From f7981a8ae8b4af3e536639c16774e979ce8a45d9 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <pavel.rojtberg@igd.fraunhofer.de>
Date: Thu, 8 Oct 2015 16:56:18 +0200
Subject: [PATCH 1/8] support setting focus and autofocus with V4L2
also refactor property range handling and opencv property to V4L2
translation.
---
modules/videoio/include/opencv2/videoio.hpp | 4 +-
.../include/opencv2/videoio/videoio_c.h | 1 +
modules/videoio/src/cap_v4l.cpp | 452 +++++-------------
3 files changed, 131 insertions(+), 326 deletions(-)
diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp
index f37a8036c..503fd5be6 100644
--- a/modules/videoio/include/opencv2/videoio.hpp
+++ b/modules/videoio/include/opencv2/videoio.hpp
@@ -133,7 +133,9 @@ enum { CAP_PROP_POS_MSEC =0,
CAP_PROP_TILT =34,
CAP_PROP_ROLL =35,
CAP_PROP_IRIS =36,
- CAP_PROP_SETTINGS =37
+ CAP_PROP_SETTINGS =37,
+ CAP_PROP_BUFFERSIZE =38,
+ CAP_PROP_AUTOFOCUS =39
};
diff --git a/modules/videoio/include/opencv2/videoio/videoio_c.h b/modules/videoio/include/opencv2/videoio/videoio_c.h
index 0365b9223..6d7bd640c 100644
--- a/modules/videoio/include/opencv2/videoio/videoio_c.h
+++ b/modules/videoio/include/opencv2/videoio/videoio_c.h
@@ -189,6 +189,7 @@ enum
CV_CAP_PROP_IRIS =36,
CV_CAP_PROP_SETTINGS =37,
CV_CAP_PROP_BUFFERSIZE =38,
+ CV_CAP_PROP_AUTOFOCUS =39,
CV_CAP_PROP_AUTOGRAB =1024, // property for videoio class CvCapture_Android only
CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING=1025, // readonly, tricky property, returns cpnst char* indeed
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index a879de7d5..f3464f52f 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -330,13 +330,30 @@ typedef struct CvCaptureCAM_V4L
struct timeval timestamp;
/* V4L2 control variables */
- int v4l2_brightness, v4l2_brightness_min, v4l2_brightness_max;
- int v4l2_contrast, v4l2_contrast_min, v4l2_contrast_max;
- int v4l2_saturation, v4l2_saturation_min, v4l2_saturation_max;
- int v4l2_hue, v4l2_hue_min, v4l2_hue_max;
- int v4l2_gain, v4l2_gain_min, v4l2_gain_max;
- int v4l2_exposure, v4l2_exposure_min, v4l2_exposure_max;
+ cv::Range focus, brightness, contrast, saturation, hue, gain, exposure;
+ cv::Range getRange(int property_id) {
+ switch (property_id) {
+ case CV_CAP_PROP_BRIGHTNESS:
+ return brightness;
+ case CV_CAP_PROP_CONTRAST:
+ return contrast;
+ case CV_CAP_PROP_SATURATION:
+ return saturation;
+ case CV_CAP_PROP_HUE:
+ return hue;
+ case CV_CAP_PROP_GAIN:
+ return gain;
+ case CV_CAP_PROP_EXPOSURE:
+ return exposure;
+ case CV_CAP_PROP_FOCUS:
+ return focus;
+ case CV_CAP_PROP_AUTOFOCUS:
+ return cv::Range(0, 1);
+ default:
+ return cv::Range(0, 255);
+ }
+ }
#endif /* HAVE_CAMV4L2 */
}
@@ -645,158 +662,72 @@ static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
#ifdef HAVE_CAMV4L2
+static void v4l2_control_range(CvCaptureCAM_V4L* cap, __u32 id)
+{
+ CLEAR (cap->queryctrl);
+ cap->queryctrl.id = id;
+
+ if(0 != ioctl(cap->deviceHandle, VIDIOC_QUERYCTRL, &cap->queryctrl))
+ {
+ if (errno != EINVAL)
+ perror ("VIDIOC_QUERYCTRL");
+ return;
+ }
+
+ if (cap->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
+ return;
+
+ cv::Range range(cap->queryctrl.minimum, cap->queryctrl.maximum);
+
+ switch(cap->queryctrl.id) {
+ case V4L2_CID_BRIGHTNESS:
+ cap->brightness = range;
+ break;
+ case V4L2_CID_CONTRAST:
+ cap->contrast = range;
+ break;
+ case V4L2_CID_SATURATION:
+ cap->saturation = range;
+ break;
+ case V4L2_CID_HUE:
+ cap->hue = range;
+ break;
+ case V4L2_CID_GAIN:
+ cap->gain = range;
+ break;
+ case V4L2_CID_EXPOSURE:
+ cap->exposure = range;
+ break;
+ case V4L2_CID_FOCUS_ABSOLUTE:
+ cap->focus = range;
+ break;
+ }
+}
static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
{
__u32 ctrl_id;
- for (ctrl_id = V4L2_CID_BASE;
- ctrl_id < V4L2_CID_LASTP1;
- ctrl_id++)
+ for (ctrl_id = V4L2_CID_BASE; ctrl_id < V4L2_CID_LASTP1; ctrl_id++)
{
-
- /* set the id we will query now */
- CLEAR (capture->queryctrl);
- capture->queryctrl.id = ctrl_id;
-
- if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
- &capture->queryctrl))
- {
-
- if (capture->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
- continue;
-
- if (capture->queryctrl.id == V4L2_CID_BRIGHTNESS)
- {
- capture->v4l2_brightness = 1;
- capture->v4l2_brightness_min = capture->queryctrl.minimum;
- capture->v4l2_brightness_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_CONTRAST)
- {
- capture->v4l2_contrast = 1;
- capture->v4l2_contrast_min = capture->queryctrl.minimum;
- capture->v4l2_contrast_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_SATURATION)
- {
- capture->v4l2_saturation = 1;
- capture->v4l2_saturation_min = capture->queryctrl.minimum;
- capture->v4l2_saturation_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_HUE)
- {
- capture->v4l2_hue = 1;
- capture->v4l2_hue_min = capture->queryctrl.minimum;
- capture->v4l2_hue_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_GAIN)
- {
- capture->v4l2_gain = 1;
- capture->v4l2_gain_min = capture->queryctrl.minimum;
- capture->v4l2_gain_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_EXPOSURE)
- {
- capture->v4l2_exposure = 1;
- capture->v4l2_exposure_min = capture->queryctrl.minimum;
- capture->v4l2_exposure_max = capture->queryctrl.maximum;
- }
-
-
- } else {
-
- if (errno == EINVAL)
- continue;
-
- perror ("VIDIOC_QUERYCTRL");
-
- }
-
+ v4l2_control_range(capture, ctrl_id);
}
for (ctrl_id = V4L2_CID_PRIVATE_BASE;;ctrl_id++)
{
-
- /* set the id we will query now */
- CLEAR (capture->queryctrl);
- capture->queryctrl.id = ctrl_id;
-
- if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
- &capture->queryctrl))
- {
-
- if (capture->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
- continue;
-
- if (capture->queryctrl.id == V4L2_CID_BRIGHTNESS)
- {
- capture->v4l2_brightness = 1;
- capture->v4l2_brightness_min = capture->queryctrl.minimum;
- capture->v4l2_brightness_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_CONTRAST)
- {
- capture->v4l2_contrast = 1;
- capture->v4l2_contrast_min = capture->queryctrl.minimum;
- capture->v4l2_contrast_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_SATURATION)
- {
- capture->v4l2_saturation = 1;
- capture->v4l2_saturation_min = capture->queryctrl.minimum;
- capture->v4l2_saturation_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_HUE)
- {
- capture->v4l2_hue = 1;
- capture->v4l2_hue_min = capture->queryctrl.minimum;
- capture->v4l2_hue_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_GAIN)
- {
- capture->v4l2_gain = 1;
- capture->v4l2_gain_min = capture->queryctrl.minimum;
- capture->v4l2_gain_max = capture->queryctrl.maximum;
- }
-
- if (capture->queryctrl.id == V4L2_CID_EXPOSURE)
- {
- capture->v4l2_exposure = 1;
- capture->v4l2_exposure_min = capture->queryctrl.minimum;
- capture->v4l2_exposure_max = capture->queryctrl.maximum;
- }
-
- } else {
+ v4l2_control_range(capture, ctrl_id);
if (errno == EINVAL)
break;
-
- perror ("VIDIOC_QUERYCTRL");
-
- }
-
}
+ v4l2_control_range(capture, V4L2_CID_FOCUS_ABSOLUTE);
}
static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
{
- int detect_v4l2 = 0;
-
- detect_v4l2 = try_init_v4l2(capture, deviceName);
-
- if (detect_v4l2 != 1) {
+ if (try_init_v4l2(capture, deviceName) != 1) {
/* init of the v4l2 device is not OK */
return -1;
}
@@ -804,30 +735,7 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
/* starting from here, we assume we are in V4L2 mode */
V4L2_SUPPORT = 1;
- /* Init V4L2 control variables */
- capture->v4l2_brightness = 0;
- capture->v4l2_contrast = 0;
- capture->v4l2_saturation = 0;
- capture->v4l2_hue = 0;
- capture->v4l2_gain = 0;
- capture->v4l2_exposure = 0;
-
- capture->v4l2_brightness_min = 0;
- capture->v4l2_contrast_min = 0;
- capture->v4l2_saturation_min = 0;
- capture->v4l2_hue_min = 0;
- capture->v4l2_gain_min = 0;
- capture->v4l2_exposure_min = 0;
-
- capture->v4l2_brightness_max = 0;
- capture->v4l2_contrast_max = 0;
- capture->v4l2_saturation_max = 0;
- capture->v4l2_hue_max = 0;
- capture->v4l2_gain_max = 0;
- capture->v4l2_exposure_max = 0;
-
- capture->timestamp.tv_sec = 0;
- capture->timestamp.tv_usec = 0;
+ /* V4L2 control variables are zero (memset above) */
/* Scan V4L2 controls */
v4l2_scan_controls(capture);
@@ -2290,6 +2198,31 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
return(&capture->frame);
}
+static inline __u32 capPropertyToV4L2(int prop) {
+ switch (prop) {
+#ifdef HAVE_CAMV4L2
+ case CV_CAP_PROP_BRIGHTNESS:
+ return V4L2_CID_BRIGHTNESS;
+ case CV_CAP_PROP_CONTRAST:
+ return V4L2_CID_CONTRAST;
+ case CV_CAP_PROP_SATURATION:
+ return V4L2_CID_SATURATION;
+ case CV_CAP_PROP_HUE:
+ return V4L2_CID_HUE;
+ case CV_CAP_PROP_GAIN:
+ return V4L2_CID_GAIN;
+ case CV_CAP_PROP_EXPOSURE:
+ return V4L2_CID_EXPOSURE;
+ case CV_CAP_PROP_AUTOFOCUS:
+ return V4L2_CID_FOCUS_AUTO;
+ case CV_CAP_PROP_FOCUS:
+ return V4L2_CID_FOCUS_ABSOLUTE;
+#endif
+ default:
+ return -1;
+ }
+}
+
static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
int property_id ) {
@@ -2299,11 +2232,6 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
if (V4L2_SUPPORT == 1)
#endif
{
-
- /* default value for min and max */
- int v4l2_min = 0;
- int v4l2_max = 255;
-
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
@@ -2321,39 +2249,25 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
/* initialize the control structure */
- switch (property_id) {
- case CV_CAP_PROP_POS_MSEC:
+ if(property_id == CV_CAP_PROP_POS_MSEC) {
if (capture->FirstCapture) {
return 0;
} else {
return 1000 * capture->timestamp.tv_sec + ((double) capture->timestamp.tv_usec) / 1000;
}
- break;
- case CV_CAP_PROP_BRIGHTNESS:
- capture->control.id = V4L2_CID_BRIGHTNESS;
- break;
- case CV_CAP_PROP_CONTRAST:
- capture->control.id = V4L2_CID_CONTRAST;
- break;
- case CV_CAP_PROP_SATURATION:
- capture->control.id = V4L2_CID_SATURATION;
- break;
- case CV_CAP_PROP_HUE:
- capture->control.id = V4L2_CID_HUE;
- break;
- case CV_CAP_PROP_GAIN:
- capture->control.id = V4L2_CID_GAIN;
- break;
- case CV_CAP_PROP_EXPOSURE:
- capture->control.id = V4L2_CID_EXPOSURE;
- break;
- default:
- fprintf(stderr,
- "VIDEOIO ERROR: V4L2: getting property #%d is not supported\n",
- property_id);
- return -1;
}
+ __u32 v4l2id = capPropertyToV4L2(property_id);
+
+ if(v4l2id == __u32(-1)) {
+ fprintf(stderr,
+ "VIDEOIO ERROR: V4L2: getting property #%d is not supported\n",
+ property_id);
+ return -1;
+ }
+
+ capture->control.id = v4l2id;
+
if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_CTRL,
&capture->control)) {
@@ -2377,43 +2291,27 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
case CV_CAP_PROP_EXPOSURE:
fprintf (stderr, "Exposure");
break;
+ case CV_CAP_PROP_AUTOFOCUS:
+ fprintf (stderr, "Autofocus");
+ break;
+ case CV_CAP_PROP_FOCUS:
+ fprintf (stderr, "Focus");
+ break;
}
fprintf (stderr, " is not supported by your device\n");
return -1;
}
- /* get the min/max values */
- switch (property_id) {
-
- case CV_CAP_PROP_BRIGHTNESS:
- v4l2_min = capture->v4l2_brightness_min;
- v4l2_max = capture->v4l2_brightness_max;
- break;
- case CV_CAP_PROP_CONTRAST:
- v4l2_min = capture->v4l2_contrast_min;
- v4l2_max = capture->v4l2_contrast_max;
- break;
- case CV_CAP_PROP_SATURATION:
- v4l2_min = capture->v4l2_saturation_min;
- v4l2_max = capture->v4l2_saturation_max;
- break;
- case CV_CAP_PROP_HUE:
- v4l2_min = capture->v4l2_hue_min;
- v4l2_max = capture->v4l2_hue_max;
- break;
- case CV_CAP_PROP_GAIN:
- v4l2_min = capture->v4l2_gain_min;
- v4l2_max = capture->v4l2_gain_max;
- break;
- case CV_CAP_PROP_EXPOSURE:
- v4l2_min = capture->v4l2_exposure_min;
- v4l2_max = capture->v4l2_exposure_max;
- break;
+ if(property_id == CV_CAP_PROP_AUTOFOCUS) {
+ return (double)capture->control.value;
}
+ /* get the min/max values */
+ cv::Range range = capture->getRange(property_id);
+
/* 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);
+ return ((float)capture->control.value - range.start + 1) / range.size();
}
#endif /* HAVE_CAMV4L2 */
@@ -2603,111 +2501,24 @@ static int icvSetControl (CvCaptureCAM_V4L* capture,
if (V4L2_SUPPORT == 1)
{
-
- /* default value for min and max */
- int v4l2_min = 0;
- int v4l2_max = 255;
-
/* initialisations */
- CLEAR (capture->control);
+ __u32 v4l2id = capPropertyToV4L2(property_id);
- /* set which control we want to set */
- switch (property_id) {
-
- case CV_CAP_PROP_BRIGHTNESS:
- capture->control.id = V4L2_CID_BRIGHTNESS;
- break;
- case CV_CAP_PROP_CONTRAST:
- capture->control.id = V4L2_CID_CONTRAST;
- break;
- case CV_CAP_PROP_SATURATION:
- capture->control.id = V4L2_CID_SATURATION;
- break;
- case CV_CAP_PROP_HUE:
- capture->control.id = V4L2_CID_HUE;
- break;
- case CV_CAP_PROP_GAIN:
- capture->control.id = V4L2_CID_GAIN;
- break;
- case CV_CAP_PROP_EXPOSURE:
- capture->control.id = V4L2_CID_EXPOSURE;
- break;
- default:
+ if(v4l2id == __u32(-1)) {
fprintf(stderr,
"VIDEOIO ERROR: V4L2: setting property #%d is not supported\n",
property_id);
return -1;
}
-
- /* get the min and max values */
- if (-1 == ioctl (capture->deviceHandle,
- VIDIOC_G_CTRL, &capture->control)) {
-// perror ("VIDIOC_G_CTRL for getting min/max values");
- return -1;
- }
+ /* set which control we want to set */
+ CLEAR (capture->control);
+ capture->control.id = v4l2id;
/* get the min/max values */
- switch (property_id) {
-
- case CV_CAP_PROP_BRIGHTNESS:
- v4l2_min = capture->v4l2_brightness_min;
- v4l2_max = capture->v4l2_brightness_max;
- break;
- case CV_CAP_PROP_CONTRAST:
- v4l2_min = capture->v4l2_contrast_min;
- v4l2_max = capture->v4l2_contrast_max;
- break;
- case CV_CAP_PROP_SATURATION:
- v4l2_min = capture->v4l2_saturation_min;
- v4l2_max = capture->v4l2_saturation_max;
- break;
- case CV_CAP_PROP_HUE:
- v4l2_min = capture->v4l2_hue_min;
- v4l2_max = capture->v4l2_hue_max;
- break;
- case CV_CAP_PROP_GAIN:
- v4l2_min = capture->v4l2_gain_min;
- v4l2_max = capture->v4l2_gain_max;
- break;
- case CV_CAP_PROP_EXPOSURE:
- v4l2_min = capture->v4l2_exposure_min;
- v4l2_max = capture->v4l2_exposure_max;
- break;
- }
-
- /* initialisations */
- CLEAR (capture->control);
-
- /* set which control we want to set */
- switch (property_id) {
-
- case CV_CAP_PROP_BRIGHTNESS:
- capture->control.id = V4L2_CID_BRIGHTNESS;
- break;
- case CV_CAP_PROP_CONTRAST:
- capture->control.id = V4L2_CID_CONTRAST;
- break;
- case CV_CAP_PROP_SATURATION:
- capture->control.id = V4L2_CID_SATURATION;
- break;
- case CV_CAP_PROP_HUE:
- capture->control.id = V4L2_CID_HUE;
- break;
- case CV_CAP_PROP_GAIN:
- capture->control.id = V4L2_CID_GAIN;
- break;
- case CV_CAP_PROP_EXPOSURE:
- capture->control.id = V4L2_CID_EXPOSURE;
- break;
- default:
- fprintf(stderr,
- "VIDEOIO ERROR: V4L2: setting property #%d is not supported\n",
- property_id);
- return -1;
- }
+ cv::Range range = capture->getRange(property_id);
/* set the value we want to set to the scaled the value */
- capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);
+ capture->control.value = (int)(value * range.size() + range.start);
/* The driver may clamp the value or return ERANGE, ignored here */
if (-1 == ioctl (capture->deviceHandle,
@@ -2799,18 +2610,9 @@ static int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
width = height = 0;
}
break;
- case CV_CAP_PROP_BRIGHTNESS:
- case CV_CAP_PROP_CONTRAST:
- case CV_CAP_PROP_SATURATION:
- case CV_CAP_PROP_HUE:
- case CV_CAP_PROP_GAIN:
- case CV_CAP_PROP_EXPOSURE:
+ default:
retval = icvSetControl(capture, property_id, value);
break;
- default:
- fprintf(stderr,
- "VIDEOIO ERROR: V4L: setting property #%d is not supported\n",
- property_id);
}
/* return the the status */
From 18034a51384c4c5019508cab63d9abd67a7bb210 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <pavel.rojtberg@igd.fraunhofer.de>
Date: Fri, 9 Oct 2015 12:05:29 +0200
Subject: [PATCH 2/8] allow icvGetPropertyCAM_V4L to return zero
now icvGetPropertyCAM_V4L behaves the same as in cap_libv4l. This also
fixes passing boolean values.
---
modules/videoio/src/cap_v4l.cpp | 6 +-----
1 file changed, 1 insertion(+), 5 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index f3464f52f..b43bed60e 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -2303,15 +2303,11 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return -1;
}
- if(property_id == CV_CAP_PROP_AUTOFOCUS) {
- return (double)capture->control.value;
- }
-
/* get the min/max values */
cv::Range range = capture->getRange(property_id);
/* all was OK, so convert to 0.0 - 1.0 range, and return the value */
- return ((float)capture->control.value - range.start + 1) / range.size();
+ return ((float)capture->control.value - range.start) / range.size();
}
#endif /* HAVE_CAMV4L2 */
From c0fe522c9df08e46dcea87fc30409df03df87256 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Fri, 9 Oct 2015 16:01:14 +0200
Subject: [PATCH 3/8] allow changing FPS and Image Size using V4L2
use logic similar to cap_libv4l: replace icvSetVideoSize by v4l2_reset
as it was not used for V4L1, the actual frame format is negotiated in
try_palette_v4l2 and the stream has to restarted anyway.
---
modules/videoio/src/cap_v4l.cpp | 194 +++++++++++---------------------
1 file changed, 67 insertions(+), 127 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index b43bed60e..3dfbe95ec 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -244,6 +244,7 @@ make & enjoy!
/* 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
+#define DEFAULT_V4L_FPS 30
#define CHANNEL_NUMBER 1
#define MAX_CAMERAS 8
@@ -315,6 +316,9 @@ typedef struct CvCaptureCAM_V4L
#ifdef HAVE_CAMV4L2
enum PALETTE_TYPE palette;
+ int index;
+ int width, height;
+ __u32 fps;
/* V4L2 variables */
buffer buffers[MAX_V4L_BUFFERS + 1];
struct v4l2_capability cap;
@@ -373,8 +377,6 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int );
static double icvGetPropertyCAM_V4L( CvCaptureCAM_V4L* capture, int property_id );
static int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture, int property_id, double value );
-static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h);
-
/*********************** Implementations ***************************************/
static int numCameras = 0;
@@ -440,8 +442,8 @@ static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
capture->form.fmt.pix.pixelformat = colorspace;
capture->form.fmt.pix.field = V4L2_FIELD_ANY;
- capture->form.fmt.pix.width = DEFAULT_V4L_WIDTH;
- capture->form.fmt.pix.height = DEFAULT_V4L_HEIGHT;
+ capture->form.fmt.pix.width = capture->width;
+ capture->form.fmt.pix.height = capture->height;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
return -1;
@@ -725,8 +727,21 @@ static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
v4l2_control_range(capture, V4L2_CID_FOCUS_ABSOLUTE);
}
-static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
+static int v4l2_set_fps(CvCaptureCAM_V4L* capture) {
+ v4l2_streamparm setfps;
+ CLEAR(setfps);
+ setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ setfps.parm.capture.timeperframe.numerator = 1;
+ setfps.parm.capture.timeperframe.denominator = capture->fps;
+ return ioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);
+}
+
+static int _capture_V4L2 (CvCaptureCAM_V4L *capture)
{
+ char deviceName[MAX_DEVICE_DRIVER_NAME];
+ /* Print the CameraNumber at the end of the string with a width of one character */
+ sprintf(deviceName, "/dev/video%1d", capture->index);
+
if (try_init_v4l2(capture, deviceName) != 1) {
/* init of the v4l2 device is not OK */
return -1;
@@ -777,14 +792,11 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
return -1;
}
- if (V4L2_SUPPORT == 0)
- {
- }
-
if (autosetup_capture_mode_v4l2(capture) == -1)
return -1;
- icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);
+ /* try to set framerate */
+ v4l2_set_fps(capture);
unsigned int min;
@@ -887,9 +899,22 @@ static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
/* Allocate space for RGBA data */
capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
+ // reinitialize buffers
+ capture->FirstCapture = 1;
+
return 1;
}; /* End _capture_V4L2 */
+/**
+ * some properties can not be changed while the device is in streaming mode.
+ * this method closes and re-opens the device to re-start the stream.
+ * this also causes buffers to be reallocated if the frame size was changed.
+ */
+static int v4l2_reset( CvCaptureCAM_V4L* capture) {
+ icvCloseCAM_V4L(capture);
+ return _capture_V4L2(capture);
+}
+
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
@@ -1019,8 +1044,6 @@ static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
static int autoindex;
autoindex = 0;
- char deviceName[MAX_DEVICE_DRIVER_NAME];
-
if (!numCameras)
icvInitCapture_V4L(); /* Havent called icvInitCapture yet - do it now! */
if (!numCameras)
@@ -1049,8 +1072,7 @@ static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
index=autoindex;
autoindex++;// i can recall icvOpenCAM_V4l with index=-1 for next camera
}
- /* Print the CameraNumber at the end of the string with a width of one character */
- sprintf(deviceName, "/dev/video%1d", index);
+ capture->index = index;
/* w/o memset some parts arent initialized - AKA: Fill it with zeros so it is clean */
memset(capture,0,sizeof(CvCaptureCAM_V4L));
@@ -1059,19 +1081,25 @@ static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
capture->FirstCapture = 1;
#ifdef HAVE_CAMV4L2
- if (_capture_V4L2 (capture, deviceName) == -1) {
+ capture->width = DEFAULT_V4L_WIDTH;
+ capture->height = DEFAULT_V4L_HEIGHT;
+ capture->fps = DEFAULT_V4L_FPS;
+
+ if (_capture_V4L2 (capture) == -1) {
icvCloseCAM_V4L(capture);
V4L2_SUPPORT = 0;
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
+ char deviceName[MAX_DEVICE_DRIVER_NAME];
+ /* Print the CameraNumber at the end of the string with a width of one character */
+ sprintf(deviceName, "/dev/video%1d", capture->index);
+
if (_capture_V4L (capture, deviceName) == -1) {
icvCloseCAM_V4L(capture);
return NULL;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
- } else {
- V4L2_SUPPORT = 1;
}
#endif /* HAVE_CAMV4L2 */
@@ -2247,6 +2275,18 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return capture->form.fmt.pix.height;
}
+ if(property_id == CV_CAP_PROP_FPS) {
+ struct v4l2_streamparm sp;
+ CLEAR(sp);
+ sp.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (ioctl(capture->deviceHandle, VIDIOC_G_PARM, &sp) < 0){
+ fprintf(stderr, "VIDEOIO ERROR: V4L: Unable to get camera FPS\n");
+ return -1;
+ }
+
+ return sp.parm.capture.timeperframe.denominator / (double)sp.parm.capture.timeperframe.numerator;
+ }
+
/* initialize the control structure */
if(property_id == CV_CAP_PROP_POS_MSEC) {
@@ -2376,113 +2416,6 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
};
-static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {
-
-#ifdef HAVE_CAMV4L2
-
- if (V4L2_SUPPORT == 1)
- {
-
- CLEAR (capture->cropcap);
- capture->cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
- if (ioctl (capture->deviceHandle, VIDIOC_CROPCAP, &capture->cropcap) < 0) {
- fprintf(stderr, "VIDEOIO ERROR: V4L/V4L2: VIDIOC_CROPCAP\n");
- } else {
-
- CLEAR (capture->crop);
- capture->crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- capture->crop.c= capture->cropcap.defrect;
-
- /* set the crop area, but don't exit if the device don't support croping */
- if (ioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop) < 0) {
- fprintf(stderr, "VIDEOIO ERROR: V4L/V4L2: VIDIOC_S_CROP\n");
- }
- }
-
- CLEAR (capture->form);
- capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
- /* read the current setting, mainly to retreive the pixelformat information */
- ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);
-
- /* set the values we want to change */
- capture->form.fmt.pix.width = w;
- capture->form.fmt.pix.height = h;
- capture->form.fmt.win.chromakey = 0;
- capture->form.fmt.win.field = V4L2_FIELD_ANY;
- capture->form.fmt.win.clips = 0;
- capture->form.fmt.win.clipcount = 0;
- capture->form.fmt.pix.field = V4L2_FIELD_ANY;
-
- /* ask the device to change the size
- * 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 */
- ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);
-
- /* try to set framerate to 30 fps */
- struct v4l2_streamparm setfps;
- memset (&setfps, 0, sizeof(struct v4l2_streamparm));
- setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- setfps.parm.capture.timeperframe.numerator = 1;
- setfps.parm.capture.timeperframe.denominator = 30;
- 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 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
- {
- fprintf(stderr, "VIDEOIO ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");
-
- icvCloseCAM_V4L(capture);
-
- return 0;
- }
-
- return 0;
-
- }
-#endif /* HAVE_CAMV4L2 */
-#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
- else
-#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
-#ifdef HAVE_CAMV4L
- {
-
- if (capture==0) return 0;
- if (w>capture->capability.maxwidth) {
- w=capture->capability.maxwidth;
- }
- if (h>capture->capability.maxheight) {
- h=capture->capability.maxheight;
- }
-
- capture->captureWindow.width=w;
- capture->captureWindow.height=h;
-
- if (ioctl(capture->deviceHandle, VIDIOCSWIN, &capture->captureWindow) < 0) {
- icvCloseCAM_V4L(capture);
- return 0;
- }
-
- if (ioctl(capture->deviceHandle, VIDIOCGWIN, &capture->captureWindow) < 0) {
- icvCloseCAM_V4L(capture);
- return 0;
- }
-
- capture->FirstCapture = 1;
-
- }
-#endif /* HAVE_CAMV4L */
-
- return 0;
-
-}
-
static int icvSetControl (CvCaptureCAM_V4L* capture,
int property_id, double value) {
@@ -2589,23 +2522,30 @@ static int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
/* two subsequent calls setting WIDTH and HEIGHT will change
the video size */
- /* the first one will return an error, though. */
switch (property_id) {
case CV_CAP_PROP_FRAME_WIDTH:
width = cvRound(value);
if(width !=0 && height != 0) {
- retval = icvSetVideoSize( capture, width, height);
+ capture->width = width;
+ capture->height = height;
+ retval = v4l2_reset( capture);
width = height = 0;
}
break;
case CV_CAP_PROP_FRAME_HEIGHT:
height = cvRound(value);
if(width !=0 && height != 0) {
- retval = icvSetVideoSize( capture, width, height);
+ capture->width = width;
+ capture->height = height;
+ retval = v4l2_reset( capture);
width = height = 0;
}
break;
+ case CV_CAP_PROP_FPS:
+ capture->fps = value;
+ retval = v4l2_reset( capture);
+ break;
default:
retval = icvSetControl(capture, property_id, value);
break;
From 5525cc4d09e24e809de8f9aea3d4c7e131ae7b79 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Sat, 10 Oct 2015 12:26:08 +0200
Subject: [PATCH 4/8] implement CAP_PROP_MODE, CAP_PROP_FOURCC and
CAP_PROP_FORMAT
do not use a custom enum instead of the V4L2 fourcc defines for palette.
This way we can easily implement CAP_PROP_FOURCC and CAP_PROP_MODE.
---
modules/videoio/src/cap_v4l.cpp | 67 +++++++++++++++------------------
1 file changed, 30 insertions(+), 37 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index 3dfbe95ec..5a5abfa4f 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -280,25 +280,12 @@ static unsigned int n_buffers = 0;
#define V4L2_PIX_FMT_SN9C10X v4l2_fourcc('S','9','1','0') /* SN9C10x cmpr. */
#endif
-#ifndef V4L2_PIX_FMT_SGBRG
-#define V4L2_PIX_FMT_SGBRG v4l2_fourcc('G','B','R','G') /* bayer GBRG GBGB.. RGRG.. */
+#ifndef V4L2_PIX_FMT_SGBRG8
+#define V4L2_PIX_FMT_SGBRG8 v4l2_fourcc('G','B','R','G') /* bayer GBRG GBGB.. RGRG.. */
#endif
#endif /* HAVE_CAMV4L2 */
-enum PALETTE_TYPE {
- PALETTE_BGR24 = 1,
- PALETTE_YVU420,
- PALETTE_YUV411P,
- PALETTE_YUYV,
- PALETTE_UYVY,
- PALETTE_SBGGR8,
- PALETTE_SN9C10X,
- PALETTE_MJPEG,
- PALETTE_SGBRG,
- PALETTE_RGB24
-};
-
typedef struct CvCaptureCAM_V4L
{
int deviceHandle;
@@ -315,7 +302,7 @@ typedef struct CvCaptureCAM_V4L
IplImage frame;
#ifdef HAVE_CAMV4L2
- enum PALETTE_TYPE palette;
+ __u32 palette;
int index;
int width, height;
__u32 fps;
@@ -564,17 +551,17 @@ static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
{
if (try_palette_v4l2(capture, V4L2_PIX_FMT_BGR24) == 0)
{
- capture->palette = PALETTE_BGR24;
+ capture->palette = V4L2_PIX_FMT_BGR24;
}
else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YVU420) == 0)
{
- capture->palette = PALETTE_YVU420;
+ capture->palette = V4L2_PIX_FMT_YVU420;
}
else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUV411P) == 0)
{
- capture->palette = PALETTE_YUV411P;
+ capture->palette = V4L2_PIX_FMT_YUV411P;
}
else
@@ -582,35 +569,35 @@ static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
if (try_palette_v4l2(capture, V4L2_PIX_FMT_MJPEG) == 0 ||
try_palette_v4l2(capture, V4L2_PIX_FMT_JPEG) == 0)
{
- capture->palette = PALETTE_MJPEG;
+ capture->palette = V4L2_PIX_FMT_MJPEG;
}
else
#endif
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0)
{
- capture->palette = PALETTE_YUYV;
+ capture->palette = V4L2_PIX_FMT_YUYV;
}
else if (try_palette_v4l2(capture, V4L2_PIX_FMT_UYVY) == 0)
{
- capture->palette = PALETTE_UYVY;
+ capture->palette = V4L2_PIX_FMT_UYVY;
}
else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_SN9C10X) == 0)
{
- capture->palette = PALETTE_SN9C10X;
+ capture->palette = V4L2_PIX_FMT_SN9C10X;
} else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_SBGGR8) == 0)
{
- capture->palette = PALETTE_SBGGR8;
+ capture->palette = V4L2_PIX_FMT_SBGGR8;
} else
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_SGBRG) == 0)
+ if (try_palette_v4l2(capture, V4L2_PIX_FMT_SGBRG8) == 0)
{
- capture->palette = PALETTE_SGBRG;
+ capture->palette = V4L2_PIX_FMT_SGBRG8;
}
else if (try_palette_v4l2(capture, V4L2_PIX_FMT_RGB24) == 0)
{
- capture->palette = PALETTE_RGB24;
+ capture->palette = V4L2_PIX_FMT_RGB24;
}
else
{
@@ -2103,27 +2090,28 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
{
switch (capture->palette)
{
- case PALETTE_BGR24:
+ case V4L2_PIX_FMT_BGR24:
memcpy((char *)capture->frame.imageData,
(char *)capture->buffers[capture->bufferIndex].start,
capture->frame.imageSize);
break;
- case PALETTE_YVU420:
+ case V4L2_PIX_FMT_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:
+ case V4L2_PIX_FMT_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
- case PALETTE_MJPEG:
+ case V4L2_PIX_FMT_MJPEG:
+ case V4L2_PIX_FMT_JPEG:
if (!mjpeg_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)(capture->buffers[capture->bufferIndex]
@@ -2134,26 +2122,26 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
break;
#endif
- case PALETTE_YUYV:
+ case V4L2_PIX_FMT_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:
+ case V4L2_PIX_FMT_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:
+ case V4L2_PIX_FMT_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:
+ case V4L2_PIX_FMT_SN9C10X:
sonix_decompress_init();
sonix_decompress(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
@@ -2166,13 +2154,13 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
(unsigned char*)capture->frame.imageData);
break;
- case PALETTE_SGBRG:
+ case V4L2_PIX_FMT_SGBRG8:
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;
- case PALETTE_RGB24:
+ case V4L2_PIX_FMT_RGB24:
rgb24_to_rgb24(capture->form.fmt.pix.width,
capture->form.fmt.pix.height,
(unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
@@ -2273,6 +2261,11 @@ static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
return capture->form.fmt.pix.width;
case CV_CAP_PROP_FRAME_HEIGHT:
return capture->form.fmt.pix.height;
+ case CV_CAP_PROP_FOURCC:
+ case CV_CAP_PROP_MODE:
+ return capture->palette;
+ case CV_CAP_PROP_FORMAT:
+ return CV_8UC3;
}
if(property_id == CV_CAP_PROP_FPS) {
From 588eba3b3726aba89a5bf3447ccaf96c9be10a01 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Sat, 10 Oct 2015 12:39:37 +0200
Subject: [PATCH 5/8] simplify autosetup_capture_mode_v4l2 by using a for loop
---
modules/videoio/src/cap_v4l.cpp | 91 ++++++++++-----------------------
1 file changed, 27 insertions(+), 64 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index 5a5abfa4f..3547f98b1 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -422,24 +422,20 @@ try_palette(int fd,
#ifdef HAVE_CAMV4L2
-static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
+static bool try_palette_v4l2(CvCaptureCAM_V4L* capture)
{
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- capture->form.fmt.pix.pixelformat = colorspace;
+ capture->form.fmt.pix.pixelformat = capture->palette;
capture->form.fmt.pix.field = V4L2_FIELD_ANY;
capture->form.fmt.pix.width = capture->width;
capture->form.fmt.pix.height = capture->height;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
- return -1;
+ return false;
-
- if (colorspace != capture->form.fmt.pix.pixelformat)
- return -1;
- else
- return 0;
+ return capture->palette == capture->form.fmt.pix.pixelformat;
}
#endif /* HAVE_CAMV4L2 */
@@ -547,67 +543,34 @@ static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
}
-static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
-{
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_BGR24) == 0)
- {
- capture->palette = V4L2_PIX_FMT_BGR24;
- }
- else
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_YVU420) == 0)
- {
- capture->palette = V4L2_PIX_FMT_YVU420;
- }
- else
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUV411P) == 0)
- {
- capture->palette = V4L2_PIX_FMT_YUV411P;
- }
- else
-
+static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture) {
+ __u32 try_order[] = {
+ V4L2_PIX_FMT_BGR24,
+ V4L2_PIX_FMT_YVU420,
+ V4L2_PIX_FMT_YUV411P,
#ifdef HAVE_JPEG
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_MJPEG) == 0 ||
- try_palette_v4l2(capture, V4L2_PIX_FMT_JPEG) == 0)
- {
- capture->palette = V4L2_PIX_FMT_MJPEG;
- }
- else
+ V4L2_PIX_FMT_MJPEG,
+ V4L2_PIX_FMT_JPEG,
#endif
+ V4L2_PIX_FMT_YUYV,
+ V4L2_PIX_FMT_UYVY,
+ V4L2_PIX_FMT_SN9C10X,
+ V4L2_PIX_FMT_SBGGR8,
+ V4L2_PIX_FMT_SGBRG8,
+ V4L2_PIX_FMT_RGB24
+ };
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0)
- {
- capture->palette = V4L2_PIX_FMT_YUYV;
- }
- else if (try_palette_v4l2(capture, V4L2_PIX_FMT_UYVY) == 0)
- {
- capture->palette = V4L2_PIX_FMT_UYVY;
- }
- else
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_SN9C10X) == 0)
- {
- capture->palette = V4L2_PIX_FMT_SN9C10X;
- } else
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_SBGGR8) == 0)
- {
- capture->palette = V4L2_PIX_FMT_SBGGR8;
- } else
- if (try_palette_v4l2(capture, V4L2_PIX_FMT_SGBRG8) == 0)
- {
- capture->palette = V4L2_PIX_FMT_SGBRG8;
- }
- else if (try_palette_v4l2(capture, V4L2_PIX_FMT_RGB24) == 0)
- {
- capture->palette = V4L2_PIX_FMT_RGB24;
- }
- else
- {
- fprintf(stderr, "VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV\n");
+ for (size_t i = 0; i < sizeof(try_order) / sizeof(__u32); i++) {
+ capture->palette = try_order[i];
+ if (try_palette_v4l2(capture)) {
+ return 0;
+ }
+ }
+
+ fprintf(stderr,
+ "VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV\n");
icvCloseCAM_V4L(capture);
return -1;
- }
-
- return 0;
-
}
#endif /* HAVE_CAMV4L2 */
From 56dd7eda0d6a5ad1c5bec5ebc08739e331b7bf91 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Sun, 18 Oct 2015 13:37:31 +0200
Subject: [PATCH 6/8] remove additional V4L2 pixelformat defines
they are upstream since at least linux 2.6.8 (10 Years)
http://lxr.oss.org.cn/ident?v=2.6.8&i=V4L2_PIX_FMT_SBGGR8
---
modules/videoio/src/cap_v4l.cpp | 12 ------------
1 file changed, 12 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index 3547f98b1..8160a0c6e 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -272,18 +272,6 @@ struct buffer
static unsigned int n_buffers = 0;
-/* Additional V4L2 pixelformats support for Sonix SN9C10x base webcams */
-#ifndef V4L2_PIX_FMT_SBGGR8
-#define V4L2_PIX_FMT_SBGGR8 v4l2_fourcc('B','A','8','1') /* 8 BGBG.. GRGR.. */
-#endif
-#ifndef V4L2_PIX_FMT_SN9C10X
-#define V4L2_PIX_FMT_SN9C10X v4l2_fourcc('S','9','1','0') /* SN9C10x cmpr. */
-#endif
-
-#ifndef V4L2_PIX_FMT_SGBRG8
-#define V4L2_PIX_FMT_SGBRG8 v4l2_fourcc('G','B','R','G') /* bayer GBRG GBGB.. RGRG.. */
-#endif
-
#endif /* HAVE_CAMV4L2 */
typedef struct CvCaptureCAM_V4L
From 80747088e3270df8c51dc540e2c25b75d3752721 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Sat, 10 Oct 2015 13:14:57 +0200
Subject: [PATCH 7/8] avoid needless copies during mjpeg decoding
---
modules/videoio/src/cap_v4l.cpp | 16 ++++++----------
1 file changed, 6 insertions(+), 10 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index 8160a0c6e..5ec5278f0 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -1612,15 +1612,11 @@ uyvy_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
/* convert from mjpeg to rgb24 */
static bool
-mjpeg_to_rgb24 (int width, int height,
- unsigned char *src, int length,
- unsigned char *dst)
-{
- cv::Mat temp=cv::imdecode(cv::Mat(std::vector<uchar>(src, src + length)), 1);
- if( !temp.data || temp.cols != width || temp.rows != height )
- return false;
- memcpy(dst, temp.data, width*height*3);
- return true;
+mjpeg_to_rgb24(int width, int height, unsigned char* src, int length, IplImage* dst) {
+ using namespace cv;
+ Mat temp = cvarrToMat(dst);
+ imdecode(Mat(1, length, CV_8U, src), IMREAD_COLOR, &temp);
+ return temp.data && temp.cols == width && temp.rows == height;
}
#endif
@@ -2068,7 +2064,7 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
(unsigned char*)(capture->buffers[capture->bufferIndex]
.start),
capture->buffers[capture->bufferIndex].length,
- (unsigned char*)capture->frame.imageData))
+ &capture->frame))
return 0;
break;
#endif
From 838947bb8ea4dbc4d8490541513453355dd6d2fc Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Sat, 10 Oct 2015 13:42:26 +0200
Subject: [PATCH 8/8] replace custom yuyv_to_rgb24 implementation by cvtColor
---
modules/videoio/src/cap_v4l.cpp | 47 +++------------------------------
modules/videoio/src/precomp.hpp | 1 +
2 files changed, 5 insertions(+), 43 deletions(-)
diff --git a/modules/videoio/src/cap_v4l.cpp b/modules/videoio/src/cap_v4l.cpp
index 5ec5278f0..4f00e43d5 100644
--- a/modules/videoio/src/cap_v4l.cpp
+++ b/modules/videoio/src/cap_v4l.cpp
@@ -1516,49 +1516,10 @@ yuv411p_to_rgb24(int width, int height,
#ifdef HAVE_CAMV4L2
static void
-yuyv_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
-{
- unsigned char *s;
- unsigned char *d;
- int l, c;
- int r, g, b, cr, cg, cb, y1, y2;
-
- l = height;
- s = src;
- d = dst;
- while (l--) {
- c = width >> 1;
- while (c--) {
- y1 = *s++;
- cb = ((*s - 128) * 454) >> 8;
- cg = (*s++ - 128) * 88;
- y2 = *s++;
- cr = ((*s - 128) * 359) >> 8;
- cg = (cg + (*s++ - 128) * 183) >> 8;
-
- r = y1 + cr;
- b = y1 + cb;
- g = y1 - cg;
- SAT(r);
- SAT(g);
- SAT(b);
-
- *d++ = b;
- *d++ = g;
- *d++ = r;
-
- r = y2 + cr;
- b = y2 + cb;
- g = y2 - cg;
- SAT(r);
- SAT(g);
- SAT(b);
-
- *d++ = b;
- *d++ = g;
- *d++ = r;
- }
- }
+yuyv_to_rgb24(int width, int height, unsigned char* src, unsigned char* dst) {
+ using namespace cv;
+ cvtColor(Mat(height, width, CV_8UC2, src), Mat(height, width, CV_8UC3, dst),
+ COLOR_YUV2BGR_YUYV);
}
static void
diff --git a/modules/videoio/src/precomp.hpp b/modules/videoio/src/precomp.hpp
index d60b00f94..442eaa19a 100644
--- a/modules/videoio/src/precomp.hpp
+++ b/modules/videoio/src/precomp.hpp
@@ -49,6 +49,7 @@
#include "opencv2/imgcodecs.hpp"
+#include "opencv2/imgproc.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/imgcodecs/imgcodecs_c.h"
#include "opencv2/videoio/videoio_c.h"