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Merge pull request #346 from taka-no-me:decouple_V4L2

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pull/360/merge
Andrey Kamaev 12 years ago committed by OpenCV Buildbot
parent ab8d92e1b8 287fb2c611
commit c78cb21999
7 changed files with 248 additions and 180 deletions
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  1. 6
      CMakeLists.txt
  2. 3
      cmake/OpenCVFindLibsVideo.cmake
  3. 3
      cmake/templates/cvconfig.h.cmake
  4. 2
      modules/highgui/CMakeLists.txt
  5. 6
      modules/highgui/src/cap.cpp
  6. 4
      modules/highgui/src/cap_libv4l.cpp
  7. 404
      modules/highgui/src/cap_v4l.cpp

6
CMakeLists.txt
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@ -137,7 +137,7 @@ OCV_OPTION(WITH_TBB "Include Intel TBB support" OFF
OCV_OPTION(WITH_CSTRIPES "Include C= support" OFF IF WIN32 )
OCV_OPTION(WITH_TIFF "Include TIFF support" ON IF (NOT IOS) )
OCV_OPTION(WITH_UNICAP "Include Unicap support (GPL)" OFF IF (UNIX AND NOT APPLE AND NOT ANDROID) )
OCV_OPTION(WITH_V4L "Include Video 4 Linux support" ON IF (UNIX AND NOT APPLE AND NOT ANDROID) )
OCV_OPTION(WITH_V4L "Include Video 4 Linux support" ON IF (UNIX AND NOT ANDROID) )
OCV_OPTION(WITH_VIDEOINPUT "Build HighGUI with DirectShow support" ON IF WIN32 )
OCV_OPTION(WITH_XIMEA "Include XIMEA cameras support" OFF IF (NOT ANDROID AND NOT APPLE) )
OCV_OPTION(WITH_XINE "Include Xine support (GPL)" OFF IF (UNIX AND NOT APPLE AND NOT ANDROID) )
@ -725,11 +725,13 @@ if(DEFINED WITH_V4L)
endif()
if(HAVE_CAMV4L2)
set(HAVE_CAMV4L2_STR "YES")
elseif(HAVE_VIDEOIO)
set(HAVE_CAMV4L2_STR "YES(videoio)")
else()
set(HAVE_CAMV4L2_STR "NO")
endif()
status(" V4L/V4L2:" HAVE_LIBV4L THEN "Using libv4l (ver ${ALIASOF_libv4l1_VERSION})"
ELSE "${HAVE_CAMV4L_STR}/${HAVE_CAMV4L2_STR}")
ELSE "${HAVE_CAMV4L_STR}/${HAVE_CAMV4L2_STR}")
endif(DEFINED WITH_V4L)
if(DEFINED WITH_VIDEOINPUT)

3
cmake/OpenCVFindLibsVideo.cmake
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@ -85,11 +85,12 @@ if(WITH_XINE)
endif(WITH_XINE)
# --- V4L ---
ocv_clear_vars(HAVE_LIBV4L HAVE_CAMV4L HAVE_CAMV4L2)
ocv_clear_vars(HAVE_LIBV4L HAVE_CAMV4L HAVE_CAMV4L2 HAVE_VIDEOIO)
if(WITH_V4L)
CHECK_MODULE(libv4l1 HAVE_LIBV4L)
CHECK_INCLUDE_FILE(linux/videodev.h HAVE_CAMV4L)
CHECK_INCLUDE_FILE(linux/videodev2.h HAVE_CAMV4L2)
CHECK_INCLUDE_FILE(sys/videoio.h HAVE_VIDEOIO)
endif(WITH_V4L)
# --- OpenNI ---

3
cmake/templates/cvconfig.h.cmake
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@ -19,6 +19,9 @@
/* V4L2 capturing support */
#cmakedefine HAVE_CAMV4L2
/* V4L2 capturing support in videoio.h */
#cmakedefine HAVE_VIDEOIO
/* V4L/V4L2 capturing support via libv4l */
#cmakedefine HAVE_LIBV4L

2
modules/highgui/CMakeLists.txt
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@ -131,7 +131,7 @@ endif(HAVE_UNICAP)
if(HAVE_LIBV4L)
list(APPEND highgui_srcs src/cap_libv4l.cpp)
elseif(HAVE_CAMV4L OR HAVE_CAMV4L2)
elseif(HAVE_CAMV4L OR HAVE_CAMV4L2 OR HAVE_VIDEOIO)
list(APPEND highgui_srcs src/cap_v4l.cpp)
endif()

6
modules/highgui/src/cap.cpp
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@ -172,7 +172,9 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
defined(HAVE_TYZX) || \
defined(HAVE_VFW) || \
defined(HAVE_LIBV4L) || \
(defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)) || \
defined(HAVE_CAMV4L) || \
defined(HAVE_CAMV4L2) || \
defined(HAVE_VIDEOIO) || \
defined(HAVE_GSTREAMER) || \
defined(HAVE_DC1394_2) || \
defined(HAVE_DC1394) || \
@ -216,7 +218,7 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
return capture;
#endif
#if defined HAVE_LIBV4L || (defined (HAVE_CAMV4L) && defined (HAVE_CAMV4L2))
#if defined HAVE_LIBV4L || defined HAVE_CAMV4L || defined HAVE_CAMV4L2 || defined HAVE_VIDEOIO
capture = cvCreateCameraCapture_V4L (index);
if (capture)
return capture;

4
modules/highgui/src/cap_libv4l.cpp
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@ -346,7 +346,11 @@ static int numCameras = 0;
static int indexList = 0;
// IOCTL handling for V4L2
#ifdef HAVE_IOCTL_ULONG
static int xioctl( int fd, unsigned long request, void *arg)
#else
static int xioctl( int fd, int request, void *arg)
#endif
{
int r;

404
modules/highgui/src/cap_v4l.cpp
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@ -202,7 +202,7 @@ make & enjoy!
#include "precomp.hpp"
#if !defined WIN32 && defined HAVE_CAMV4L && defined HAVE_CAMV4L2
#if !defined WIN32 && (defined HAVE_CAMV4L || defined HAVE_CAMV4L2 || defined HAVE_VIDEOIO)
#define CLEAR(x) memset (&(x), 0, sizeof (x))
@ -214,19 +214,26 @@ make & enjoy!
#include <sys/types.h>
#include <sys/mman.h>
#ifdef HAVE_CAMVAL
#include <linux/videodev.h>
#endif
#include <string.h>
#include <stdlib.h>
#include <asm/types.h> /* for videodev2.h */
#include <assert.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#ifdef HAVE_CAMV4L2
#include <asm/types.h> /* for videodev2.h */
#include <linux/videodev2.h>
#endif
#ifdef HAVE_VIDEOIO
#include <sys/videoio.h>
#define HAVE_CAMV4L2
#endif
/* Defaults - If your board can do better, set it here. Set for the most common type inputs. */
#define DEFAULT_V4L_WIDTH 640
#define DEFAULT_V4L_HEIGHT 480
@ -288,11 +295,13 @@ typedef struct CvCaptureCAM_V4L
int deviceHandle;
int bufferIndex;
int FirstCapture;
#ifdef HAVE_CAMV4L
struct video_capability capability;
struct video_window captureWindow;
struct video_picture imageProperties;
struct video_mbuf memoryBuffer;
struct video_mmap *mmaps;
#endif /* HAVE_CAMV4L */
char *memoryMap;
IplImage frame;
@ -345,24 +354,6 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h);
static int numCameras = 0;
static int indexList = 0;
#ifdef HAVE_CAMV4L2
// IOCTL handling for V4L2
static int xioctl( int fd, int request, void *arg)
{
int r;
do r = ioctl (fd, request, arg);
while (-1 == r && EINTR == errno);
return r;
}
#endif /* HAVE_CAMV4L2 */
/* Simple test program: Find number of Video Sources available.
Start from 0 and go to MAX_CAMERAS while checking for the device with that name.
If it fails on the first attempt of /dev/video0, then check if /dev/video is valid.
@ -393,6 +384,8 @@ static void icvInitCapture_V4L() {
}; /* End icvInitCapture_V4L */
#ifdef HAVE_CAMV4L
static int
try_palette(int fd,
struct video_picture *cam_pic,
@ -410,6 +403,8 @@ try_palette(int fd,
return 0;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
@ -422,7 +417,7 @@ static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
capture->form.fmt.pix.width = DEFAULT_V4L_WIDTH;
capture->form.fmt.pix.height = DEFAULT_V4L_HEIGHT;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
return -1;
@ -434,6 +429,8 @@ static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
{
@ -449,7 +446,6 @@ static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
/* No matter what the name - it still must be opened! */
capture->deviceHandle = open(deviceName, O_RDWR);
if (capture->deviceHandle == 0)
{
detect = -1;
@ -463,7 +459,6 @@ static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
if (ioctl(capture->deviceHandle, VIDIOCGCAP, &capture->capability) < 0)
{
detect = 0;
icvCloseCAM_V4L(capture);
}
else
@ -476,54 +471,64 @@ static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
{
// if detect = -1 then unable to open device
// if detect = 0 then detected nothing
// if detect = 1 then V4L2 device
int detect = 0;
// Test device for V4L2 compability
// Return value:
// -1 then unable to open device
// 0 then detected nothing
// 1 then V4L2 device
int deviceIndex;
/* Open and test V4L2 device */
capture->deviceHandle = open (deviceName, O_RDWR /* required */ | O_NONBLOCK, 0);
if (capture->deviceHandle == 0)
if (-1 == capture->deviceHandle)
{
detect = -1;
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 open \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return -1;
}
if (detect == 0)
CLEAR (capture->cap);
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
{
CLEAR (capture->cap);
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
{
detect = 0;
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_QUERYCAP \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
icvCloseCAM_V4L(capture);
}
else
{
CLEAR (capture->capability);
capture->capability.type = capture->cap.capabilities;
/* Query channels number */
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_INPUT, &deviceIndex))
{
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_G_INPUT \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
/* Query channels number */
if (-1 != xioctl (capture->deviceHandle, VIDIOC_G_INPUT, &capture->capability.channels))
{
detect = 1;
}
}
/* Query information about current input */
CLEAR (capture->inp);
capture->inp.index = deviceIndex;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
{
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_ENUMINPUT \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
return detect;
return 1;
}
@ -546,17 +551,12 @@ static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
else
#ifdef HAVE_JPEG
#ifdef __USE_GNU
/* support for MJPEG is only available with libjpeg and gcc,
because it's use libjepg and fmemopen()
*/
if (try_palette_v4l2(capture, V4L2_PIX_FMT_MJPEG) == 0 ||
try_palette_v4l2(capture, V4L2_PIX_FMT_JPEG) == 0)
{
capture->palette = PALETTE_MJPEG;
}
else
#endif
#endif
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0)
@ -593,6 +593,8 @@ static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
{
@ -626,6 +628,8 @@ static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
@ -637,7 +641,7 @@ static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
(int)capture->querymenu.index <= capture->queryctrl.maximum;
capture->querymenu.index++)
{
if (0 == xioctl (capture->deviceHandle, VIDIOC_QUERYMENU,
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYMENU,
&capture->querymenu))
{
// printf (" %s\n", capture->querymenu.name);
@ -661,7 +665,7 @@ static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
CLEAR (capture->queryctrl);
capture->queryctrl.id = ctrl_id;
if (0 == xioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
&capture->queryctrl))
{
@ -731,7 +735,7 @@ static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
CLEAR (capture->queryctrl);
capture->queryctrl.id = ctrl_id;
if (0 == xioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
&capture->queryctrl))
{
@ -854,7 +858,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
capture->inp.index = CHANNEL_NUMBER;
/* Set only channel number to CHANNEL_NUMBER */
/* V4L2 have a status field from selected video mode */
if (-1 == xioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
{
fprintf (stderr, "HIGHGUI ERROR: V4L2: Aren't able to set channel number\n");
icvCloseCAM_V4L (capture);
@ -866,7 +870,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
fprintf( stderr, "HIGHGUI ERROR: V4L2: Could not obtain specifics of capture window.\n\n");
icvCloseCAM_V4L(capture);
return -1;
@ -904,7 +908,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
capture->req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
{
if (EINVAL == errno)
{
@ -944,7 +948,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
perror ("VIDIOC_QUERYBUF");
/* free capture, and returns an error code */
@ -976,8 +980,8 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
/* Set up Image data */
cvInitImageHeader( &capture->frame,
cvSize( capture->captureWindow.width,
capture->captureWindow.height ),
cvSize( capture->form.fmt.pix.width,
capture->form.fmt.pix.height ),
IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
/* Allocate space for RGBA data */
capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
@ -987,6 +991,8 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)
{
int detect_v4l = 0;
@ -1105,6 +1111,8 @@ static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)
return 1;
}; /* End _capture_V4L */
#endif /* HAVE_CAMV4L */
static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
{
static int autoindex;
@ -1154,10 +1162,12 @@ static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
icvCloseCAM_V4L(capture);
V4L2_SUPPORT = 0;
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
if (_capture_V4L (capture, deviceName) == -1) {
icvCloseCAM_V4L(capture);
return NULL;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
} else {
V4L2_SUPPORT = 1;
@ -1177,7 +1187,7 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
@ -1185,7 +1195,7 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
case EIO:
if (!(buf.flags & (V4L2_BUF_FLAG_QUEUED | V4L2_BUF_FLAG_DONE)))
{
if (xioctl(capture->deviceHandle, VIDIOC_QBUF, &buf) == -1)
if (ioctl(capture->deviceHandle, VIDIOC_QBUF, &buf) == -1)
{
return 0;
}
@ -1208,7 +1218,7 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
//printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n",
// buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
perror ("VIDIOC_QBUF");
return 1;
@ -1266,7 +1276,9 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
#ifdef HAVE_CAMV4L2
#ifdef HAVE_CAMV4L
if (V4L2_SUPPORT == 1)
#endif
{
for (capture->bufferIndex = 0;
@ -1282,7 +1294,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
buf.memory = V4L2_MEMORY_MMAP;
buf.index = (unsigned long)capture->bufferIndex;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
perror ("VIDIOC_QBUF");
return 0;
}
@ -1290,14 +1302,18 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
/* enable the streaming */
capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_STREAMON,
if (-1 == ioctl (capture->deviceHandle, VIDIOC_STREAMON,
&capture->type)) {
/* error enabling the stream */
perror ("VIDIOC_STREAMON");
return 0;
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
for (capture->bufferIndex = 0;
@ -1316,6 +1332,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
}
}
#endif /* HAVE_CAMV4L */
#if defined(V4L_ABORT_BADJPEG) && defined(HAVE_CAMV4L2)
if (V4L2_SUPPORT == 1)
@ -1337,8 +1354,12 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
mainloop_v4l2(capture);
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
capture->mmaps[capture->bufferIndex].frame = capture->bufferIndex;
@ -1358,6 +1379,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
}
}
#endif /* HAVE_CAMV4L */
return(1);
}
@ -1393,7 +1415,7 @@ static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {
static inline void
move_420_block(int yTL, int yTR, int yBL, int yBR, int u, int v,
int rowPixels, unsigned char * rgb)
int rowPixels, unsigned char * rgb)
{
const int rvScale = 91881;
const int guScale = -22553;
@ -1432,7 +1454,7 @@ move_420_block(int yTL, int yTR, int yBL, int yBR, int u, int v,
static inline void
move_411_block(int yTL, int yTR, int yBL, int yBR, int u, int v,
int /*rowPixels*/, unsigned char * rgb)
int /*rowPixels*/, unsigned char * rgb)
{
const int rvScale = 91881;
const int guScale = -22553;
@ -1524,6 +1546,7 @@ yuv420p_to_rgb24(int width, int height,
//
/* Converts from interlaced YUV420 to RGB24. */
/* [FD] untested... */
#ifdef HAVE_CAMV4L
static void
yuv420_to_rgb24(int width, int height,
unsigned char *pIn0, unsigned char *pOut0)
@ -1568,6 +1591,7 @@ yuv420_to_rgb24(int width, int height,
pOut += width * bytes;
}
}
#endif //HAVE_CAMV4L
// Consider a YUV411P image of 8x2 pixels.
//
@ -1619,6 +1643,8 @@ yuv411p_to_rgb24(int width, int height,
/* based on ccvt_yuyv_bgr32() from camstream */
#define SAT(c) \
if (c & (~255)) { if (c < 0) c = 0; else c = 255; }
#ifdef HAVE_CAMV4L2
static void
yuyv_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
{
@ -1710,6 +1736,7 @@ uyvy_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
}
}
}
#endif //HAVE_CAMV4L2
#ifdef HAVE_JPEG
@ -1736,6 +1763,7 @@ mjpeg_to_rgb24 (int width, int height,
*
*/
#ifdef HAVE_CAMV4L2
static void bayer2rgb24(long int WIDTH, long int HEIGHT, unsigned char *src, unsigned char *dst)
{
long int i;
@ -1897,7 +1925,6 @@ static void sgbrg2rgb24(long int WIDTH, long int HEIGHT, unsigned char *src, uns
}
}
#define CLAMP(x) ((x)<0?0:((x)>255)?255:(x))
typedef struct {
@ -2068,13 +2095,14 @@ static int sonix_decompress(int width, int height, unsigned char *inp, unsigned
return 0;
}
#endif //HAVE_CAMV4L2
static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
#ifdef HAVE_CAMV4L2
if (V4L2_SUPPORT == 0)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
/* [FD] this really belongs here */
@ -2083,6 +2111,7 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
}
}
#endif /* HAVE_CAMV4L */
/* Now get what has already been captured as a IplImage return */
@ -2103,8 +2132,12 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
if((capture->frame.width != capture->mmaps[capture->bufferIndex].width)
@ -2118,118 +2151,118 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
}
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
if (V4L2_SUPPORT == 1)
{
switch (capture->palette)
{
case PALETTE_BGR24:
memcpy((char *)capture->frame.imageData,
(char *)capture->buffers[capture->bufferIndex].start,
capture->frame.imageSize);
break;
{
case PALETTE_BGR24:
memcpy((char *)capture->frame.imageData,
(char *)capture->buffers[capture->bufferIndex].start,
capture->frame.imageSize);
break;
case PALETTE_YVU420:
yuv420p_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_YVU420:
yuv420p_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_YUV411P:
yuv411p_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_YUV411P:
yuv411p_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
#ifdef HAVE_JPEG
#ifdef __USE_GNU
/* support for MJPEG is only available with libjpeg and gcc,
because it's use libjepg and fmemopen()
*/
case PALETTE_MJPEG:
if (!mjpeg_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex]
.start),
capture->buffers[capture->bufferIndex].length,
(unsigned char*)capture->frame.imageData))
return 0;
break;
#endif
case PALETTE_MJPEG:
if (!mjpeg_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex]
.start),
capture->buffers[capture->bufferIndex].length,
(unsigned char*)capture->frame.imageData))
return 0;
break;
#endif
case PALETTE_YUYV:
yuyv_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_UYVY:
uyvy_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_SBGGR8:
bayer2rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[capture->bufferIndex].start,
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_SN9C10X:
sonix_decompress_init();
sonix_decompress(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[capture->bufferIndex].start,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start);
bayer2rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_SGBRG:
sgbrg2rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
(unsigned char*)capture->frame.imageData);
break;
}
} else
case PALETTE_YUYV:
yuyv_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_UYVY:
uyvy_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex].start),
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_SBGGR8:
bayer2rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[capture->bufferIndex].start,
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_SN9C10X:
sonix_decompress_init();
sonix_decompress(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[capture->bufferIndex].start,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start);
bayer2rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
(unsigned char*)capture->frame.imageData);
break;
case PALETTE_SGBRG:
sgbrg2rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
(unsigned char*)capture->frame.imageData);
break;
}
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
switch(capture->imageProperties.palette) {
case VIDEO_PALETTE_RGB24:
switch(capture->imageProperties.palette)
{
case VIDEO_PALETTE_RGB24:
memcpy((char *)capture->frame.imageData,
(char *)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
capture->frame.imageSize);
break;
case VIDEO_PALETTE_YUV420P:
case VIDEO_PALETTE_YUV420P:
yuv420p_to_rgb24(capture->captureWindow.width,
capture->captureWindow.height,
(unsigned char*)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
(unsigned char*)capture->frame.imageData);
break;
case VIDEO_PALETTE_YUV420:
case VIDEO_PALETTE_YUV420:
yuv420_to_rgb24(capture->captureWindow.width,
capture->captureWindow.height,
(unsigned char*)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
(unsigned char*)capture->frame.imageData);
break;
case VIDEO_PALETTE_YUV411P:
case VIDEO_PALETTE_YUV411P:
yuv411p_to_rgb24(capture->captureWindow.width,
capture->captureWindow.height,
(unsigned char*)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
(unsigned char*)capture->frame.imageData);
break;
default:
default:
fprintf( stderr,
"HIGHGUI ERROR: V4L: Cannot convert from palette %d to RGB\n",
capture->imageProperties.palette);
@ -2238,6 +2271,7 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
}
}
#endif /* HAVE_CAMV4L */
return(&capture->frame);
}
@ -2247,7 +2281,9 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
#ifdef HAVE_CAMV4L2
#ifdef HAVE_CAMV4L
if (V4L2_SUPPORT == 1)
#endif
{
/* default value for min and max */
@ -2256,7 +2292,7 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
/* display an error message, and return an error code */
perror ("VIDIOC_G_FMT");
return -1;
@ -2297,7 +2333,7 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return -1;
}
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_CTRL,
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_CTRL,
&capture->control)) {
fprintf( stderr, "HIGHGUI ERROR: V4L2: ");
@ -2358,8 +2394,12 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
/* all was OK, so convert to 0.0 - 1.0 range, and return the value */
return ((float)capture->control.value - v4l2_min + 1) / (v4l2_max - v4l2_min);
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
int retval = -1;
@ -2417,6 +2457,7 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return float (retval) / 0xFFFF;
}
#endif /* HAVE_CAMV4L */
};
@ -2430,7 +2471,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
CLEAR (capture->cropcap);
capture->cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (xioctl (capture->deviceHandle, VIDIOC_CROPCAP, &capture->cropcap) < 0) {
if (ioctl (capture->deviceHandle, VIDIOC_CROPCAP, &capture->cropcap) < 0) {
fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: VIDIOC_CROPCAP\n");
} else {
@ -2439,7 +2480,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
capture->crop.c= capture->cropcap.defrect;
/* set the crop area, but don't exit if the device don't support croping */
if (xioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop) < 0) {
if (ioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop) < 0) {
fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: VIDIOC_S_CROP\n");
}
}
@ -2448,7 +2489,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
/* read the current setting, mainly to retreive the pixelformat information */
xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);
ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);
/* set the values we want to change */
capture->form.fmt.pix.width = w;
@ -2463,7 +2504,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
* don't test if the set of the size is ok, because some device
* don't allow changing the size, and we will get the real size
* later */
xioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
/* try to set framerate to 30 fps */
struct v4l2_streamparm setfps;
@ -2471,14 +2512,14 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
setfps.parm.capture.timeperframe.numerator = 1;
setfps.parm.capture.timeperframe.denominator = 30;
xioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);
ioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);
/* we need to re-initialize some things, like buffers, because the size has
* changed */
capture->FirstCapture = 1;
/* Get window info again, to get the real value */
if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
{
fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");
@ -2489,8 +2530,12 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
return 0;
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
if (capture==0) return 0;
@ -2517,6 +2562,7 @@ static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
capture->FirstCapture = 1;
}
#endif /* HAVE_CAMV4L */
return 0;
@ -2573,7 +2619,7 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
}
/* get the min and max values */
if (-1 == xioctl (capture->deviceHandle,
if (-1 == ioctl (capture->deviceHandle,
VIDIOC_G_CTRL, &capture->control)) {
// perror ("VIDIOC_G_CTRL for getting min/max values");
return -1;
@ -2643,13 +2689,17 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);
/* The driver may clamp the value or return ERANGE, ignored here */
if (-1 == xioctl (capture->deviceHandle,
if (-1 == ioctl (capture->deviceHandle,
VIDIOC_S_CTRL, &capture->control) && errno != ERANGE) {
perror ("VIDIOC_S_CTRL");
return -1;
}
} else
}
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
int v4l_value;
@ -2694,6 +2744,7 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
return -1;
}
}
#endif /* HAVE_CAMV4L */
/* all was OK */
return 0;
@ -2754,6 +2805,7 @@ static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture ){
#ifdef HAVE_CAMV4L2
if (V4L2_SUPPORT == 0)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
{
if (capture->mmaps)
@ -2762,10 +2814,14 @@ static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture ){
munmap(capture->memoryMap, capture->memoryBuffer.size);
}
#endif /* HAVE_CAMV4L */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L2
else {
{
capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type) < 0) {
if (-1 == ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type)) {
perror ("Unable to stop the stream.");
}

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