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January 15, 2018 02:42
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PhilBot's V4L2 test modified to QBUF three buffers before attempting to STREAMON
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// C++ / V4L2 Includes | |
#include <linux/videodev2.h> | |
#include <fcntl.h> /* low-level i/o */ | |
#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 <cstdlib> | |
#include <cstring> | |
#include <iostream> | |
#include <sstream> | |
#include <vector> | |
int main(int argc, char *argv[]) | |
{ | |
int fd; | |
if((fd = open("/dev/video0", O_RDWR)) < 0){ | |
perror("open"); | |
exit(1); | |
} | |
struct v4l2_capability cap; | |
if(ioctl(fd, VIDIOC_QUERYCAP, &cap) < 0){ | |
perror("VIDIOC_QUERYCAP"); | |
exit(1); | |
} | |
if(!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)){ | |
fprintf(stderr, "The device does not handle single-planar video capture.\n"); | |
exit(1); | |
} | |
struct v4l2_format format; | |
format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; | |
format.fmt.pix.pixelformat = V4L2_PIX_FMT_JPEG; | |
format.fmt.pix.width = 2592; | |
format.fmt.pix.height = 1944; | |
if(ioctl(fd, VIDIOC_S_FMT, &format) < 0){ | |
perror("VIDIOC_S_FMT"); | |
exit(1); | |
} | |
struct v4l2_requestbuffers bufrequest; | |
bufrequest.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; | |
bufrequest.memory = V4L2_MEMORY_MMAP; | |
int old_count = bufrequest.count = 3; | |
if(ioctl(fd, VIDIOC_REQBUFS, &bufrequest) < 0){ | |
perror("VIDIOC_REQBUFS"); | |
exit(1); | |
} | |
std::cout << "old bufrequest.count = " << old_count | |
<< ", new bufrequest.count = " << bufrequest.count << std::endl; | |
struct buffer_t { | |
struct v4l2_buffer info; | |
void* start; | |
}; | |
std::vector<struct buffer_t> buffers; | |
for (int i = 0; i < bufrequest.count; i++) { | |
struct v4l2_buffer bufferinfo; | |
memset(&bufferinfo, 0, sizeof(bufferinfo)); | |
bufferinfo.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; | |
bufferinfo.memory = V4L2_MEMORY_MMAP; | |
bufferinfo.index = i; | |
if(ioctl(fd, VIDIOC_QUERYBUF, &bufferinfo) < 0){ | |
perror("VIDIOC_QUERYBUF"); | |
exit(1); | |
} | |
void* buffer_start = mmap( | |
NULL, | |
bufferinfo.length, | |
PROT_READ | PROT_WRITE, | |
MAP_SHARED, | |
fd, | |
bufferinfo.m.offset | |
); | |
if(buffer_start == MAP_FAILED){ | |
perror("mmap"); | |
exit(1); | |
} | |
memset(buffer_start, 0, bufferinfo.length); | |
// Put a buffer in the incoming queue. | |
if(ioctl(fd, VIDIOC_QBUF, &bufferinfo) < 0){ | |
perror("VIDIOC_QBUF"); | |
exit(1); | |
} | |
buffers.emplace_back(buffer_t { bufferinfo, buffer_start }); | |
} | |
// Activate streaming | |
int type = buffers[0].info.type; | |
if(ioctl(fd, VIDIOC_STREAMON, &type) < 0){ | |
perror("VIDIOC_STREAMON"); | |
exit(1); | |
} | |
/* Here is where you typically start two loops: | |
* - One which runs for as long as you want to | |
* capture frames (shoot the video). | |
* - One which iterates over your buffers everytime. */ | |
bool capture_is_running = true; | |
int counter = 0; | |
while(capture_is_running){ | |
for(int i = 0; i < bufrequest.count; i++){ | |
// The buffer's waiting in the outgoing queue. | |
if(ioctl(fd, VIDIOC_DQBUF, &buffers[i].info) != 0){ | |
perror("VIDIOC_DQBUF"); | |
exit(1); | |
} | |
int jpgfile; | |
std::stringstream ss; | |
ss << "somefile" << counter << ".jpg"; | |
if ((jpgfile = open(ss.str().c_str(), O_WRONLY | O_CREAT, 0660)) < 0) { | |
perror("open"); | |
exit(1); | |
} | |
write(jpgfile, buffers[i].start, buffers[i].info.length); | |
close(jpgfile); | |
std::cout << "wrote file " << ss.str() << std::endl; | |
if (++counter == 10) { | |
capture_is_running = false; | |
break; | |
} | |
// Put a buffer in the incoming queue. | |
if(ioctl(fd, VIDIOC_QBUF, &buffers[i].info) < 0){ | |
perror("VIDIOC_QBUF"); | |
exit(1); | |
} | |
} | |
} | |
// Deactivate streaming | |
if(ioctl(fd, VIDIOC_STREAMOFF, &type) < 0){ | |
perror("VIDIOC_STREAMOFF"); | |
exit(1); | |
} | |
close(fd); | |
exit(0); | |
} |
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