Hi everyone,
I want to get the raw data of imx219. But “nvgstcapture-1.0 -A -C 5 --capture-auto” just get color image. I guess nvarguscamerasrc have process the bayer raw data to yuv data.
Another way I know v4l2src don’t support raw10, I follow the guide https://developer.ridgerun.com/wiki/index.php?title=Compile_gstreamer_on_Jetson_TX1_and_TX2#Steps_to_patch_gstreamer_to_support_RAW10. but still get negotiated error
$ gst-launch-1.0 -vvv v4l2src ! 'video/x-bayer, width=(int)3280, height=(int)2464, format=(string)rggb, framerate=(fraction)20/1' ! fakesink silent=false
Setting pipeline to PAUSED ...
Opening in BLOCKING MODE
Pipeline is live and does not need PREROLL ...
/GstPipeline:pipeline0/GstFakeSink:fakesink0: last-message = event ******* (fakesink0:sink) E (type: stream-start (10254), GstEventStreamStart, stream-id=(string)2b7f5679e9f0cee0776e7c9d96ffc3b4682b26f7b8931798b4254fc99bdbde9b, flags=(GstStreamFlags)GST_STREAM_FLAG_NONE, group-id=(uint)1;) 0x558585b1f0
Setting pipeline to PLAYING ...
New clock: GstSystemClock
ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Internal data flow error.
Additional debug info:
gstbasesrc.c(2948): gst_base_src_loop (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0:
streaming task paused, reason not-negotiated (-4)
Execution ended after 0:00:00.000648909
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
Setting pipeline to NULL ...
Freeing pipeline ...
The third way, I try v4l2 API with follow code just get select timeout
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <getopt.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <asm/types.h>
#include <linux/videodev2.h>
#include <linux/fb.h>
#define CLEAR(x) memset (&(x), 0, sizeof (x))
struct buffer {
void * start;
size_t length;
};
static char * dev_name = NULL;
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static int time_in_sec_capture=5;
static int fbfd = -1;
static struct fb_var_screeninfo vinfo;
static struct fb_fix_screeninfo finfo;
static char *fbp=NULL;
static long screensize=0;
static void errno_exit (const char * s)
{
fprintf (stderr, "%s error %d, %s\n",s, errno, strerror (errno));
exit (EXIT_FAILURE);
}
static int xioctl (int fd,int request,void * arg)
{
int r;
do r = ioctl (fd, request, arg);
while (-1 == r && EINTR == errno);
return r;
}
static int read_frame (void)
{
struct v4l2_buffer buf;
unsigned int i;
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
default:
errno_exit ("VIDIOC_DQBUF");
}
}
assert (buf.index < n_buffers);
printf("v4l2_pix_format->field(%d)\n", buf.field);
//assert (buf.field ==V4L2_FIELD_NONE);
//process_image (buffers[buf.index].start);
if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
return 1;
}
static void run (void)
{
unsigned int count;
int frames;
frames = 30 * time_in_sec_capture;
while (frames-- > 0) {
for (;;) {
fd_set fds;
struct timeval tv;
int r;
FD_ZERO (&fds);
FD_SET (fd, &fds);
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select (fd + 1, &fds, NULL, NULL, &tv);
if (-1 == r) {
if (EINTR == errno)
continue;
errno_exit ("select");
}
if (0 == r) {
fprintf (stderr, "frame%d select timeout\n", frames);
exit (EXIT_FAILURE);
}
if (read_frame ())
break;
}
}
}
static void stop_capturing (void)
{
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (fd, VIDIOC_STREAMOFF, &type))
errno_exit ("VIDIOC_STREAMOFF");
}
static void start_capturing (void)
{
unsigned int i;
enum v4l2_buf_type type;
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (fd, VIDIOC_STREAMON, &type))
errno_exit ("VIDIOC_STREAMON");
}
static void uninit_device (void)
{
unsigned int i;
for (i = 0; i < n_buffers; ++i)
if (-1 == munmap (buffers[i].start, buffers[i].length))
errno_exit ("munmap");
if (-1 == munmap(fbp, screensize)) {
printf(" Error: framebuffer device munmap() failed.\n");
exit (EXIT_FAILURE) ;
}
free (buffers);
}
static void init_mmap (void)
{
struct v4l2_requestbuffers req;
printf("into init mmap\n");
//mmap framebuffer
fbp = (char *)mmap(NULL,screensize,PROT_READ | PROT_WRITE,MAP_SHARED ,fbfd, 0);
if ((int)fbp == -1) {
printf("Error: failed to map framebuffer device to memory.\n");
exit (EXIT_FAILURE) ;
}
memset(fbp, 0, screensize);
CLEAR (req);
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf (stderr, "%s does not support memory mapping\n", dev_name);
exit (EXIT_FAILURE);
} else {
errno_exit ("VIDIOC_REQBUFS");
}
}
if (req.count < 4) { //if (req.count < 2)
fprintf (stderr, "Insufficient buffer memory on %s\n",dev_name);
exit (EXIT_FAILURE);
}
buffers = calloc (req.count, sizeof (*buffers));
if (!buffers) {
fprintf (stderr, "Out of memory\n");
exit (EXIT_FAILURE);
}
for (n_buffers = 0; n_buffers < 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 == xioctl (fd, VIDIOC_QUERYBUF, &buf))
errno_exit ("VIDIOC_QUERYBUF");
buffers[n_buffers].length = buf.length;
buffers[n_buffers].start =mmap (NULL,buf.length,PROT_READ | PROT_WRITE ,MAP_SHARED,fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start)
errno_exit ("mmap");
}
}
static void init_device (void)
{
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
unsigned int min;
// Get fixed screen information
if (-1==xioctl(fbfd, FBIOGET_FSCREENINFO, &finfo)) {
printf("Error reading fixed information.\n");
exit (EXIT_FAILURE);
}
// Get variable screen information
if (-1==xioctl(fbfd, FBIOGET_VSCREENINFO, &vinfo)) {
printf("Error reading variable information.\n");
exit (EXIT_FAILURE);
}
screensize = vinfo.xres * vinfo.yres * vinfo.bits_per_pixel / 8;
if (-1 == xioctl (fd, VIDIOC_QUERYCAP, &cap)) {
if (EINVAL == errno) {
fprintf (stderr, "%s is no V4L2 device\n",dev_name);
exit (EXIT_FAILURE);
} else {
errno_exit ("VIDIOC_QUERYCAP");
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
fprintf (stderr, "%s is no video capture device\n",dev_name);
exit (EXIT_FAILURE);
}
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf (stderr, "%s does not support streaming i/o\n",dev_name);
exit (EXIT_FAILURE);
}
CLEAR (cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl (fd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect;
if (-1 == xioctl (fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
break;
default:
break;
}
}
}else { }
CLEAR (fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 3280;//1616;
fmt.fmt.pix.height = 2464;//1216;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_SRGGB10;//V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_NONE;//V4L2_FIELD_INTERLACED;
if (-1 == xioctl (fd, VIDIOC_S_FMT, &fmt))
errno_exit ("VIDIOC_S_FMT");
init_mmap ();
}
static void close_device (void)
{
if (-1 == close (fd))
errno_exit ("close");
fd = -1;
close(fbfd);
}
static void open_device (void)
{
struct stat st;
if (-1 == stat (dev_name, &st)) {
fprintf (stderr, "Cannot identify '%s': %d, %s\n",dev_name, errno, strerror (errno));
exit (EXIT_FAILURE);
}
if (!S_ISCHR (st.st_mode)) {
fprintf (stderr, "%s is no device/n", dev_name);
exit (EXIT_FAILURE);
}
//open framebuffer
fbfd = open("/dev/fb0", O_RDWR);
if (fbfd==-1) {
printf("Error: cannot open framebuffer device.\n");
exit (EXIT_FAILURE);
}
//open camera
fd = open (dev_name, O_RDWR| O_NONBLOCK, 0);
if (-1 == fd) {
fprintf (stderr, "Cannot open '%s': %d, %s\n",dev_name, errno, strerror (errno));
exit (EXIT_FAILURE);
}
}
static void usage (FILE * fp,int argc,char ** argv)
{
fprintf (fp,
"Usage: %s [options]\n\n"
"Options:\n"
"-d | --device name Video device name [/dev/video]\n"
"-h | --help Print this message/n"
"-t | --how long will display in seconds\n"
"",
argv[0]);
}
static const char short_options [] = "d:ht:";
static const struct option long_options [] = {
{ "device", required_argument, NULL, 'd' },
{ "help", no_argument, NULL, 'h' },
{ "time", no_argument, NULL, 't' },
{ 0, 0, 0, 0 }
};
int main (int argc,char ** argv)
{
dev_name = "/dev/video0";
open_device ();
init_device ();
start_capturing ();
run ();
stop_capturing ();
uninit_device ();
close_device ();
exit (EXIT_SUCCESS);
return 0;
}
Any help I appreciated.