ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VLIB / Utils / video_bin_dct.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Utils/video_bin_dct.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Utils/video_bin_dct.c
new file mode 100644 (file)
index 0000000..f1bad8e
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Utils/video_bin_dct.c
@@ -0,0 +1,190 @@
+#include <VLIB/Utils/video_bin_dct.h>
+
+static void bin_fdct(const uint16_t* data_in, int16_t* data_out)
+{
+}
+
+static void bin_idct(const int16_t* data_in, uint16_t* data_out)
+{
+  int i;
+  int16_t x0, x1, x2, x3, x4, x5, x6, x7;
+  int16_t tx0, tx3, tx4, tx5;
+  const int16_t* in  = data_in;
+  int16_t* out = (int16_t*) data_out;
+
+  // Compute lines
+  for( i = 8; i > 0; i-- )
+  {
+    x0 = in[0];  x1 = in[1];  x2 = in[2];  x3 = in[3];
+    x4 = in[4];  x5 = in[5];  x6 = in[6];  x7 = in[7];
+
+    // First step
+    x4 = x0/2 - x4;
+    x2 = x2 - 3*x6/8;
+    x3 = x3 + x5/2;
+
+    // Second step
+    x0 = x0 - x4;
+    x6 = x6 + 3*x2/8;
+    x7 = x7 + x1/8;
+    x5 = x5 - 7*x3/8;
+
+    // Third step
+    x0 = x0 + x2;
+    x2 = x0 - x2*2;
+    x4 = x4 + x6;
+    x6 = x4 - x6*2;
+    x7 = x7 + x5;
+    x5 = x7 - x5*2;
+    x1 = x1 + x3;
+    x3 = x1 - x3*2;
+
+    // Fourth step
+    x5 = 5*x3/8 - x5;
+
+    // Fifth step
+    x3 = x3 - 3*x5/8;
+
+    // Final step
+    out[0] = (x0 + x1) >> 1;
+    out[1] = (x4 + x3) >> 1;
+    out[2] = (x6 + x5) >> 1;
+    out[3] = (x2 + x7) >> 1;
+    out[4] = (x2 - x7) >> 1;
+    out[5] = (x6 - x5) >> 1;
+    out[6] = (x4 - x3) >> 1;
+    out[7] = (x0 - x1) >> 1;
+
+    in  += 8;
+    out += 8;
+  }
+
+  in  = (const int16_t*) data_out;
+  out = (int16_t*) data_out;
+
+  // Compute columns
+  for( i = 8; i > 0; i-- )
+  {
+    tx0 = in[0];  x1 = in[8];  x2 = in[16];  tx3 = in[24];
+    tx4 = in[32]; tx5 = in[40];  x6 = in[48];  x7 = in[56];
+
+    // First step
+    x4 = tx0/2 - tx4;
+    x0 = tx0/2 + tx4;
+    x3 = tx5/2 + tx3;
+    x5 = tx5/2 - tx3;
+
+    x2 =   x2   - 3*x6/8;
+    x6 = 3*x2/8 +   x6;
+
+    x7 += x1/8;
+    x5 += x3/8;
+
+    // Second step
+    x0 = x0 + x2;
+    x2 = x0 - x2*2;
+    x4 = x4 + x6;
+    x6 = x4 - x6*2;
+    x7 = x7 + x5;
+    x5 = x7 - x5*2;
+    x1 = x1 + x3;
+    x3 = x1 - x3*2;
+
+    // Third step
+    x5 = 5*x3/8 -   x5;
+    x3 =   x3   - 3*x5/8;
+
+    // Final step - TODO Check if we can replace out by data_out
+    out[0]  = x0 + x1;
+    out[8]  = x4 + x3;
+    out[16] = x6 + x5;
+    out[24] = x2 + x7;
+    out[32] = x2 - x7;
+    out[40] = x6 - x5;
+    out[48] = x4 - x3;
+    out[56] = x0 - x1;
+
+    in  += 1;
+    out += 1;
+  }
+}
+
+int16_t* video_fdct_compute(int16_t* in, int16_t* out, int32_t num_macro_blocks)
+{
+  while( num_macro_blocks > 0 )
+  {
+    bin_fdct((uint16_t*)in, out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_fdct((uint16_t*)in, out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_fdct((uint16_t*)in, out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_fdct((uint16_t*)in, out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_fdct((uint16_t*)in, out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_fdct((uint16_t*)in, out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    num_macro_blocks--;
+  }
+
+  return out;
+}
+
+int16_t* video_idct_compute(int16_t* in, int16_t* out, int32_t num_macro_blocks)
+{
+  while( num_macro_blocks > 0 )
+  {
+    bin_idct(in, (uint16_t*)out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_idct(in, (uint16_t*)out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_idct(in, (uint16_t*)out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_idct(in, (uint16_t*)out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_idct(in, (uint16_t*)out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    bin_idct(in, (uint16_t*)out);
+
+    in  += MCU_BLOCK_SIZE;
+    out += MCU_BLOCK_SIZE;
+
+    num_macro_blocks--;
+  }
+
+  return out;
+}