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cap_v4l.cpp
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/* This is the contributed code:
File: cvcap_v4l.cpp
Current Location: ../opencv-0.9.6/otherlibs/highgui
Original Version: 2003-03-12 Magnus Lundin lundin@mlu.mine.nu
Original Comments:
ML:This set of files adds support for firevre and usb cameras.
First it tries to install a firewire camera,
if that fails it tries a v4l/USB camera
It has been tested with the motempl sample program
First Patch: August 24, 2004 Travis Wood TravisOCV@tkwood.com
For Release: OpenCV-Linux Beta4 opencv-0.9.6
Tested On: LMLBT44 with 8 video inputs
Problems? Post your questions at answers.opencv.org,
Report bugs at code.opencv.org,
Submit your fixes at https://github.com/opencv/opencv/
Patched Comments:
TW: The cv cam utils that came with the initial release of OpenCV for LINUX Beta4
were not working. I have rewritten them so they work for me. At the same time, trying
to keep the original code as ML wrote it as unchanged as possible. No one likes to debug
someone elses code, so I resisted changes as much as possible. I have tried to keep the
same "ideas" where applicable, that is, where I could figure out what the previous author
intended. Some areas I just could not help myself and had to "spiffy-it-up" my way.
These drivers should work with other V4L frame capture cards other then my bttv
driven frame capture card.
Re Written driver for standard V4L mode. Tested using LMLBT44 video capture card.
Standard bttv drivers are on the LMLBT44 with up to 8 Inputs.
This utility was written with the help of the document:
http://pages.cpsc.ucalgary.ca/~sayles/VFL_HowTo
as a general guide for interfacing into the V4l standard.
Made the index value passed for icvOpenCAM_V4L(index) be the number of the
video device source in the /dev tree. The -1 uses original /dev/video.
Index Device
0 /dev/video0
1 /dev/video1
2 /dev/video2
3 /dev/video3
...
7 /dev/video7
with
-1 /dev/video
TW: You can select any video source, but this package was limited from the start to only
ONE camera opened at any ONE time.
This is an original program limitation.
If you are interested, I will make my version available to other OpenCV users. The big
difference in mine is you may pass the camera number as part of the cv argument, but this
convention is non standard for current OpenCV calls and the camera number is not currently
passed into the called routine.
Second Patch: August 28, 2004 Sfuncia Fabio fiblan@yahoo.it
For Release: OpenCV-Linux Beta4 Opencv-0.9.6
FS: this patch fix not sequential index of device (unplugged device), and real numCameras.
for -1 index (icvOpenCAM_V4L) i dont use /dev/video but real device available, because
if /dev/video is a link to /dev/video0 and i unplugged device on /dev/video0, /dev/video
is a bad link. I search the first available device with indexList.
Third Patch: December 9, 2004 Frederic Devernay Frederic.Devernay@inria.fr
For Release: OpenCV-Linux Beta4 Opencv-0.9.6
[FD] I modified the following:
- handle YUV420P, YUV420, and YUV411P palettes (for many webcams) without using floating-point
- cvGrabFrame should not wait for the end of the first frame, and should return quickly
(see highgui doc)
- cvRetrieveFrame should in turn wait for the end of frame capture, and should not
trigger the capture of the next frame (the user choses when to do it using GrabFrame)
To get the old behavior, re-call cvRetrieveFrame just after cvGrabFrame.
- having global bufferIndex and FirstCapture variables makes the code non-reentrant
(e.g. when using several cameras), put these in the CvCapture struct.
- according to V4L HowTo, incrementing the buffer index must be done before VIDIOCMCAPTURE.
- the VID_TYPE_SCALES stuff from V4L HowTo is wrong: image size can be changed
even if the hardware does not support scaling (e.g. webcams can have several
resolutions available). Just don't try to set the size at 640x480 if the hardware supports
scaling: open with the default (probably best) image size, and let the user scale it
using SetProperty.
- image size can be changed by two subsequent calls to SetProperty (for width and height)
- bug fix: if the image size changes, realloc the new image only when it is grabbed
- issue errors only when necessary, fix error message formatting.
Fourth Patch: Sept 7, 2005 Csaba Kertesz sign@freemail.hu
For Release: OpenCV-Linux Beta5 OpenCV-0.9.7
I modified the following:
- Additional Video4Linux2 support :)
- Use mmap functions (v4l2)
- New methods are internal:
try_palette_v4l2 -> rewrite try_palette for v4l2
mainloop_v4l2, read_image_v4l2 -> this methods are moved from official v4l2 capture.c example
try_init_v4l -> device v4l initialisation
try_init_v4l2 -> device v4l2 initialisation
autosetup_capture_mode_v4l -> autodetect capture modes for v4l
autosetup_capture_mode_v4l2 -> autodetect capture modes for v4l2
- Modifications are according with Video4Linux old codes
- Video4Linux handling is automatically if it does not recognize a Video4Linux2 device
- Tested successfully with Logitech Quickcam Express (V4L), Creative Vista (V4L) and Genius VideoCam Notebook (V4L2)
- Correct source lines with compiler warning messages
- Information message from v4l/v4l2 detection
Fifth Patch: Sept 7, 2005 Csaba Kertesz sign@freemail.hu
For Release: OpenCV-Linux Beta5 OpenCV-0.9.7
I modified the following:
- SN9C10x chip based webcams support
- New methods are internal:
bayer2rgb24, sonix_decompress -> decoder routines for SN9C10x decoding from Takafumi Mizuno <taka-qce@ls-a.jp> with his pleasure :)
- Tested successfully with Genius VideoCam Notebook (V4L2)
Sixth Patch: Sept 10, 2005 Csaba Kertesz sign@freemail.hu
For Release: OpenCV-Linux Beta5 OpenCV-0.9.7
I added the following:
- Add capture control support (hue, saturation, brightness, contrast, gain)
- Get and change V4L capture controls (hue, saturation, brightness, contrast)
- New method is internal:
icvSetControl -> set capture controls
- Tested successfully with Creative Vista (V4L)
Seventh Patch: Sept 10, 2005 Csaba Kertesz sign@freemail.hu
For Release: OpenCV-Linux Beta5 OpenCV-0.9.7
I added the following:
- Detect, get and change V4L2 capture controls (hue, saturation, brightness, contrast, gain)
- New methods are internal:
v4l2_scan_controls_enumerate_menu, v4l2_scan_controls -> detect capture control intervals
- Tested successfully with Genius VideoCam Notebook (V4L2)
8th patch: Jan 5, 2006, Olivier.Bornet@idiap.ch
Add support of V4L2_PIX_FMT_YUYV and V4L2_PIX_FMT_MJPEG.
With this patch, new webcams of Logitech, like QuickCam Fusion works.
Note: For use these webcams, look at the UVC driver at
http://linux-uvc.berlios.de/
9th patch: Mar 4, 2006, Olivier.Bornet@idiap.ch
- try V4L2 before V4L, because some devices are V4L2 by default,
but they try to implement the V4L compatibility layer.
So, I think this is better to support V4L2 before V4L.
- better separation between V4L2 and V4L initialization. (this was needed to support
some drivers working, but not fully with V4L2. (so, we do not know when we
need to switch from V4L2 to V4L.
10th patch: July 02, 2008, Mikhail Afanasyev fopencv@theamk.com
Fix reliability problems with high-resolution UVC cameras on linux
the symptoms were damaged image and 'Corrupt JPEG data: premature end of data segment' on stderr
- V4L_ABORT_BADJPEG detects JPEG warnings and turns them into errors, so bad images
could be filtered out
- USE_TEMP_BUFFER fixes the main problem (improper buffer management) and
prevents bad images in the first place
11th patch: April 2, 2013, Forrest Reiling forrest.reiling@gmail.com
Added v4l2 support for getting capture property CV_CAP_PROP_POS_MSEC.
Returns the millisecond timestamp of the last frame grabbed or 0 if no frames have been grabbed
Used to successfully synchonize 2 Logitech C310 USB webcams to within 16 ms of one another
make & enjoy!
*/
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#if !defined WIN32 && (defined HAVE_CAMV4L || defined HAVE_CAMV4L2 || defined HAVE_VIDEOIO)
#define CLEAR(x) memset (&(x), 0, sizeof (x))
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/mman.h>
#ifdef HAVE_CAMV4L
#include <linux/videodev.h>
#endif
#include <string.h>
#include <stdlib.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
#define CHANNEL_NUMBER 1
#define MAX_CAMERAS 8
// default and maximum number of V4L buffers, not including last, 'special' buffer
#define MAX_V4L_BUFFERS 10
#define DEFAULT_V4L_BUFFERS 4
// if enabled, then bad JPEG warnings become errors and cause NULL returned instead of image
#define V4L_ABORT_BADJPEG
#define MAX_DEVICE_DRIVER_NAME 80
/* Device Capture Objects */
#ifdef HAVE_CAMV4L2
/* V4L2 structure */
struct buffer
{
void * start;
size_t length;
};
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_SGBRG
#define V4L2_PIX_FMT_SGBRG 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
};
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;
#ifdef HAVE_CAMV4L2
enum PALETTE_TYPE palette;
/* V4L2 variables */
buffer buffers[MAX_V4L_BUFFERS + 1];
struct v4l2_capability cap;
struct v4l2_input inp;
struct v4l2_format form;
struct v4l2_crop crop;
struct v4l2_cropcap cropcap;
struct v4l2_requestbuffers req;
struct v4l2_control control;
enum v4l2_buf_type type;
struct v4l2_queryctrl queryctrl;
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;
#endif /* HAVE_CAMV4L2 */
}
CvCaptureCAM_V4L;
#ifdef HAVE_CAMV4L2
int V4L2_SUPPORT = 0;
#endif /* HAVE_CAMV4L2 */
static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture );
static int icvGrabFrameCAM_V4L( CvCaptureCAM_V4L* capture );
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;
static int indexList = 0;
/* 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.
Returns the global numCameras with the correct value (we hope) */
static void icvInitCapture_V4L() {
int deviceHandle;
int CameraNumber;
char deviceName[MAX_DEVICE_DRIVER_NAME];
CameraNumber = 0;
while(CameraNumber < MAX_CAMERAS) {
/* Print the CameraNumber at the end of the string with a width of one character */
sprintf(deviceName, "/dev/video%1d", CameraNumber);
/* Test using an open to see if this new device name really does exists. */
deviceHandle = open(deviceName, O_RDONLY);
if (deviceHandle != -1) {
/* This device does indeed exist - add it to the total so far */
// add indexList
indexList|=(1 << CameraNumber);
numCameras++;
close(deviceHandle);
}
/* Set up to test the next /dev/video source in line */
CameraNumber++;
} /* End while */
}; /* End icvInitCapture_V4L */
#ifdef HAVE_CAMV4L
static int
try_palette(int fd,
struct video_picture *cam_pic,
int pal,
int depth)
{
cam_pic->palette = pal;
cam_pic->depth = depth;
if (ioctl(fd, VIDIOCSPICT, cam_pic) < 0)
return 0;
if (ioctl(fd, VIDIOCGPICT, cam_pic) < 0)
return 0;
if (cam_pic->palette == pal)
return 1;
return 0;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
{
CLEAR (capture->form);
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;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
return -1;
if (colorspace != capture->form.fmt.pix.pixelformat)
return -1;
else
return 0;
}
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)
{
// if detect = -1 then unable to open device
// if detect = 0 then detected nothing
// if detect = 1 then V4L device
int detect = 0;
// Test device for V4L compability
/* Test using an open to see if this new device name really does exists. */
/* No matter what the name - it still must be opened! */
capture->deviceHandle = open(deviceName, O_RDWR);
if (capture->deviceHandle == 0)
{
detect = -1;
icvCloseCAM_V4L(capture);
}
if (detect == 0)
{
/* Query the newly opened device for its capabilities */
if (ioctl(capture->deviceHandle, VIDIOCGCAP, &capture->capability) < 0)
{
detect = 0;
icvCloseCAM_V4L(capture);
}
else
{
detect = 1;
}
}
return detect;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
{
// Test device for V4L2 compability
// Return value:
// -1 then unable to open device
// 0 then detected nothing
// 1 then V4L2 device
/* Open and test V4L2 device */
capture->deviceHandle = open (deviceName, O_RDWR /* required */ | O_NONBLOCK, 0);
if (-1 == capture->deviceHandle)
{
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 open \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return -1;
}
CLEAR (capture->cap);
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
{
#ifndef NDEBUG
fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_QUERYCAP \"%s\": %s\n", deviceName, strerror(errno));
#endif
icvCloseCAM_V4L(capture);
return 0;
}
return 1;
}
static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
{
if (try_palette_v4l2(capture, V4L2_PIX_FMT_BGR24) == 0)
{
capture->palette = PALETTE_BGR24;
}
else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YVU420) == 0)
{
capture->palette = PALETTE_YVU420;
}
else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUV411P) == 0)
{
capture->palette = PALETTE_YUV411P;
}
else
#ifdef HAVE_JPEG
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
if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0)
{
capture->palette = PALETTE_YUYV;
}
else if (try_palette_v4l2(capture, V4L2_PIX_FMT_UYVY) == 0)
{
capture->palette = PALETTE_UYVY;
}
else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_SN9C10X) == 0)
{
capture->palette = PALETTE_SN9C10X;
} else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_SBGGR8) == 0)
{
capture->palette = PALETTE_SBGGR8;
} else
if (try_palette_v4l2(capture, V4L2_PIX_FMT_SGBRG) == 0)
{
capture->palette = PALETTE_SGBRG;
}
else
{
fprintf(stderr, "HIGHGUI ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV\n");
icvCloseCAM_V4L(capture);
return -1;
}
return 0;
}
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
{
if(ioctl(capture->deviceHandle, VIDIOCGPICT, &capture->imageProperties) < 0) {
fprintf( stderr, "HIGHGUI ERROR: V4L: Unable to determine size of incoming image\n");
icvCloseCAM_V4L(capture);
return -1;
}
/* Yet MORE things that might have to be changes with your frame capture card */
/* This sets the scale to the center of a 2^16 number */
if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_RGB24, 24)) {
//printf("negotiated palette RGB24\n");
}
else if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_YUV420P, 16)) {
//printf("negotiated palette YUV420P\n");
}
else if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_YUV420, 16)) {
//printf("negotiated palette YUV420\n");
}
else if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_YUV411P, 16)) {
//printf("negotiated palette YUV420P\n");
}
else {
fprintf(stderr, "HIGHGUI ERROR: V4L: Pixel format of incoming image is unsupported by OpenCV\n");
icvCloseCAM_V4L(capture);
return -1;
}
return 0;
}
#endif /* HAVE_CAMV4L */
#ifdef HAVE_CAMV4L2
static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
{
__u32 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");
}
}
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 {
if (errno == EINVAL)
break;
perror ("VIDIOC_QUERYCTRL");
}
}
}
static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
{
int detect_v4l2 = 0;
detect_v4l2 = try_init_v4l2(capture, deviceName);
if (detect_v4l2 != 1) {
/* init of the v4l2 device is not OK */
return -1;
}
/* 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;
/* Scan V4L2 controls */
v4l2_scan_controls(capture);
if ((capture->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
/* Nope. */
fprintf( stderr, "HIGHGUI ERROR: V4L2: device %s is unable to capture video memory.\n",deviceName);
icvCloseCAM_V4L(capture);
return -1;
}
/* Find Window info */
CLEAR (capture->form);
capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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;
}
if (V4L2_SUPPORT == 0)
{
}
if (autosetup_capture_mode_v4l2(capture) == -1)
return -1;
icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);
unsigned int min;
/* Buggy driver paranoia. */
min = capture->form.fmt.pix.width * 2;
if (capture->form.fmt.pix.bytesperline < min)
capture->form.fmt.pix.bytesperline = min;
min = capture->form.fmt.pix.bytesperline * capture->form.fmt.pix.height;
if (capture->form.fmt.pix.sizeimage < min)
capture->form.fmt.pix.sizeimage = min;
CLEAR (capture->req);
unsigned int buffer_number = DEFAULT_V4L_BUFFERS;
try_again:
capture->req.count = buffer_number;
capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
capture->req.memory = V4L2_MEMORY_MMAP;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
{
if (EINVAL == errno)
{
fprintf (stderr, "%s does not support memory mapping\n", deviceName);
} else {
perror ("VIDIOC_REQBUFS");
}
/* free capture, and returns an error code */
icvCloseCAM_V4L (capture);
return -1;
}
if (capture->req.count < buffer_number)
{
if (buffer_number == 1)
{
fprintf (stderr, "Insufficient buffer memory on %s\n", deviceName);
/* free capture, and returns an error code */
icvCloseCAM_V4L (capture);
return -1;
} else {
buffer_number--;
fprintf (stderr, "Insufficient buffer memory on %s -- decreaseing buffers\n", deviceName);
goto try_again;
}
}
for (n_buffers = 0; n_buffers < capture->req.count; ++n_buffers)
{
struct v4l2_buffer buf;
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
perror ("VIDIOC_QUERYBUF");
/* free capture, and returns an error code */
icvCloseCAM_V4L (capture);
return -1;
}
capture->buffers[n_buffers].length = buf.length;
capture->buffers[n_buffers].start =
mmap (NULL /* start anywhere */,
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
capture->deviceHandle, buf.m.offset);
if (MAP_FAILED == capture->buffers[n_buffers].start) {
perror ("mmap");
/* free capture, and returns an error code */
icvCloseCAM_V4L (capture);
return -1;
}
if (n_buffers == 0) {
capture->buffers[MAX_V4L_BUFFERS].start = malloc( buf.length );
capture->buffers[MAX_V4L_BUFFERS].length = buf.length;
}
}
/* Set up Image data */
cvInitImageHeader( &capture->frame,
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);
return 1;
}; /* End _capture_V4L2 */
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)
{
int detect_v4l = 0;
detect_v4l = try_init_v4l(capture, deviceName);
if ((detect_v4l == -1)
)
{
fprintf (stderr, "HIGHGUI ERROR: V4L"
": device %s: Unable to open for READ ONLY\n", deviceName);
return -1;
}
if ((detect_v4l <= 0)
)
{
fprintf (stderr, "HIGHGUI ERROR: V4L"
": device %s: Unable to query number of channels\n", deviceName);
return -1;
}
{
if ((capture->capability.type & VID_TYPE_CAPTURE) == 0) {
/* Nope. */
fprintf( stderr, "HIGHGUI ERROR: V4L: "
"device %s is unable to capture video memory.\n",deviceName);
icvCloseCAM_V4L(capture);
return -1;
}
}
/* The following code sets the CHANNEL_NUMBER of the video input. Some video sources
have sub "Channel Numbers". For a typical V4L TV capture card, this is usually 1.
I myself am using a simple NTSC video input capture card that uses the value of 1.
If you are not in North America or have a different video standard, you WILL have to change
the following settings and recompile/reinstall. This set of settings is based on
the most commonly encountered input video source types (like my bttv card) */
{
if(capture->capability.channels>0) {
struct video_channel selectedChannel;
memset(&selectedChannel, 0, sizeof(selectedChannel));
selectedChannel.channel=CHANNEL_NUMBER;
if (ioctl(capture->deviceHandle, VIDIOCGCHAN , &selectedChannel) != -1) {
/* set the video mode to ( VIDEO_MODE_PAL, VIDEO_MODE_NTSC, VIDEO_MODE_SECAM) */
// selectedChannel.norm = VIDEO_MODE_NTSC;
if (ioctl(capture->deviceHandle, VIDIOCSCHAN , &selectedChannel) == -1) {
/* Could not set selected channel - Oh well */
//printf("\n%d, %s not NTSC capable.\n",selectedChannel.channel, selectedChannel.name);
} /* End if */
} /* End if */
} /* End if */
}