vpV4l2Grabber.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See httpS://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Framegrabber based on Video4Linux2 driver.
 */

 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_V4L2
 
#include <errno.h>
#include <fcntl.h>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
 
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpFrameGrabberException.h>
#include <visp3/sensor/vpV4l2Grabber.h>
//#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpImageTools.h>
 
BEGIN_VISP_NAMESPACE
const unsigned int vpV4l2Grabber::DEFAULT_INPUT = 2;
const unsigned int vpV4l2Grabber::DEFAULT_SCALE = 2;
const __u32 vpV4l2Grabber::MAX_INPUTS = 16;
const __u32 vpV4l2Grabber::MAX_NORM = 16;
const __u32 vpV4l2Grabber::MAX_FORMAT = 32;
const unsigned int vpV4l2Grabber::MAX_CTRL = 32;
const unsigned int vpV4l2Grabber::MAX_BUFFERS = 32;
const unsigned int vpV4l2Grabber::FRAME_SIZE = 288;
#define vpCLEAR(x) memset(&(x), 0, sizeof(x))

vpV4l2Grabber::vpV4l2Grabber()
  : fd(-1), device(), cap(), streamparm(), inp(nullptr), std(nullptr), fmt(nullptr), ctl(nullptr), fmt_v4l2(), fmt_me(), reqbufs(),
  buf_v4l2(nullptr), buf_me(nullptr), queue(0), waiton_cpt(0), index_buffer(0), m_verbose(false), m_nbuffers(3), field(0),
  streaming(false), m_input(vpV4l2Grabber::DEFAULT_INPUT), m_framerate(vpV4l2Grabber::framerate_25fps),
  m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT), m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
{
  setDevice("/dev/video0");
  setNBuffers(3);
  setFramerate(vpV4l2Grabber::framerate_25fps);
  setInput(vpV4l2Grabber::DEFAULT_INPUT);
  setScale(vpV4l2Grabber::DEFAULT_SCALE);
  setPixelFormat(V4L2_YUYV_FORMAT);
 
  init = false;
}

vpV4l2Grabber::vpV4l2Grabber(bool verbose)
  : fd(-1), device(), cap(), streamparm(), inp(nullptr), std(nullptr), fmt(nullptr), ctl(nullptr), fmt_v4l2(), fmt_me(), reqbufs(),
  buf_v4l2(nullptr), buf_me(nullptr), queue(0), waiton_cpt(0), index_buffer(0), m_verbose(verbose), m_nbuffers(3), field(0),
  streaming(false), m_input(vpV4l2Grabber::DEFAULT_INPUT), m_framerate(vpV4l2Grabber::framerate_25fps),
  m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT), m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
{
  setDevice("/dev/video0");
  setNBuffers(3);
  setFramerate(vpV4l2Grabber::framerate_25fps);
  setInput(vpV4l2Grabber::DEFAULT_INPUT);
  setScale(vpV4l2Grabber::DEFAULT_SCALE);
  setPixelFormat(V4L2_YUYV_FORMAT);
 
  init = false;
}

vpV4l2Grabber::vpV4l2Grabber(unsigned input, unsigned scale)
  : fd(-1), device(), cap(), streamparm(), inp(nullptr), std(nullptr), fmt(nullptr), ctl(nullptr), fmt_v4l2(), fmt_me(), reqbufs(),
  buf_v4l2(nullptr), buf_me(nullptr), queue(0), waiton_cpt(0), index_buffer(0), m_verbose(false), m_nbuffers(3), field(0),
  streaming(false), m_input(vpV4l2Grabber::DEFAULT_INPUT), m_framerate(vpV4l2Grabber::framerate_25fps),
  m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT), m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
{
  setDevice("/dev/video0");
  setNBuffers(3);
  setFramerate(vpV4l2Grabber::framerate_25fps);
  setInput(input);
  setScale(scale);
 
  init = false;
}

vpV4l2Grabber::vpV4l2Grabber(vpImage<unsigned char> &I, unsigned input, unsigned scale)
  : fd(-1), device(), cap(), streamparm(), inp(nullptr), std(nullptr), fmt(nullptr), ctl(nullptr), fmt_v4l2(), fmt_me(), reqbufs(),
  buf_v4l2(nullptr), buf_me(nullptr), queue(0), waiton_cpt(0), index_buffer(0), m_verbose(false), m_nbuffers(3), field(0),
  streaming(false), m_input(vpV4l2Grabber::DEFAULT_INPUT), m_framerate(vpV4l2Grabber::framerate_25fps),
  m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT), m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
{
  setDevice("/dev/video0");
  setNBuffers(3);
  setFramerate(vpV4l2Grabber::framerate_25fps);
  setInput(input);
  setScale(scale);
 
  init = false;
 
  open(I);
}

vpV4l2Grabber::vpV4l2Grabber(vpImage<vpRGBa> &I, unsigned input, unsigned scale)
  : fd(-1), device(), cap(), streamparm(), inp(nullptr), std(nullptr), fmt(nullptr), ctl(nullptr), fmt_v4l2(), fmt_me(), reqbufs(),
  buf_v4l2(nullptr), buf_me(nullptr), queue(0), waiton_cpt(0), index_buffer(0), m_verbose(false), m_nbuffers(3), field(0),
  streaming(false), m_input(vpV4l2Grabber::DEFAULT_INPUT), m_framerate(vpV4l2Grabber::framerate_25fps),
  m_frameformat(vpV4l2Grabber::V4L2_FRAME_FORMAT), m_pixelformat(vpV4l2Grabber::V4L2_YUYV_FORMAT)
{
  setDevice("/dev/video0");
  setNBuffers(3);
  setFramerate(vpV4l2Grabber::framerate_25fps);
  setInput(input);
  setScale(scale);
 
  init = false;
 
  open(I);
}

vpV4l2Grabber::~vpV4l2Grabber() { close(); }

void vpV4l2Grabber::setInput(unsigned input) { this->m_input = input; }

void vpV4l2Grabber::setScale(unsigned scale)
{
  if ((scale < 1) || (scale > 16)) {
    close();
 
    vpERROR_TRACE("Wrong scale %d, scale should be between 1 and 16", scale);
    throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "Wrong scale"));
  }
 
  setWidth(640 / scale);
  setHeight(480 / scale);
}

void vpV4l2Grabber::open(vpImage<unsigned char> &I)
{
  open();
 
  if (v4l2_ioctl(fd, VIDIOC_S_INPUT, &m_input) == -1) {
    std::cout << "Warning: cannot set input channel to " << m_input << std::endl;
  }
 
  vpV4l2PixelFormatType req_pixelformat = getPixelFormat();
 
  try {
    setFormat();
 
    startStreaming();
  }
  catch (...) {
    if (m_verbose) {
      std::cout << "Requested pixel format [" << req_pixelformat << "] not compatible with camera" << std::endl;
      std::cout << "Try to found a compatible pixel format..." << std::endl;
    }
 
    // try to fing a compatible format
    for (int format = 0; format < static_cast<int>(V4L2_MAX_FORMAT); format++) {
      if (format == req_pixelformat) {
        continue;
      }
      try {
        setPixelFormat((vpV4l2PixelFormatType)format);
        setFormat();
        startStreaming();
        if (m_verbose)
          std::cout << "This format [" << m_pixelformat << "] is compatible with camera" << std::endl;
 
        break;
      }
      catch (...) {
        if (m_verbose)
          std::cout << "This format [" << m_pixelformat << "] is not compatible with camera" << std::endl;
        if (format == static_cast<int>(V4L2_MAX_FORMAT)) {
          std::cout << "No pixel format compatible with the camera was found" << std::endl;
          close();
 
          throw(vpFrameGrabberException(vpFrameGrabberException::settingError,
                                        "No pixel format compatible with the camera was found"));
        }
      }
    }
  }
 
  I.resize(height, width);
 
  init = true;
}

void vpV4l2Grabber::open(vpImage<vpRGBa> &I)
{
  open();
 
  if (v4l2_ioctl(fd, VIDIOC_S_INPUT, &m_input) == -1) {
    std::cout << "Warning: cannot set input channel to " << m_input << std::endl;
  }
 
  vpV4l2PixelFormatType req_pixelformat = getPixelFormat();
 
  try {
    setFormat();
 
    startStreaming();
  }
  catch (...) {
    if (m_verbose) {
      std::cout << "Requested pixel format [" << m_pixelformat << "] not compatible with camera" << std::endl;
      std::cout << "Try to found a compatible pixel format..." << std::endl;
    }
 
    // try to fing a compatible format
    for (int format = 0; format < static_cast<int>(V4L2_MAX_FORMAT); format++) {
      if (format == req_pixelformat) {
        continue;
      }
      try {
        setPixelFormat((vpV4l2PixelFormatType)format);
        setFormat();
        startStreaming();
        if (m_verbose)
          std::cout << "This format [" << m_pixelformat << "] is compatible with camera" << std::endl;
 
        break;
      }
      catch (...) {
        if (m_verbose)
          std::cout << "This format [" << m_pixelformat << "] is not compatible with camera" << std::endl;
      }
    }
  }
 
  I.resize(height, width);
 
  init = true;
}

void vpV4l2Grabber::acquire(vpImage<unsigned char> &I)
{
  struct timeval timestamp;
  vpRect roi;
 
  acquire(I, timestamp, roi);
}

void vpV4l2Grabber::acquire(vpImage<unsigned char> &I, const vpRect &roi)
{
  struct timeval timestamp;
 
  acquire(I, timestamp, roi);
}

void vpV4l2Grabber::acquire(vpImage<unsigned char> &I, struct timeval &timestamp, const vpRect &roi)
{
  if (init == false) {
    open(I);
  }
 
  if (init == false) {
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "V4l2 frame grabber not initialized"));
  }
 
  unsigned char *bitmap;
  bitmap = waiton(index_buffer, timestamp);
 
  if (roi == vpRect())
    I.resize(height, width);
  else
    I.resize(static_cast<unsigned int>(roi.getHeight()), static_cast<unsigned int>(roi.getWidth()));
  switch (m_pixelformat) {
  case V4L2_GREY_FORMAT:
    if (roi == vpRect())
      memcpy(I.bitmap, bitmap, height * width * sizeof(unsigned char));
    else
      vpImageTools::crop(bitmap, width, height, roi, I);
    break;
  case V4L2_RGB24_FORMAT: // tested
    if (roi == vpRect())
      vpImageConvert::RGBToGrey((unsigned char *)bitmap, I.bitmap, width * height);
    else {
      vpImage<unsigned char> tmp(height, width);
      vpImageConvert::RGBToGrey((unsigned char *)bitmap, tmp.bitmap, width * height);
      vpImageTools::crop(tmp, roi, I);
    }
    break;
  case V4L2_RGB32_FORMAT:
    if (roi == vpRect())
      vpImageConvert::RGBaToGrey((unsigned char *)bitmap, I.bitmap, width * height);
    else {
      vpImage<unsigned char> tmp(height, width);
      vpImageConvert::RGBaToGrey((unsigned char *)bitmap, tmp.bitmap, width * height);
      vpImageTools::crop(tmp, roi, I);
    }
 
    break;
  case V4L2_BGR24_FORMAT: // tested
    if (roi == vpRect())
      vpImageConvert::BGRToGrey((unsigned char *)bitmap, I.bitmap, width, height, false);
    else {
      vpImage<unsigned char> tmp(height, width);
      vpImageConvert::BGRToGrey((unsigned char *)bitmap, tmp.bitmap, width, height, false);
      vpImageTools::crop(tmp, roi, I);
    }
    break;
  case V4L2_YUYV_FORMAT: // tested
    if (roi == vpRect())
      vpImageConvert::YUYVToGrey((unsigned char *)bitmap, I.bitmap, width * height);
    else {
      vpImage<unsigned char> tmp(height, width);
      vpImageConvert::YUYVToGrey((unsigned char *)bitmap, tmp.bitmap, width * height);
      vpImageTools::crop(tmp, roi, I);
    }
    break;
  default:
    std::cout << "V4L2 conversion not handled" << std::endl;
    break;
  }
 
  queueAll();
}

void vpV4l2Grabber::acquire(vpImage<vpRGBa> &I)
{
  struct timeval timestamp;
  vpRect roi;
 
  acquire(I, timestamp, roi);
}

void vpV4l2Grabber::acquire(vpImage<vpRGBa> &I, const vpRect &roi)
{
  struct timeval timestamp;
 
  acquire(I, timestamp, roi);
}

void vpV4l2Grabber::acquire(vpImage<vpRGBa> &I, struct timeval &timestamp, const vpRect &roi)
{
  if (init == false) {
    open(I);
  }
 
  if (init == false) {
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "V4l2 frame grabber not initialized"));
  }
 
  unsigned char *bitmap;
  bitmap = waiton(index_buffer, timestamp);
 
  if (roi == vpRect())
    I.resize(height, width);
  else
    I.resize(static_cast<unsigned int>(roi.getHeight()), static_cast<unsigned int>(roi.getWidth()));
 
  // The framegrabber acquire aRGB format. We just shift the data from 1 byte
  // all the data and initialize the last byte
 
  switch (m_pixelformat) {
  case V4L2_GREY_FORMAT:
    if (roi == vpRect())
      vpImageConvert::GreyToRGBa((unsigned char *)bitmap, (unsigned char *)I.bitmap, width * height);
    else
      vpImageTools::crop(bitmap, width, height, roi, I);
    break;
  case V4L2_RGB24_FORMAT: // tested
    if (roi == vpRect()) {
      vpImageConvert::RGBToRGBa((unsigned char *)bitmap, (unsigned char *)I.bitmap, width * height);
    }
    else {
      vpImage<vpRGBa> tmp(height, width);
      vpImageConvert::RGBToRGBa((unsigned char *)bitmap, (unsigned char *)tmp.bitmap, width * height);
      vpImageTools::crop(tmp, roi, I);
    }
    break;
  case V4L2_RGB32_FORMAT:
    if (roi == vpRect()) {
      // The framegrabber acquire aRGB format. We just shift the data
      // from 1 byte all the data and initialize the last byte
      memcpy(static_cast<void *>(I.bitmap), static_cast<void *>(bitmap + 1), height * width * sizeof(vpRGBa) - 1);
      I[height - 1][width - 1].A = 0;
    }
    else {
      for (unsigned int i = 0; i < I.getHeight(); i++) {
        memcpy(static_cast<void *>(I.bitmap),
          static_cast<void *>(bitmap + 1 + static_cast<unsigned int>(roi.getTop() * width + roi.getLeft())),
          I.getWidth() * sizeof(vpRGBa) - 1);
        I[i][I.getWidth() - 1].A = 0;
      }
    }
    break;
  case V4L2_BGR24_FORMAT: // tested
    if (roi == vpRect())
      vpImageConvert::BGRToRGBa((unsigned char *)bitmap, (unsigned char *)I.bitmap, width, height, false);
    else {
      vpImage<vpRGBa> tmp(height, width);
      vpImageConvert::BGRToRGBa((unsigned char *)bitmap, (unsigned char *)tmp.bitmap, width, height, false);
      vpImageTools::crop(tmp, roi, I);
    }
    break;
  case V4L2_YUYV_FORMAT: // tested
    if (roi == vpRect())
      vpImageConvert::YUYVToRGBa((unsigned char *)bitmap, (unsigned char *)I.bitmap, width, height);
    else {
      vpImage<vpRGBa> tmp(height, width);
      vpImageConvert::YUYVToRGBa((unsigned char *)bitmap, (unsigned char *)tmp.bitmap, width, height);
      vpImageTools::crop(tmp, roi, I);
    }
    break;
  default:
    std::cout << "V4l2 conversion not handled" << std::endl;
    break;
  }
 
  queueAll();
}

bool vpV4l2Grabber::getField()
{
  if (field == 2)
    return 0; // top field
  else if (field == 3)
    return 1; // bottom field;
  else {
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "V4l2 returns a bad frame field"));
    return false;
  }
}

void vpV4l2Grabber::setFramerate(vpV4l2Grabber::vpV4l2FramerateType framerate)
{
  this->m_framerate = framerate;
 
  if (framerate == vpV4l2Grabber::framerate_25fps)
    setFrameFormat(V4L2_IMAGE_FORMAT);
  else
    setFrameFormat(V4L2_FRAME_FORMAT);
}

 
vpV4l2Grabber::vpV4l2FramerateType vpV4l2Grabber::getFramerate() { return m_framerate; }

void vpV4l2Grabber::close()
{
  stopStreaming();
  streaming = false;
 
  if (fd >= 0) {
    // vpTRACE("v4l2_close()");
    v4l2_close(fd);
    fd = -1;
  }
 
  if (inp != nullptr) {
    delete[] inp;
    inp = nullptr;
  }
  if (std != nullptr) {
    delete[] std;
    std = nullptr;
  }
  if (fmt != nullptr) {
    delete[] fmt;
    fmt = nullptr;
  }
  if (ctl != nullptr) {
    delete[] ctl;
    ctl = nullptr;
  }
  if (buf_v4l2 != nullptr) {
    delete[] buf_v4l2;
    buf_v4l2 = nullptr;
  }
  if (buf_me != nullptr) {
    delete[] buf_me;
    buf_me = nullptr;
  }
}

void vpV4l2Grabber::open()
{
  /* Open Video Device */
  struct stat st;
 
  if (-1 == stat(device.c_str(), &st)) {
    fprintf(stderr, "Cannot identify '%s': %d, %s\n", device.c_str(), errno, strerror(errno));
    throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "Cannot identify video device"));
  }
 
  if (!S_ISCHR(st.st_mode)) {
    fprintf(stderr, "%s is no device\n", device.c_str());
    throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "No device"));
  }
  fd = v4l2_open(device.c_str(), O_RDWR | O_NONBLOCK, 0);
  if (fd < 0) {
    close();
 
    vpERROR_TRACE("No video device \"%s\"\n", device.c_str());
    throw(vpFrameGrabberException(vpFrameGrabberException::initializationError, "Can't access to video device"));
  }
 
  if (inp != nullptr) {
    delete[] inp;
    inp = nullptr;
  }
  if (std != nullptr) {
    delete[] std;
    std = nullptr;
  }
  if (fmt != nullptr) {
    delete[] fmt;
    fmt = nullptr;
  }
  if (ctl != nullptr) {
    delete[] ctl;
    ctl = nullptr;
  }
  if (buf_v4l2 != nullptr) {
    delete[] buf_v4l2;
    buf_v4l2 = nullptr;
  }
  if (buf_me != nullptr) {
    delete[] buf_me;
    buf_me = nullptr;
  }
 
  inp = new struct v4l2_input[vpV4l2Grabber::MAX_INPUTS];
  std = new struct v4l2_standard[vpV4l2Grabber::MAX_NORM];
  fmt = new struct v4l2_fmtdesc[vpV4l2Grabber::MAX_FORMAT];
  ctl = new struct v4l2_queryctrl[vpV4l2Grabber::MAX_CTRL * 2];
  buf_v4l2 = new struct v4l2_buffer[vpV4l2Grabber::MAX_BUFFERS];
  buf_me = new struct ng_video_buf[vpV4l2Grabber::MAX_BUFFERS];
 
  /* Querry Video Device Capabilities */
  if (v4l2_ioctl(fd, VIDIOC_QUERYCAP, &cap) == -1) {
    close();
    fprintf(stderr, "%s is no V4L2 device\n", device.c_str());
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Is not a V4L2 device"));
  }
  if (m_verbose) {
    fprintf(stdout,
      "v4l2 info:\n"
      "     device: %s\n"
      "     %s %d.%d.%d / %s @ %s\n",
      device.c_str(), cap.driver, (cap.version >> 16) & 0xff, (cap.version >> 8) & 0xff, cap.version & 0xff,
      cap.card, cap.bus_info);
    if (cap.capabilities & V4L2_CAP_VIDEO_OVERLAY)
      fprintf(stdout, "     Support overlay\n");
    else
      fprintf(stdout, "     Does not support overlay\n");
    if (cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)
      fprintf(stdout, "     Support capture\n");
    else
      fprintf(stdout, "     Does not support capture\n");
    if (cap.capabilities & V4L2_CAP_TUNER)
      fprintf(stdout, "     Support tuning\n");
    else
      fprintf(stdout, "     Does not support tuning\n");
    if (cap.capabilities & V4L2_CAP_STREAMING)
      fprintf(stdout, "     Support streaming capture.\n");
    else
      fprintf(stdout, "     Does not support streaming capture\n");
    if (cap.capabilities & V4L2_CAP_ASYNCIO)
      fprintf(stdout, "     Support asynchronous I/O methods\n");
    else
      fprintf(stdout, "     Does not support asynchronous I/O methods\n");
    if (cap.capabilities & V4L2_CAP_TIMEPERFRAME)
      fprintf(stdout, "     Support time per frame field\n");
    else
      fprintf(stdout, "     Does not support time per frame field\n");
    // Get framerate
    streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (v4l2_ioctl(fd, VIDIOC_G_PARM, &streamparm) != -1) {
      fprintf(stdout, "     Current acquisition framerate: %d fps\n", streamparm.parm.output.timeperframe.denominator);
    }
  }
 
  getCapabilities();
}

void vpV4l2Grabber::getCapabilities()
{
  for (__u32 ninputs = 0; ninputs < MAX_INPUTS; ninputs++) {
    inp[ninputs].index = ninputs;
    if (v4l2_ioctl(fd, VIDIOC_ENUMINPUT, &inp[ninputs]))
      break;
  }
  for (__u32 nstds = 0; nstds < MAX_NORM; nstds++) {
    std[nstds].index = nstds;
    if (v4l2_ioctl(fd, VIDIOC_ENUMSTD, &std[nstds]))
      break;
  }
  for (__u32 nfmts = 0; nfmts < MAX_FORMAT; nfmts++) {
    fmt[nfmts].index = nfmts;
    fmt[nfmts].type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (v4l2_ioctl(fd, VIDIOC_ENUM_FMT, &fmt[nfmts]))
      break;
  }
 
  streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  if (v4l2_ioctl(fd, VIDIOC_G_PARM, &streamparm) == -1) {
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't get video parameters"));
  }
}

void vpV4l2Grabber::setFormat()
{
  fmt_me.width = width;
  fmt_me.height = height;
  // fmt_me.bytesperline = width; // bad (normally width * depth / 8), but
  // works
  // because initialized later by an ioctl call to VIDIOC_S_FMT
 
  switch (m_pixelformat) {
  case V4L2_GREY_FORMAT:
    fmt_me.pixelformat = V4L2_PIX_FMT_GREY;
    if (m_verbose)
      fprintf(stdout, "v4l2: new capture params (V4L2_PIX_FMT_GREY)\n");
    break;
  case V4L2_RGB24_FORMAT:
    fmt_me.pixelformat = V4L2_PIX_FMT_RGB24;
    if (m_verbose)
      fprintf(stdout, "v4l2: new capture params (V4L2_PIX_FMT_RGB24)\n");
    break;
  case V4L2_RGB32_FORMAT:
    fmt_me.pixelformat = V4L2_PIX_FMT_RGB32;
    if (m_verbose)
      fprintf(stdout, "v4l2: new capture params (V4L2_PIX_FMT_RGB32)\n");
    break;
  case V4L2_BGR24_FORMAT:
    fmt_me.pixelformat = V4L2_PIX_FMT_BGR24;
    if (m_verbose)
      fprintf(stdout, "v4l2: new capture params (V4L2_PIX_FMT_BGR24)\n");
    break;
  case V4L2_YUYV_FORMAT:
    fmt_me.pixelformat = V4L2_PIX_FMT_YUYV;
    if (m_verbose)
      fprintf(stdout, "v4l2: new capture params (V4L2_PIX_FMT_YUYV)\n");
    break;
 
  default:
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::settingError, "Bad format, probably do to a wrong scale"));
  }
 
  /* Get Video Format */
  vpCLEAR(fmt_v4l2);
 
  fmt_v4l2.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 
  if (v4l2_ioctl(fd, VIDIOC_G_FMT, &fmt_v4l2) == -1) {
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't get video format"));
  }
  fmt_v4l2.fmt.pix.pixelformat = fmt_me.pixelformat;
  fmt_v4l2.fmt.pix.width = fmt_me.width;
  fmt_v4l2.fmt.pix.height = fmt_me.height;
  // printf("1 - w: %d h: %d\n", fmt_v4l2.fmt.pix.width,
  // fmt_v4l2.fmt.pix.height);
 
  switch (m_frameformat) {
  case V4L2_FRAME_FORMAT:
    fmt_v4l2.fmt.pix.field = V4L2_FIELD_ALTERNATE;
    if (m_verbose) {
      fprintf(stdout, "v4l2: new capture params (V4L2_FIELD_ALTERNATE)\n");
    }
    break;
  case V4L2_IMAGE_FORMAT:
    fmt_v4l2.fmt.pix.field = V4L2_FIELD_INTERLACED;
    if (m_verbose) {
      fprintf(stdout, "v4l2: new capture params (V4L2_FIELD_INTERLACED)\n");
    }
    break;
  default:
    close();
 
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Unrecognized frame format"));
  }
 
  // height and width of the captured image or frame
  if (m_frameformat == V4L2_FRAME_FORMAT && height > FRAME_SIZE) {
    height = FRAME_SIZE;
  }
  // printf("2 - w: %d h: %d\n", fmt_v4l2.fmt.pix.width,
  // fmt_v4l2.fmt.pix.height);
 
  if (v4l2_ioctl(fd, VIDIOC_S_FMT, &fmt_v4l2) == -1) {
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't set video format"));
  }
 
  if (fmt_v4l2.fmt.pix.pixelformat != fmt_me.pixelformat) {
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Bad pixel format"));
  }
 
  /* Buggy driver paranoia. */
  unsigned int min = fmt_v4l2.fmt.pix.width * 2;
  if (fmt_v4l2.fmt.pix.bytesperline < min)
    fmt_v4l2.fmt.pix.bytesperline = min;
  min = fmt_v4l2.fmt.pix.bytesperline * fmt_v4l2.fmt.pix.height;
  if (fmt_v4l2.fmt.pix.sizeimage < min)
    fmt_v4l2.fmt.pix.sizeimage = min;
 
  fmt_me.width = fmt_v4l2.fmt.pix.width;
  fmt_me.height = fmt_v4l2.fmt.pix.height;
  fmt_me.bytesperline = fmt_v4l2.fmt.pix.bytesperline;
 
  if (m_verbose) {
    fprintf(stdout,
      "v4l2: new capture params (%ux%u, %c%c%c%c, %d byte, %d bytes "
      "per line)\n",
      fmt_me.width, fmt_me.height, fmt_v4l2.fmt.pix.pixelformat & 0xff,
      (fmt_v4l2.fmt.pix.pixelformat >> 8) & 0xff, (fmt_v4l2.fmt.pix.pixelformat >> 16) & 0xff,
      (fmt_v4l2.fmt.pix.pixelformat >> 24) & 0xff, fmt_v4l2.fmt.pix.sizeimage, fmt_v4l2.fmt.pix.bytesperline);
  }
}
void vpV4l2Grabber::startStreaming()
{
  if (streaming == true) { // Acquisition in process.
    stopStreaming();
    streaming = false;
  }
 
  /* setup buffers */
  memset(&(reqbufs), 0, sizeof(reqbufs));
  reqbufs.count = m_nbuffers;
  reqbufs.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  reqbufs.memory = V4L2_MEMORY_MMAP;
 
  if (v4l2_ioctl(fd, VIDIOC_REQBUFS, &reqbufs) == -1) {
    if (EINVAL == errno) {
      fprintf(stderr,
        "%s does not support "
        "memory mapping\n",
        device.c_str());
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Does not support memory mapping"));
    }
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't require video buffers"));
  }
 
  for (unsigned i = 0; i < reqbufs.count; i++) {
    // Clear the buffer
    memset(&(buf_v4l2[i]), 0, sizeof(buf_v4l2[i]));
    buf_v4l2[i].index = i;
    buf_v4l2[i].type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf_v4l2[i].memory = V4L2_MEMORY_MMAP;
    buf_v4l2[i].length = 0;
    if (v4l2_ioctl(fd, VIDIOC_QUERYBUF, &buf_v4l2[i]) == -1) {
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't query video buffers"));
    }
    memcpy(&buf_me[i].fmt, &fmt_me, sizeof(ng_video_fmt));
    buf_me[i].size = buf_me[i].fmt.bytesperline * buf_me[i].fmt.height;
 
    buf_me[i].data = (unsigned char *)v4l2_mmap(nullptr, buf_v4l2[i].length, PROT_READ | PROT_WRITE, MAP_SHARED, fd,
      (off_t)buf_v4l2[i].m.offset);
 
    if (buf_me[i].data == MAP_FAILED) {
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't map memory"));
    }
 
    buf_me[i].refcount = 0;
 
    if (m_verbose)
      printBufInfo(buf_v4l2[i]);
  }
 
  /* queue up all buffers */
  queueAll();
 
  /* Set video stream capture on */
  if (v4l2_ioctl(fd, VIDIOC_STREAMON, &fmt_v4l2.type) < 0) {
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't start streaming"));
  }
 
  streaming = true;
}

void vpV4l2Grabber::stopStreaming()
{
  // nothing to do if (fd < 0) or if  (streaming == false)
  if ((fd >= 0) && (streaming == true)) {
 
    // vpTRACE(" Stop the streaming...");
    /* stop capture */
    fmt_v4l2.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (v4l2_ioctl(fd, VIDIOC_STREAMOFF, &fmt_v4l2.type)) {
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't stop streaming"));
    }
    /* free buffers */
    for (unsigned int i = 0; i < reqbufs.count; i++) {
      if (m_verbose)
        printBufInfo(buf_v4l2[i]);
      // vpTRACE("v4l2_munmap()");
 
      if (-1 == v4l2_munmap(buf_me[i].data, buf_me[i].size)) {
        throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't unmap memory"));
      }
    }
    queue = 0;
    waiton_cpt = 0;
    streaming = false;
  }
}

unsigned char *vpV4l2Grabber::waiton(__u32 &index, struct timeval &timestamp)
{
  struct v4l2_buffer buf;
  struct timeval tv;
  fd_set rdset;
 
  /* wait for the next frame */
again:
 
  tv.tv_sec = 30;
  tv.tv_usec = 0;
  FD_ZERO(&rdset);
  FD_SET(static_cast<unsigned int>(fd), &rdset);
  switch (select(fd + 1, &rdset, nullptr, nullptr, &tv)) {
  case -1:
    if (EINTR == errno)
      goto again;
    index = 0;
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't access to the frame"));
    return nullptr;
  case 0:
    index = 0;
    throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "Can't access to the frame: timeout"));
    return nullptr;
  }
 
  /* get it */
  memset(&buf, 0, sizeof(buf));
  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  buf.memory = V4L2_MEMORY_MMAP;
  if (-1 == v4l2_ioctl(fd, VIDIOC_DQBUF, &buf)) {
    index = 0;
    switch (errno) {
    case EAGAIN:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_DQBUF: EAGAIN"));
      break;
    case EINVAL:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_DQBUF: EINVAL"));
      break;
    case ENOMEM:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_DQBUF: ENOMEM"));
      break;
    default:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_DQBUF"));
      break;
    }
    return nullptr;
  }
 
  waiton_cpt++;
  buf_v4l2[buf.index] = buf;
 
  index = buf.index;
 
  field = buf_v4l2[index].field;
 
  timestamp = buf_v4l2[index].timestamp;
 
  // if(m_verbose)
  // {
  //   vpERROR_TRACE("field: %d\n", buf_v4l2[index].field);
 
  //   vpERROR_TRACE("data adress : 0x%p\n", buf_me[buf.index].data);
  // }
  return buf_me[buf.index].data;
}

int vpV4l2Grabber::queueBuffer()
{
  unsigned int frame = queue % reqbufs.count;
  int rc;
 
  if (0 != buf_me[frame].refcount) {
    if (0 != queue - waiton_cpt)
      return -1;
    fprintf(stderr, "v4l2: waiting for a free buffer..............\n");
    // ng_waiton_video_buf(h->buf_me+frame);
    std::cout << "Normalement call ng_waiton_video_buf(buf_me+frame); --------\n";
  }
 
  //    std::cout << "frame: " << frame << std::endl;
  rc = v4l2_ioctl(fd, VIDIOC_QBUF, &buf_v4l2[frame]);
  if (0 == rc)
    queue++;
  else {
    switch (errno) {
    case EAGAIN:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_QBUF: EAGAIN"));
      break;
    case EINVAL:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_QBUF: EINVAL"));
      break;
    case ENOMEM:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_QBUF: ENOMEM"));
      break;
    default:
      throw(vpFrameGrabberException(vpFrameGrabberException::otherError, "VIDIOC_QBUF"));
      break;
    }
  }
  return rc;
}

void vpV4l2Grabber::queueAll()
{
  for (;;) {
    if (queue - waiton_cpt >= reqbufs.count) {
      return;
    }
    if (0 != queueBuffer()) {
      return;
    }
  }
}

void vpV4l2Grabber::printBufInfo(struct v4l2_buffer buf)
{
  std::string type;
 
  switch (buf.type) {
  case V4L2_BUF_TYPE_VIDEO_CAPTURE:
    type = "video-cap";
    break;
  case V4L2_BUF_TYPE_VIDEO_OVERLAY:
    type = "video-over";
    break;
  case V4L2_BUF_TYPE_VIDEO_OUTPUT:
    type = "video-out";
    break;
  case V4L2_BUF_TYPE_VBI_CAPTURE:
    type = "vbi-cap";
    break;
  case V4L2_BUF_TYPE_VBI_OUTPUT:
    type = "vbi-out";
    break;
  default:
    type = "unknown";
    break;
  }
 
  fprintf(stdout, "v4l2: buf %d: type %d (%s) ad: 0x%lx offset 0x%x+%d (=0x%x),used %d\n", buf.index, buf.type,
    type.c_str(), buf.m.userptr, buf.m.offset, buf.length, buf.length, buf.bytesused);
}

vpV4l2Grabber &vpV4l2Grabber::operator>>(vpImage<unsigned char> &I)
{
  this->acquire(I);
  return *this;
}

vpV4l2Grabber &vpV4l2Grabber::operator>>(vpImage<vpRGBa> &I)
{
  this->acquire(I);
  return *this;
}
END_VISP_NAMESPACE
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_sensor.a(vpV4l2Grabber.cpp.o) has no symbols
void dummy_vpV4l2Grabber() { }
#endif