ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VLIB / UVLC / uvlc_picture_layer.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/UVLC/uvlc_picture_layer.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/UVLC/uvlc_picture_layer.c
new file mode 100644 (file)
index 0000000..74a80d3
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/UVLC/uvlc_picture_layer.c
@@ -0,0 +1,82 @@
+#include <VLIB/video_controller.h>
+#include <VLIB/video_packetizer.h>
+
+#include "uvlc_codec.h"
+#include "uvlc_layers.h"
+
+C_RESULT uvlc_write_picture_layer( video_controller_t* controller, video_stream_t* stream )
+{
+  uint32_t format = 0, resolution = 0, width, height;
+
+  uvlc_codec_t* uvlc_codec = (uvlc_codec_t*) controller->video_codec;
+  uvlc_picture_layer_t* picture_layer = &uvlc_codec->picture_layer;
+
+  width   = controller->width;
+  height  = controller->height;
+
+  while( format == 0 )
+  {
+    if( width == QQCIF_WIDTH )
+      format = UVLC_FORMAT_CIF;
+
+    if( width == QQVGA_WIDTH )
+      format = UVLC_FORMAT_VGA;
+
+    width   >>= 1;
+    height  >>= 1;
+
+    resolution ++;
+  }
+
+  picture_layer->format     = format;
+  picture_layer->resolution = resolution;
+
+  video_write_data( stream, picture_layer->format, 2 );
+  video_write_data( stream, picture_layer->resolution, 3 );
+  video_write_data( stream, picture_layer->picture_type, 3 );
+  video_write_data( stream, picture_layer->quant, 5 );
+  video_write_data( stream, controller->num_frames, 32 );
+
+  return C_OK;
+}
+
+C_RESULT uvlc_read_picture_layer( video_controller_t* controller, video_stream_t* stream )
+{
+  uint32_t width, height;
+
+  uvlc_codec_t* uvlc_codec = (uvlc_codec_t*) controller->video_codec;
+  uvlc_picture_layer_t* picture_layer = &uvlc_codec->picture_layer;
+
+  picture_layer->format       = 0;
+  picture_layer->resolution   = 0;
+  picture_layer->picture_type = 0;
+  picture_layer->quant        = 0;
+
+  video_read_data( stream, &picture_layer->format, 2 );
+  video_read_data( stream, &picture_layer->resolution, 3 );
+  video_read_data( stream, &picture_layer->picture_type, 3 );
+  video_read_data( stream, &picture_layer->quant, 5 );
+  video_read_data( stream, &controller->num_frames, 32 );
+
+  switch( picture_layer->format )
+  {
+    case UVLC_FORMAT_CIF:
+      width   = QQCIF_WIDTH << (picture_layer->resolution-1);
+      height  = QQCIF_HEIGHT << (picture_layer->resolution-1);
+      break;
+
+    case UVLC_FORMAT_VGA:
+      width   = QQVGA_WIDTH << (picture_layer->resolution-1);
+      height  = QQVGA_HEIGHT << (picture_layer->resolution-1);
+      break;
+
+    default:
+      width   = 0;
+      height  = 0;
+      break;
+  }
+
+  video_controller_set_format( controller, width, height );
+
+  return C_OK;
+}