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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "YUV.h"
#include <math.h>
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
#ifdef __INTEL_COMPILER
#include <ia32intrin.h>
#else
#include <emmintrin.h>
#endif
#endif
//---------------------------------------------------------------------------
// Global Variables
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
void YUV444ToRGB888(XnUInt8 cY, XnUInt8 cU, XnUInt8 cV,
XnUInt8& cR, XnUInt8& cG, XnUInt8& cB)
{
XnInt32 nC = cY - 16;
XnInt16 nD = cU - 128;
XnInt16 nE = cV - 128;
nC = nC * 298 + 128;
cR = (XnUInt8)XN_MIN(XN_MAX((nC + 409 * nE) >> 8, 0), 255);
cG = (XnUInt8)XN_MIN(XN_MAX((nC - 100 * nD - 208 * nE) >> 8, 0), 255);
cB = (XnUInt8)XN_MIN(XN_MAX((nC + 516 * nD ) >> 8, 0), 255);
}
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
void YUV422ToRGB888(const XnUInt8* pYUVImage, XnUInt8* pRGBImage, XnUInt32 nYUVSize, XnUInt32* pnActualRead, XnUInt32* pnRGBSize)
{
const XnUInt8* pYUVLast = pYUVImage + nYUVSize - 8;
const XnUInt8* pYUVOrig = pYUVImage;
const XnUInt8* pRGBOrig = pRGBImage;
const XnUInt8* pRGBLast = pRGBImage + *pnRGBSize - 12;
const __m128 minus128 = _mm_set_ps1(-128);
const __m128 plus113983 = _mm_set_ps1(1.13983F);
const __m128 minus039466 = _mm_set_ps1(-0.39466F);
const __m128 minus058060 = _mm_set_ps1(-0.58060F);
const __m128 plus203211 = _mm_set_ps1(2.03211F);
const __m128 zero = _mm_set_ps1(0);
const __m128 plus255 = _mm_set_ps1(255);
// define YUV floats
__m128 y;
__m128 u;
__m128 v;
__m128 temp;
// define RGB floats
__m128 r;
__m128 g;
__m128 b;
// define RGB integers
__m128i iR;
__m128i iG;
__m128i iB;
XnUInt32* piR = (XnUInt32*)&iR;
XnUInt32* piG = (XnUInt32*)&iG;
XnUInt32* piB = (XnUInt32*)&iB;
while (pYUVImage <= pYUVLast && pRGBImage <= pRGBLast)
{
// process 4 pixels at once (values should be ordered backwards)
y = _mm_set_ps(pYUVImage[YUV422_Y2 + YUV422_BPP], pYUVImage[YUV422_Y1 + YUV422_BPP], pYUVImage[YUV422_Y2], pYUVImage[YUV422_Y1]);
u = _mm_set_ps(pYUVImage[YUV422_U + YUV422_BPP], pYUVImage[YUV422_U + YUV422_BPP], pYUVImage[YUV422_U], pYUVImage[YUV422_U]);
v = _mm_set_ps(pYUVImage[YUV422_V + YUV422_BPP], pYUVImage[YUV422_V + YUV422_BPP], pYUVImage[YUV422_V], pYUVImage[YUV422_V]);
u = _mm_add_ps(u, minus128); // u -= 128
v = _mm_add_ps(v, minus128); // v -= 128
/*
http://en.wikipedia.org/wiki/YUV
From YUV to RGB:
R = Y + 1.13983 V
G = Y - 0.39466 U - 0.58060 V
B = Y + 2.03211 U
*/
temp = _mm_mul_ps(plus113983, v);
r = _mm_add_ps(y, temp);
temp = _mm_mul_ps(minus039466, u);
g = _mm_add_ps(y, temp);
temp = _mm_mul_ps(minus058060, v);
g = _mm_add_ps(g, temp);
temp = _mm_mul_ps(plus203211, u);
b = _mm_add_ps(y, temp);
// make sure no value is smaller than 0
r = _mm_max_ps(r, zero);
g = _mm_max_ps(g, zero);
b = _mm_max_ps(b, zero);
// make sure no value is bigger than 255
r = _mm_min_ps(r, plus255);
g = _mm_min_ps(g, plus255);
b = _mm_min_ps(b, plus255);
// convert floats to int16 (there is no conversion to uint8, just to int8).
iR = _mm_cvtps_epi32(r);
iG = _mm_cvtps_epi32(g);
iB = _mm_cvtps_epi32(b);
// extract the 4 pixels RGB values.
// because we made sure values are between 0 and 255, we can just take the lower byte
// of each INT16
pRGBImage[0] = (XnUInt8)piR[0];
pRGBImage[1] = (XnUInt8)piG[0];
pRGBImage[2] = (XnUInt8)piB[0];
pRGBImage[3] = (XnUInt8)piR[1];
pRGBImage[4] = (XnUInt8)piG[1];
pRGBImage[5] = (XnUInt8)piB[1];
pRGBImage[6] = (XnUInt8)piR[2];
pRGBImage[7] = (XnUInt8)piG[2];
pRGBImage[8] = (XnUInt8)piB[2];
pRGBImage[9] = (XnUInt8)piR[3];
pRGBImage[10] = (XnUInt8)piG[3];
pRGBImage[11] = (XnUInt8)piB[3];
// advance the streams
pYUVImage += 8;
pRGBImage += 12;
}
*pnActualRead = (XnUInt32)(pYUVImage - pYUVOrig);
*pnRGBSize = (XnUInt32)(pRGBImage - pRGBOrig);
}
#else // not Win32
void YUV422ToRGB888(const XnUInt8* pYUVImage, XnUInt8* pRGBImage, XnUInt32 nYUVSize, XnUInt32* pnActualRead, XnUInt32* pnRGBSize)
{
const XnUInt8* pOrigYUV = pYUVImage;
const XnUInt8* pCurrYUV = pYUVImage;
const XnUInt8* pOrigRGB = pRGBImage;
XnUInt8* pCurrRGB = pRGBImage;
const XnUInt8* pLastYUV = pYUVImage + nYUVSize - YUV422_BPP;
const XnUInt8* pLastRGB = pRGBImage + *pnRGBSize - YUV_RGB_BPP;
while (pCurrYUV <= pLastYUV && pCurrRGB <= pLastRGB)
{
YUV444ToRGB888(pCurrYUV[YUV422_Y1], pCurrYUV[YUV422_U], pCurrYUV[YUV422_V],
pCurrRGB[YUV_RED], pCurrRGB[YUV_GREEN], pCurrRGB[YUV_BLUE]);
pCurrRGB += YUV_RGB_BPP;
YUV444ToRGB888(pCurrYUV[YUV422_Y2], pCurrYUV[YUV422_U], pCurrYUV[YUV422_V],
pCurrRGB[YUV_RED], pCurrRGB[YUV_GREEN], pCurrRGB[YUV_BLUE]);
pCurrRGB += YUV_RGB_BPP;
pCurrYUV += YUV422_BPP;
}
*pnActualRead = pCurrYUV - pOrigYUV;
*pnRGBSize = pCurrRGB - pOrigRGB;
}
#endif
void YUV420ToRGB888(const XnUInt8* pYUVImage, XnUInt8* pRGBImage, XnUInt32 nYUVSize, XnUInt32 /*nRGBSize*/)
{
const XnUInt8* pLastYUV = pYUVImage + nYUVSize - YUV420_BPP;
while (pYUVImage < pLastYUV && pRGBImage < pYUVImage)
{
YUV444ToRGB888(pYUVImage[YUV420_Y1], pYUVImage[YUV420_U], pYUVImage[YUV420_V],
pRGBImage[YUV_RED], pRGBImage[YUV_GREEN], pRGBImage[YUV_BLUE]);
pRGBImage += YUV_RGB_BPP;
YUV444ToRGB888(pYUVImage[YUV420_Y2], pYUVImage[YUV420_U], pYUVImage[YUV420_V],
pRGBImage[YUV_RED], pRGBImage[YUV_GREEN], pRGBImage[YUV_BLUE]);
pRGBImage += YUV_RGB_BPP;
YUV444ToRGB888(pYUVImage[YUV420_Y3], pYUVImage[YUV420_U], pYUVImage[YUV420_V],
pRGBImage[YUV_RED], pRGBImage[YUV_GREEN], pRGBImage[YUV_BLUE]);
pRGBImage += YUV_RGB_BPP;
YUV444ToRGB888(pYUVImage[YUV420_Y4], pYUVImage[YUV420_U], pYUVImage[YUV420_V],
pRGBImage[YUV_RED], pRGBImage[YUV_GREEN], pRGBImage[YUV_BLUE]);
pRGBImage += YUV_RGB_BPP;
pYUVImage += YUV420_BPP;
}
}
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