void camera_close()
{
free(current_pic.buffer);
free_buf_mmap();
v4lconvert_destroy(lib);
close(fd_cam);
}
int camera_init(struct picture_t *out_info)
{
fd_cam = open(CAM_NAME, O_RDWR);
if(fd_cam < 0){
perror("open camera " CAM_NAME);
return 0;
}
if(!get_format())
goto label_close;
lib = v4lconvert_create(fd_cam);
if(!lib) {
perror("v4lconvert_create");
goto label_close;
}
if(!buf_alloc_mmap())
goto label_free;
YUV420_size = current_pic.width*current_pic.height*3/2;
if(!(current_pic.buffer = malloc(YUV420_size))){
perror("malloc");
goto label_free;
}
*out_info = current_pic;
return 1;
label_free:
free_buf_mmap();
v4lconvert_destroy(lib);
label_close:
close(fd_cam);
return 0;
}
void capture()
{
unsigned char *yuv420_buf;
int yuv420_size = fmt.fmt.pix.width*fmt.fmt.pix.height*3/2;
int src_size, i, j, k, nframe;
struct v4lconvert_data *lib;
buffersize = calc_size(fmt.fmt.pix.sizeimage);
buf_alloc_mmap();
lib = v4lconvert_create(fd_cam);
if(!lib) {
perror("v4lconvert_create");
exit(1);
}
yuv420_buf = malloc(yuv420_size);
if(!yuv420_buf){
perror("malloc");
exit(1);
}
if(ioctl(fd_cam, VIDIOC_STREAMON, &reqbuf.type) < 0) {
perror("VIDIOC_STREAMON");
exit(1);
}
dst_fmt = fmt;
dst_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV420;
if(!v4lconvert_supported_dst_format(dst_fmt.fmt.pix.pixelformat)){
puts("v4lconvert_supported_dst_format");
exit(1);
}
for(errno = 0, nframe = 0; nframe < NUM_FRAME; nframe++) {
struct v4l2_buffer cam_buf = {0};
cam_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
cam_buf.memory = reqbuf.memory;
if(ioctl(fd_cam, VIDIOC_DQBUF, &cam_buf) < 0) {
perror("VIDIOC_DQBUF");
exit(1);
}
printf("DQBUF: index=%d, seq=%d, time=%d.%06d\n", cam_buf.index, cam_buf.sequence, cam_buf.timestamp.tv_sec, cam_buf.timestamp.tv_usec);
src_size = cam_buf.length;
if(v4lconvert_convert(lib, &fmt, &dst_fmt, (void*)buf_pointer[cam_buf.index], src_size, yuv420_buf, yuv420_size) <= 0){
perror("v4lconvert_convert");
exit(1);
}
cam_buf.length = buffersize;
if(ioctl(fd_cam, VIDIOC_QBUF, &cam_buf) < 0) {
perror("VIDIOC_QBUF");
exit(1);
}
write(fd_out, yuv420_buf, yuv420_size);
}
if(ioctl(fd_cam, VIDIOC_STREAMOFF, &reqbuf.type) < 0) {
perror("VIDIOC_STREAMOFF");
exit(1);
}
free(yuv420_buf);
v4lconvert_destroy(lib);
free_buf_mmap();
}