With Jetpack 4.2 + Nano + an IMX219 camera (Buy a Raspberry Pi Camera Module 2 NoIR – Raspberry Pi)
When we use libargus, the IMX219 works straight out of the box. Yay.
However when we use V4L2 directly, 3 out of every 4 frames are black.
i.e. if we use the demo:
tegra_multimedia_api\samples\v4l2cuda
with:
static const char * dev_name = "/dev/video0";
static io_method io = IO_METHOD_USERPTR;
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static unsigned int width = 1920;
static unsigned int height = 1080;
static unsigned int count = 20;
static unsigned char * cuda_out_buffer = NULL;
static bool cuda_zero_copy = true;
static const char * file_name = "out.ppm";
static unsigned int pixel_format = V4L2_PIX_FMT_SRGGB10;
static unsigned int field = V4L2_FIELD_NONE;
and simply average the pixel values in process_image instead of doing CUDA work to see the black frames:
static void
process_image (void * p)
{
printf ("CUDA format conversion on frame %p\n", p);
#if 0
gpuConvertYUYVtoRGB ((unsigned char *) p, cuda_out_buffer, width, height);
/* Save image. */
if (count == 0) {
FILE *fp = fopen (file_name, "wb");
fprintf (fp, "P6\n%u %u\n255\n", width, height);
fwrite (cuda_out_buffer, 1, width * height * 3, fp);
fclose (fp);
}
#endif
long long total = 0;
char* p2 = (char*)p;
for(int i = 0; i < width*height; ++i) {
uint16_t val = *((uint16_t*)(&p2[i*2]));
total += val;
}
printf("avg = %2.2f\n", (static_cast<double>(total))/(width*height));
}
we see:
CUDA format conversion on frame 0x7fb2868000
avg = 118.77
CUDA format conversion on frame 0x7fb2473000
avg = 0.00
CUDA format conversion on frame 0x7fb207e000
avg = 0.00
CUDA format conversion on frame 0x7fb1c89000
avg = 0.00
CUDA format conversion on frame 0x7fb2868000
avg = 118.72
CUDA format conversion on frame 0x7fb2473000
avg = 0.00
CUDA format conversion on frame 0x7fb207e000
avg = 0.00
CUDA format conversion on frame 0x7fb1c89000
avg = 0.00
CUDA format conversion on frame 0x7fb2868000
avg = 118.75
CUDA format conversion on frame 0x7fb2473000
avg = 0.00
CUDA format conversion on frame 0x7fb207e000
avg = 0.00
CUDA format conversion on frame 0x7fb1c89000
avg = 0.00
CUDA format conversion on frame 0x7fb2868000
avg = 118.95
CUDA format conversion on frame 0x7fb2473000
avg = 0.00
CUDA format conversion on frame 0x7fb207e000
avg = 0.00
CUDA format conversion on frame 0x7fb1c89000
avg = 0.00
CUDA format conversion on frame 0x7fb2868000
avg = 128.40
CUDA format conversion on frame 0x7fb2473000
avg = 0.00
CUDA format conversion on frame 0x7fb207e000
avg = 0.00
CUDA format conversion on frame 0x7fb1c89000
avg = 0.00
which can be confirmed if we save out the images that indeed 3 out of every 4 images are black. Using IO_METHOD_MMAP produces the same result, but runs slower.
I feel like some of the default settings are either wrong or libargus is doing something else underneath.
Full code
#include <stdint.h>
/*
* Copyright (c) 2015, NVIDIA CORPORATION. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*/
/*
* V4L2 video capture example
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <getopt.h> /* getopt_long() */
#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <malloc.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> /* for videodev2.h */
#include <linux/videodev2.h>
#include <cuda_runtime.h>
#include "yuv2rgb.cuh"
#define CLEAR(x) memset (&(x), 0, sizeof (x))
#define ARRAY_SIZE(a) (sizeof(a)/sizeof((a)[0]))
typedef enum {
IO_METHOD_READ,
IO_METHOD_MMAP,
IO_METHOD_USERPTR,
} io_method;
struct buffer {
void * start;
size_t length;
};
static const char * dev_name = "/dev/video0";
static io_method io = IO_METHOD_USERPTR;
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static unsigned int width = 1920;
static unsigned int height = 1080;
static unsigned int count = 20;
static unsigned char * cuda_out_buffer = NULL;
static bool cuda_zero_copy = true;
static const char * file_name = "out.ppm";
static unsigned int pixel_format = V4L2_PIX_FMT_SRGGB10;
static unsigned int field = V4L2_FIELD_NONE;
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 void
process_image (void * p)
{
printf ("CUDA format conversion on frame %p\n", p);
#if 0
gpuConvertYUYVtoRGB ((unsigned char *) p, cuda_out_buffer, width, height);
/* Save image. */
if (count == 0) {
FILE *fp = fopen (file_name, "wb");
fprintf (fp, "P6\n%u %u\n255\n", width, height);
fwrite (cuda_out_buffer, 1, width * height * 3, fp);
fclose (fp);
}
#endif
long long total = 0;
char* p2 = (char*)p;
for(int i = 0; i < width*height; ++i) {
uint16_t val = *((uint16_t*)(&p2[i*2]));
//printf("%d ", val);
total += val;
}
printf("avg = %2.2f\n", (static_cast<double>(total))/(width*height));
}
static int
read_frame (void)
{
struct v4l2_buffer buf;
unsigned int i;
switch (io) {
case IO_METHOD_READ:
if (-1 == read (fd, buffers[0].start, buffers[0].length)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit ("read");
}
}
process_image (buffers[0].start);
break;
case IO_METHOD_MMAP:
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:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit ("VIDIOC_DQBUF");
}
}
assert (buf.index < n_buffers);
process_image (buffers[buf.index].start);
if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
break;
case IO_METHOD_USERPTR:
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl (fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
/* Could ignore EIO, see spec. */
/* fall through */
default:
errno_exit ("VIDIOC_DQBUF");
}
}
for (i = 0; i < n_buffers; ++i)
if (buf.m.userptr == (unsigned long) buffers[i].start
&& buf.length == buffers[i].length)
break;
assert (i < n_buffers);
process_image ((void *) buf.m.userptr);
if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
break;
}
return 1;
}
static void
mainloop (void)
{
while (count-- > 0) {
for (;;) {
fd_set fds;
struct timeval tv;
int r;
FD_ZERO (&fds);
FD_SET (fd, &fds);
/* Timeout. */
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, "select timeout\n");
exit (EXIT_FAILURE);
}
if (read_frame ())
break;
/* EAGAIN - continue select loop. */
}
}
}
static void
stop_capturing (void)
{
enum v4l2_buf_type type;
switch (io) {
case IO_METHOD_READ:
/* Nothing to do. */
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl (fd, VIDIOC_STREAMOFF, &type))
errno_exit ("VIDIOC_STREAMOFF");
break;
}
}
static void
start_capturing (void)
{
unsigned int i;
enum v4l2_buf_type type;
switch (io) {
case IO_METHOD_READ:
/* Nothing to do. */
break;
case IO_METHOD_MMAP:
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");
break;
case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.index = i;
buf.m.userptr = (unsigned long) buffers[i].start;
buf.length = buffers[i].length;
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");
break;
}
}
static void
uninit_device (void)
{
unsigned int i;
switch (io) {
case IO_METHOD_READ:
free (buffers[0].start);
break;
case IO_METHOD_MMAP:
for (i = 0; i < n_buffers; ++i)
if (-1 == munmap (buffers[i].start, buffers[i].length))
errno_exit ("munmap");
break;
case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i) {
if (cuda_zero_copy) {
cudaFree (buffers[i].start);
} else {
free (buffers[i].start);
}
}
break;
}
free (buffers);
if (cuda_zero_copy) {
cudaFree (cuda_out_buffer);
}
}
static void
init_read (unsigned int buffer_size)
{
buffers = (struct buffer *) calloc (1, sizeof (*buffers));
if (!buffers) {
fprintf (stderr, "Out of memory\n");
exit (EXIT_FAILURE);
}
buffers[0].length = buffer_size;
buffers[0].start = malloc (buffer_size);
if (!buffers[0].start) {
fprintf (stderr, "Out of memory\n");
exit (EXIT_FAILURE);
}
}
static void
init_mmap (void)
{
struct v4l2_requestbuffers req;
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 < 2) {
fprintf (stderr, "Insufficient buffer memory on %s\n",
dev_name);
exit (EXIT_FAILURE);
}
buffers = (struct buffer *) 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 /* start anywhere */,
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start)
errno_exit ("mmap");
}
}
static void
init_userp (unsigned int buffer_size)
{
struct v4l2_requestbuffers req;
unsigned int page_size;
page_size = getpagesize ();
buffer_size = (buffer_size + page_size - 1) & ~(page_size - 1);
CLEAR (req);
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_USERPTR;
if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf (stderr, "%s does not support "
"user pointer i/o\n", dev_name);
exit (EXIT_FAILURE);
} else {
errno_exit ("VIDIOC_REQBUFS");
}
}
buffers = (struct buffer *) calloc (4, sizeof (*buffers));
if (!buffers) {
fprintf (stderr, "Out of memory\n");
exit (EXIT_FAILURE);
}
for (n_buffers = 0; n_buffers < 4; ++n_buffers) {
buffers[n_buffers].length = buffer_size;
if (cuda_zero_copy) {
cudaMallocManaged (&buffers[n_buffers].start, buffer_size, cudaMemAttachGlobal);
} else {
buffers[n_buffers].start = memalign (/* boundary */ page_size,
buffer_size);
}
if (!buffers[n_buffers].start) {
fprintf (stderr, "Out of memory\n");
exit (EXIT_FAILURE);
}
}
}
static void
init_device (void)
{
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
unsigned int min;
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);
}
switch (io) {
case IO_METHOD_READ:
if (!(cap.capabilities & V4L2_CAP_READWRITE)) {
fprintf (stderr, "%s does not support read i/o\n",
dev_name);
exit (EXIT_FAILURE);
}
break;
case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf (stderr, "%s does not support streaming i/o\n",
dev_name);
exit (EXIT_FAILURE);
}
break;
}
/* Select video input, video standard and tune here. */
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; /* reset to default */
if (-1 == xioctl (fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
/* Cropping not supported. */
break;
default:
/* Errors ignored. */
break;
}
}
} else {
/* Errors ignored. */
}
CLEAR (fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = width;
fmt.fmt.pix.height = height;
fmt.fmt.pix.pixelformat = pixel_format;
fmt.fmt.pix.field = field;
if (-1 == xioctl (fd, VIDIOC_S_FMT, &fmt))
errno_exit ("VIDIOC_S_FMT");
/* Note VIDIOC_S_FMT may change width and height. */
/* Buggy driver paranoia. */
min = fmt.fmt.pix.width * 2;
if (fmt.fmt.pix.bytesperline < min)
fmt.fmt.pix.bytesperline = min;
min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
if (fmt.fmt.pix.sizeimage < min)
fmt.fmt.pix.sizeimage = min;
switch (io) {
case IO_METHOD_READ:
init_read (fmt.fmt.pix.sizeimage);
break;
case IO_METHOD_MMAP:
init_mmap ();
break;
case IO_METHOD_USERPTR:
init_userp (fmt.fmt.pix.sizeimage);
break;
}
}
static void
close_device (void)
{
if (-1 == close (fd))
errno_exit ("close");
fd = -1;
}
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);
}
fd = open (dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);
if (-1 == fd) {
fprintf (stderr, "Cannot open '%s': %d, %s\n",
dev_name, errno, strerror (errno));
exit (EXIT_FAILURE);
}
}
static void
init_cuda (void)
{
/* Check unified memory support. */
if (cuda_zero_copy) {
cudaDeviceProp devProp;
cudaGetDeviceProperties (&devProp, 0);
if (!devProp.managedMemory) {
printf ("CUDA device does not support managed memory.\n");
cuda_zero_copy = false;
}
}
/* Allocate output buffer. */
size_t size = width * height * 3;
if (cuda_zero_copy) {
cudaMallocManaged (&cuda_out_buffer, size, cudaMemAttachGlobal);
} else {
cuda_out_buffer = (unsigned char *) malloc (size);
}
cudaDeviceSynchronize ();
}
static void
usage (FILE * fp,
int argc,
char ** argv)
{
fprintf (fp,
"Usage: %s [options]\n\n"
"Options:\n"
"-c | --count N Frame count (default: %u)\n"
"-d | --device name Video device name (default: %s)\n"
"-f | --format Capture input pixel format (default: UYVY)\n"
"-h | --help Print this message\n"
"-m | --mmap Use memory mapped buffers\n"
"-o | --output Output file name (default: %s)\n"
"-s | --size WxH Frame size (default: %ux%u)\n"
"-u | --userp Use application allocated buffers\n"
"-z | --zcopy Use zero copy CUDA memory\n"
"Experimental options:\n"
"-r | --read Use read() calls\n"
"-F | --field Capture field (default: INTERLACED)\n"
"",
argv[0], count, dev_name, file_name, width, height);
}
static const char short_options [] = "c:d:f:F:hmo:rs:uz";
static const struct option
long_options [] = {
{ "count", required_argument, NULL, 'c' },
{ "device", required_argument, NULL, 'd' },
{ "format", required_argument, NULL, 'f' },
{ "field", required_argument, NULL, 'F' },
{ "help", no_argument, NULL, 'h' },
{ "mmap", no_argument, NULL, 'm' },
{ "output", required_argument, NULL, 'o' },
{ "read", no_argument, NULL, 'r' },
{ "size", required_argument, NULL, 's' },
{ "userp", no_argument, NULL, 'u' },
{ "zcopy", no_argument, NULL, 'z' },
{ 0, 0, 0, 0 }
};
static struct {
const char *name;
unsigned int fourcc;
} pixel_formats[] = {
{ "RGB332", V4L2_PIX_FMT_RGB332 },
{ "RGB555", V4L2_PIX_FMT_RGB555 },
{ "RGB565", V4L2_PIX_FMT_RGB565 },
{ "RGB555X", V4L2_PIX_FMT_RGB555X },
{ "RGB565X", V4L2_PIX_FMT_RGB565X },
{ "BGR24", V4L2_PIX_FMT_BGR24 },
{ "RGB24", V4L2_PIX_FMT_RGB24 },
{ "BGR32", V4L2_PIX_FMT_BGR32 },
{ "RGB32", V4L2_PIX_FMT_RGB32 },
{ "Y8", V4L2_PIX_FMT_GREY },
{ "Y10", V4L2_PIX_FMT_Y10 },
{ "Y12", V4L2_PIX_FMT_Y12 },
{ "Y16", V4L2_PIX_FMT_Y16 },
{ "UYVY", V4L2_PIX_FMT_UYVY },
{ "VYUY", V4L2_PIX_FMT_VYUY },
{ "YUYV", V4L2_PIX_FMT_YUYV },
{ "YVYU", V4L2_PIX_FMT_YVYU },
{ "NV12", V4L2_PIX_FMT_NV12 },
{ "NV21", V4L2_PIX_FMT_NV21 },
{ "NV16", V4L2_PIX_FMT_NV16 },
{ "NV61", V4L2_PIX_FMT_NV61 },
{ "NV24", V4L2_PIX_FMT_NV24 },
{ "NV42", V4L2_PIX_FMT_NV42 },
{ "SBGGR8", V4L2_PIX_FMT_SBGGR8 },
{ "SGBRG8", V4L2_PIX_FMT_SGBRG8 },
{ "SGRBG8", V4L2_PIX_FMT_SGRBG8 },
{ "SRGGB8", V4L2_PIX_FMT_SRGGB8 },
{ "SBGGR10_DPCM8", V4L2_PIX_FMT_SBGGR10DPCM8 },
{ "SGBRG10_DPCM8", V4L2_PIX_FMT_SGBRG10DPCM8 },
{ "SGRBG10_DPCM8", V4L2_PIX_FMT_SGRBG10DPCM8 },
{ "SRGGB10_DPCM8", V4L2_PIX_FMT_SRGGB10DPCM8 },
{ "SBGGR10", V4L2_PIX_FMT_SBGGR10 },
{ "SGBRG10", V4L2_PIX_FMT_SGBRG10 },
{ "SGRBG10", V4L2_PIX_FMT_SGRBG10 },
{ "SRGGB10", V4L2_PIX_FMT_SRGGB10 },
{ "SBGGR12", V4L2_PIX_FMT_SBGGR12 },
{ "SGBRG12", V4L2_PIX_FMT_SGBRG12 },
{ "SGRBG12", V4L2_PIX_FMT_SGRBG12 },
{ "SRGGB12", V4L2_PIX_FMT_SRGGB12 },
{ "DV", V4L2_PIX_FMT_DV },
{ "MJPEG", V4L2_PIX_FMT_MJPEG },
{ "MPEG", V4L2_PIX_FMT_MPEG },
};
static unsigned int v4l2_format_code(const char *name)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(pixel_formats); ++i) {
if (strcasecmp(pixel_formats[i].name, name) == 0)
return pixel_formats[i].fourcc;
}
return 0;
}
static struct {
const char *name;
unsigned int field;
} fields[] = {
{ "ANY", V4L2_FIELD_ANY },
{ "NONE", V4L2_FIELD_NONE },
{ "TOP", V4L2_FIELD_TOP },
{ "BOTTOM", V4L2_FIELD_BOTTOM },
{ "INTERLACED", V4L2_FIELD_INTERLACED },
{ "SEQ_TB", V4L2_FIELD_SEQ_TB },
{ "SEQ_BT", V4L2_FIELD_SEQ_BT },
{ "ALTERNATE", V4L2_FIELD_ALTERNATE },
{ "INTERLACED_TB", V4L2_FIELD_INTERLACED_TB },
{ "INTERLACED_BT", V4L2_FIELD_INTERLACED_BT },
};
static unsigned int v4l2_field_code(const char *name)
{
unsigned int i;
for (i = 0; i < ARRAY_SIZE(fields); ++i) {
if (strcasecmp(fields[i].name, name) == 0)
return fields[i].field;
}
return -1;
}
int
main (int argc,
char ** argv)
{
for (;;) {
int index;
int c;
c = getopt_long (argc, argv,
short_options, long_options,
&index);
if (-1 == c)
break;
switch (c) {
case 0: /* getopt_long() flag */
break;
case 'c':
count = atoi (optarg);
break;
case 'd':
dev_name = optarg;
break;
case 'f':
pixel_format = v4l2_format_code(optarg);
if (pixel_format == 0) {
printf("Unsupported video format '%s'\n", optarg);
pixel_format = V4L2_PIX_FMT_UYVY;
}
break;
case 'F':
field = v4l2_field_code(optarg);
if ((int)field < 0) {
printf("Unsupported field '%s'\n", optarg);
field = V4L2_FIELD_INTERLACED;
}
break;
case 'h':
usage (stdout, argc, argv);
exit (EXIT_SUCCESS);
case 'm':
io = IO_METHOD_MMAP;
break;
case 'o':
file_name = optarg;
break;
case 'r':
io = IO_METHOD_READ;
break;
case 's':
width = atoi (strtok (optarg, "x"));
height = atoi (strtok (NULL, "x"));
break;
case 'u':
io = IO_METHOD_USERPTR;
break;
case 'z':
cuda_zero_copy = true;
break;
default:
usage (stderr, argc, argv);
exit (EXIT_FAILURE);
}
}
open_device ();
init_device ();
init_cuda ();
start_capturing ();
mainloop ();
stop_capturing ();
uninit_device ();
close_device ();
exit (EXIT_SUCCESS);
return 0;
}
Thoughts?
Thanks