def _create_buffer(self, buffer_size=30):
req = v4l2.v4l2_requestbuffers()
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
req.count = buffer_size # nr of buffer frames
fcntl.ioctl(self.fd, v4l2.VIDIOC_REQBUFS,
req) # tell the driver that we want some buffers
self.buffers = []
for ind in range(req.count):
# setup a buffer
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = ind
fcntl.ioctl(self.fd, v4l2.VIDIOC_QUERYBUF, buf)
mm = mmap.mmap(self.fd.fileno(),
buf.length,
mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
offset=buf.m.offset)
self.buffers.append(mm)
# queue the buffer for capture
fcntl.ioctl(self.fd, v4l2.VIDIOC_QBUF, buf)
def create_buffers(self, count):
# Create buffers
rbuf = v4l2.v4l2_requestbuffers()
rbuf.count = count
rbuf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
rbuf.memory = v4l2.V4L2_MEMORY_MMAP
fcntl.ioctl(self, v4l2.VIDIOC_REQBUFS, rbuf)
for i in range(rbuf.count):
# Get buffer
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = i
fcntl.ioctl(self, v4l2.VIDIOC_QUERYBUF, buf)
# Mem map buffer
mm = mmap.mmap(self.fileno(),
buf.length,
mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
offset=buf.m.offset)
self.buffers.append(mm)
# Queue the buffer for capture
fcntl.ioctl(self, v4l2.VIDIOC_QBUF, buf)
def _alloc_buffers(self):
req = v4l2.v4l2_requestbuffers()
req.count = config.V4l2ReqBuffersCount
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
if fcntl.ioctl(self.camera, v4l2.VIDIOC_REQBUFS, req):
print 'Failed to request buffers...'
self.bufferscount = req.count
print 'request buffers:%d' % self.bufferscount
self._buffers = []
self._mmaps = []
for cnt in range(0, req.count):
buf = v4l2.v4l2_buffer()
self._buffers.append(buf)
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = cnt
if fcntl.ioctl(self.camera, v4l2.VIDIOC_QUERYBUF, buf):
print 'failed to query buffers...'
else:
print 'index:%d, length:%d' % (buf.index, buf.length)
self._mmaps.append(
mmap.mmap(self.camera,
buf.length,
mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
offset=buf.m.offset))
fcntl.ioctl(self.camera, v4l2.VIDIOC_QBUF, buf)
def init_mmap(self):
req = v4l2.v4l2_requestbuffers()
req.count = self.NUM_BUFFERS
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
try:
ioctl(self.fd, v4l2.VIDIOC_REQBUFS, req)
except Exception:
raise Exception("video buffer request failed")
if req.count < 2:
raise Exception("Insufficient buffer memory on {}".format(
self.device_name))
self.buffers = []
for x in range(req.count):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = x
ioctl(self.fd, v4l2.VIDIOC_QUERYBUF, buf)
buf.buffer = mmap.mmap(self.fd,
buf.length,
mmap.PROT_READ,
mmap.MAP_SHARED,
offset=buf.m.offset)
self.buffers.append(buf)
def init_mmap(self):
req = v4l2.v4l2_requestbuffers()
req.count = NUM_BUFFERS
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
try:
ioctl(self.fd, v4l2.VIDIOC_REQBUFS, req)
except Exception:
raise Exception("video buffer request failed")
if req.count < 2:
raise Exception("Insufficient buffer memory on {}".format(self.device_name))
self.buffers = []
for x in range(req.count):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = x
ioctl(self.fd, v4l2.VIDIOC_QUERYBUF, buf)
buf.buffer = mmap.mmap(self.fd, buf.length, mmap.PROT_READ, mmap.MAP_SHARED, offset=buf.m.offset)
self.buffers.append(buf)
def __init__(self, width, height, dev):
self.fd = os.open(dev, os.O_RDWR)
cap = v4l2.v4l2_capability()
fcntl.ioctl(self.fd, v4l2.VIDIOC_QUERYCAP, cap)
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
fmt.fmt.pix.pixelformat = v4l2.V4L2_PIX_FMT_MJPEG
fmt.fmt.pix.width = width
fmt.fmt.pix.height = height
fcntl.ioctl(self.fd, v4l2.VIDIOC_S_FMT, fmt)
bufreq = v4l2.v4l2_requestbuffers()
bufreq.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
bufreq.memory = v4l2.V4L2_MEMORY_MMAP
bufreq.count = 1
fcntl.ioctl(self.fd, v4l2.VIDIOC_REQBUFS, bufreq)
self.info = v4l2.v4l2_buffer()
self.info.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
self.info.memory = v4l2.V4L2_MEMORY_MMAP
self.info.index = 0
fcntl.ioctl(self.fd, v4l2.VIDIOC_QUERYBUF, self.info)
self.buf = mmap.mmap(
self.fd,
self.info.length,
mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
self.info.m.offset)
self.type = ctypes.c_uint32(self.info.type)
def setUpBuffer(self):
if not self.available: return
if not self.fmt: raise SystemError("Image Format not set!")
self.reqbuf = v4l2.v4l2_requestbuffers()
self.reqbuf.count = 1
self.reqbuf.type = self.fmt.type
self.reqbuf.memory = v4l2.V4L2_MEMORY_MMAP
success = fcntl.ioctl(self.device, v4l2.VIDIOC_REQBUFS, self.reqbuf)
if success == -1:
raise SystemError("Could not set up camera buffer")
for index in range(self.reqbuf.count):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = index
fcntl.ioctl(self.device, v4l2.VIDIOC_QUERYBUF, buf)
image = mmap.mmap(self.device.fileno(), buf.length, offset=buf.m.offset)
self.imagebuffers.append(image)
for index in range(self.reqbuf.count):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = index
fcntl.ioctl(self.device, v4l2.VIDIOC_QBUF, buf)
def Start(self, buff_num):
if self.verbose:
print '==== START ===='
req = v4l2.v4l2_requestbuffers()
req.count = buff_num
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
xioctl(self.vd, v4l2.VIDIOC_REQBUFS, req)
if self.verbose:
print '--requesetbuffers success'
n_buffers = req.count
self.buffers = list()
for i in range(n_buffers):
self.buffers.append(buffer_struct())
for i in range(n_buffers):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = i
xioctl(self.vd, v4l2.VIDIOC_QUERYBUF, buf)
self.buffers[i].length = buf.length
self.buffers[i].start = mmap.mmap(self.vd.fileno(),
buf.length,
flags=mmap.MAP_SHARED,
prot=mmap.PROT_READ
| mmap.PROT_WRITE,
offset=buf.m.offset)
if self.verbose:
print '--Memory MAP'
print ' +MMAP:', i, buf.m.offset, buf.length
for i in range(n_buffers):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = i
xioctl(self.vd, v4l2.VIDIOC_QBUF, buf)
if self.verbose:
print '--requesetbuffers success'
buftype = v4l2.v4l2_buf_type(v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE)
xioctl(self.vd, v4l2.VIDIOC_STREAMON, buftype)
time.sleep(1)
buftype = v4l2.v4l2_buf_type(v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE)
xioctl(self.vd, v4l2.VIDIOC_STREAMON, buftype)
if self.verbose:
print '**** START ****'
def _setup_buffers(self, buf_count: int) -> None:
"""roughly equivalent to v4l2capture's create_buffers"""
assert not self.started
assert len(self.bufmaps) == 0
reqbuf = v4l2.v4l2_requestbuffers(
type=v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE,
count=buf_count,
memory=v4l2.V4L2_MEMORY_MMAP)
self._v4l2_ioctl(v4l2.VIDIOC_REQBUFS, reqbuf)
assert reqbuf.count > 0
for idx in range(reqbuf.count):
buf = v4l2.v4l2_buffer(type=v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE,
index=idx,
memory=v4l2.V4L2_MEMORY_MMAP)
self._v4l2_ioctl(v4l2.VIDIOC_QUERYBUF, buf)
self.bufmaps += [
mmap.mmap(self.dev_fd,
buf.length,
access=mmap.ACCESS_WRITE,
offset=buf.m.offset)
]
def __init__(self):
self.W = 1920
self.H = 1080
self.controls = {}
#open
l.debug("open")
self.vd = open('/dev/video0', 'rb+', buffering=0)
#queryctrl/g_ctrl
qctrl = v4l2.v4l2_queryctrl()
ctrl = v4l2.v4l2_control()
#brightness
qctrl.id = v4l2.V4L2_CID_BRIGHTNESS
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYCTRL, qctrl)
ctrl.id = qctrl.id
fcntl.ioctl(self.vd, v4l2.VIDIOC_G_CTRL, ctrl)
except:
l.error("QUERYCTRL/G_CTRL failed")
self.controls["brightness"] = (ctrl.id, ctrl.value, qctrl.minimum,
qctrl.maximum)
#exposure
qctrl.id = v4l2.V4L2_CID_EXPOSURE_ABSOLUTE
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYCTRL, qctrl)
ctrl.id = qctrl.id
fcntl.ioctl(self.vd, v4l2.VIDIOC_G_CTRL, ctrl)
except:
l.error("QUERYCTRL/G_CTRL failed")
self.controls["exposure"] = (ctrl.id, ctrl.value, qctrl.minimum,
qctrl.maximum)
#querycap
l.debug("querycap")
cp = v4l2.v4l2_capability()
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYCAP, cp)
#s_fmt
l.debug("s_fmt")
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
fmt.fmt.pix.width = self.W
fmt.fmt.pix.height = self.H
fmt.fmt.pix.pixelformat = v4l2.V4L2_PIX_FMT_SBGGR10
fmt.fmt.pix.field = v4l2.V4L2_FIELD_NONE
fcntl.ioctl(self.vd, v4l2.VIDIOC_S_FMT, fmt)
#g_fmt
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
fcntl.ioctl(self.vd, v4l2.VIDIOC_G_FMT, fmt)
self.framesize = fmt.fmt.pix.sizeimage
#reqbufs
l.debug("reqbufs")
req = v4l2.v4l2_requestbuffers()
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
req.count = 4
fcntl.ioctl(self.vd, v4l2.VIDIOC_REQBUFS, req)
self.buffers = []
for ind in range(req.count):
#querybufs
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = ind
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYBUF, buf)
#mmap
mm = mmap.mmap(self.vd.fileno(),
buf.length,
mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
offset=buf.m.offset)
self.buffers.append(mm)
#qbuf
fcntl.ioctl(self.vd, v4l2.VIDIOC_QBUF, buf)
#streamon
l.debug("streamon")
buf_type = v4l2.v4l2_buf_type(v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE)
fcntl.ioctl(self.vd, v4l2.VIDIOC_STREAMON, buf_type)
#select
l.debug("select")
t0 = time.time()
max_t = 1
ready_to_read, ready_to_write, in_error = ([], [], [])
while len(ready_to_read) == 0 and time.time() - t0 < max_t:
ready_to_read, ready_to_write, in_error = select.select([self.vd],
[], [],
max_t)
def __init__(self):
self.W = 1920
self.H = 1080
self.controls = {}
#open
l.debug("open")
self.vd = open('/dev/video0', 'rb+', buffering=0)
#queryctrl/g_ctrl
qctrl = v4l2.v4l2_queryctrl()
ctrl = v4l2.v4l2_control()
#brightness
qctrl.id = v4l2.V4L2_CID_BRIGHTNESS
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYCTRL, qctrl)
ctrl.id = qctrl.id
fcntl.ioctl(self.vd, v4l2.VIDIOC_G_CTRL, ctrl)
except:
l.error("QUERYCTRL/G_CTRL failed")
self.controls["brightness"] = (ctrl.id, ctrl.value, qctrl.minimum, qctrl.maximum)
#exposure
qctrl.id = v4l2.V4L2_CID_EXPOSURE_ABSOLUTE
try:
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYCTRL, qctrl)
ctrl.id = qctrl.id
fcntl.ioctl(self.vd, v4l2.VIDIOC_G_CTRL, ctrl)
except:
l.error("QUERYCTRL/G_CTRL failed")
self.controls["exposure"] = (ctrl.id, ctrl.value, qctrl.minimum, qctrl.maximum)
#querycap
l.debug("querycap")
cp = v4l2.v4l2_capability()
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYCAP, cp)
#s_fmt
l.debug("s_fmt")
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
fmt.fmt.pix.width = self.W
fmt.fmt.pix.height = self.H
fmt.fmt.pix.pixelformat = v4l2.V4L2_PIX_FMT_SBGGR10
fmt.fmt.pix.field = v4l2.V4L2_FIELD_NONE
fcntl.ioctl(self.vd, v4l2.VIDIOC_S_FMT, fmt)
#g_fmt
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
fcntl.ioctl(self.vd, v4l2.VIDIOC_G_FMT, fmt)
self.framesize = fmt.fmt.pix.sizeimage
#reqbufs
l.debug("reqbufs")
req = v4l2.v4l2_requestbuffers()
req.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
req.memory = v4l2.V4L2_MEMORY_MMAP
req.count = 4
fcntl.ioctl(self.vd, v4l2.VIDIOC_REQBUFS, req)
self.buffers = []
for ind in range(req.count):
#querybufs
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = ind
fcntl.ioctl(self.vd, v4l2.VIDIOC_QUERYBUF, buf)
#mmap
mm = mmap.mmap(self.vd.fileno(), buf.length, mmap.MAP_SHARED, mmap.PROT_READ | mmap.PROT_WRITE, offset=buf.m.offset)
self.buffers.append(mm)
#qbuf
fcntl.ioctl(self.vd, v4l2.VIDIOC_QBUF, buf)
#streamon
l.debug("streamon")
buf_type = v4l2.v4l2_buf_type(v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE)
fcntl.ioctl(self.vd, v4l2.VIDIOC_STREAMON, buf_type)
#select
l.debug("select")
t0 = time.time()
max_t = 1
ready_to_read, ready_to_write, in_error = ([], [], [])
while len(ready_to_read) == 0 and time.time() - t0 < max_t:
ready_to_read, ready_to_write, in_error = select.select([self.vd], [], [], max_t)
