)mb->data, num_macro_blocks * 6 * MCU_BLOCK_SIZE / 2 );
+
+  while( num_macro_blocks > 0 )
+  {
+    mb->azq = 0;
+    video_read_data( &controller->in_stream, (uint32_t*)&mb->azq, 1 );
+
+    if( mb->azq == 0 )
+    {
+      video_read_data( &controller->in_stream, &code, 8 );
+
+      mb->num_coeff_y0 = (code >> 0) & 1;
+      mb->num_coeff_y1 = (code >> 1) & 1;
+      mb->num_coeff_y2 = (code >> 2) & 1;
+      mb->num_coeff_y3 = (code >> 3) & 1;
+      mb->num_coeff_cb = (code >> 4) & 1;
+      mb->num_coeff_cr = (code >> 5) & 1;
+
+      mb->dquant = 0;
+      if( (code >> 6) & 1 )
+      {
+        video_read_data( &controller->in_stream, &code, 2 );
+
+        mb->dquant = (code < 2) ? ~code : code;
+      }
+
+      controller->quant += mb->dquant;
+
+      /**************** Block Y0 ****************/
+      data = mb->data;
+      uvlc_read_block_unquantize( controller, data, controller->quant, mb->num_coeff_y0 );
+
+      /**************** Block Y1 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block_unquantize( controller, data, controller->quant, mb->num_coeff_y1 );
+
+      /**************** Block Y2 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block_unquantize( controller, data, controller->quant, mb->num_coeff_y2 );
+
+      /**************** Block Y3 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block_unquantize( controller, data, controller->quant, mb->num_coeff_y3 );
+
+      /**************** Block CB ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block_unquantize( controller, data, controller->quant, mb->num_coeff_cb );
+
+      /**************** Block CR ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block_unquantize( controller, data, controller->quant, mb->num_coeff_cr );
+    }
+
+    mb ++;
+    num_macro_blocks --;
+  }
+
+  return C_OK;
+}
+
+C_RESULT uvlc_decode_blockline( video_controller_t* controller, vp_api_picture_t* picture, bool_t* got_image )
+{
+  video_codec_t* video_codec;
+  vp_api_picture_t blockline = { 0 };
+  int16_t *in = NULL, *out = NULL;
+  int32_t num_macro_blocks = 0;
+  video_macroblock_t* macroblock = NULL;
+  video_picture_context_t blockline_ctx;
+  video_gob_t*  gobs;
+
+  controller->mode  = VIDEO_DECODE;
+  video_codec       = controller->video_codec;
+
+  blockline                   = *picture;
+  blockline.height            = MB_HEIGHT_Y;
+  blockline.complete          = 1;
+  blockline.vision_complete   = 0;
+
+  picture->complete  = controller->picture_complete;
+
+  blockline_ctx.y_woffset = blockline.y_line_size;
+  blockline_ctx.c_woffset = blockline.cb_line_size;
+  blockline_ctx.y_hoffset = blockline.y_line_size * MCU_HEIGHT;
+
+  // At least a complete blockline is found
+  while( !controller->picture_complete && controller->in_stream.index <= (controller->in_stream.used >> 2) )
+  {
+    uvlc_unpack_controller( controller );
+
+    if( !controller->picture_complete )
+    {
+      blockline.blockline  = controller->blockline;
+
+      blockline_ctx.y_src     = picture->y_buf + blockline.blockline * MB_HEIGHT_Y * picture->y_line_size;
+      blockline_ctx.cb_src    = picture->cb_buf + blockline.blockline * MB_HEIGHT_C * picture->cb_line_size;
+      blockline_ctx.cr_src    = picture->cr_buf + blockline.blockline * MB_HEIGHT_C * picture->cr_line_size;
+
+      picture->blockline  = controller->blockline;
+      num_macro_blocks    = controller->mb_blockline;
+
+      macroblock  = &controller->cache_mbs[0];
+      gobs        = &controller->gobs[controller->blockline];
+      out         = gobs->macroblocks->data;
+
+      if( gobs->quant != controller->quant )
+      {
+        controller->quant = gobs->quant;
+        video_quantizer_update( controller );
+      }
+
+      while( num_macro_blocks > MAX_NUM_MACRO_BLOCKS_PER_CALL )
+      {
+        in = &macroblock->data[0];
+
+        uvlc_read_mb_layer_unquantize( controller, macroblock, MAX_NUM_MACRO_BLOCKS_PER_CALL );
+
+        out = video_idct_compute( in, out, MAX_NUM_MACRO_BLOCKS_PER_CALL );
+
+        if( macroblock == &controller->cache_mbs[0] )
+          macroblock += MAX_NUM_MACRO_BLOCKS_PER_CALL;
+        else
+          macroblock -= MAX_NUM_MACRO_BLOCKS_PER_CALL;
+
+        num_macro_blocks -= MAX_NUM_MACRO_BLOCKS_PER_CALL;
+      }
+
+      in = macroblock->data;
+
+      uvlc_read_mb_layer_unquantize( controller, macroblock, num_macro_blocks );
+
+      video_idct_compute( in, out, num_macro_blocks );
+
+      video_blockline_from_macro_blocks(&blockline_ctx, gobs->macroblocks->data, controller->mb_blockline, picture->format);
+
+      // Update controller according to video statistics
+      video_controller_update( controller, controller->picture_complete );
+    }
+  }
+
+  if( controller->picture_complete )
+  {
+    picture->complete   = controller->picture_complete;
+    picture->blockline  = 0;
+
+    controller->picture_complete  = 0;
+    controller->in_stream.length  = 32;
+    //controller->num_frames++;
+
+    *got_image = TRUE;
+  }
+  else
+  {
+    controller->in_stream.used  = 0;
+    controller->in_stream.index = 0;
+  }
+
+  return C_OK;
+}
+#endif
+
+#endif // TARGET_CPU_X86 == 1