$NetBSD$

--- modules/highgui/src/cap_v4l.cpp.orig        2012-05-31 14:06:31.000000000 +0000

+++ modules/highgui/src/cap_v4l.cpp

@@ -202,7 +202,7 @@ make & enjoy!

 #include "precomp.hpp"

-#if !defined WIN32 && defined HAVE_CAMV4L && defined HAVE_CAMV4L2

+#if !defined WIN32 && (defined HAVE_CAMV4L || defined HAVE_CAMV4L2 || defined HAVE_VIDEOIO)

 #define CLEAR(x) memset (&(x), 0, sizeof (x))

@@ -214,19 +214,26 @@ make & enjoy!

 #include <sys/types.h>

 #include <sys/mman.h>

+#ifdef HAVE_CAMVAL

 #include <linux/videodev.h>

+#endif

 #include <string.h>

 #include <stdlib.h>

-#include <asm/types.h>          /* for videodev2.h */

 #include <assert.h>

 #include <sys/stat.h>

 #include <sys/ioctl.h>

 #ifdef HAVE_CAMV4L2

+#include <asm/types.h>          /* for videodev2.h */

 #include <linux/videodev2.h>

 #endif

+#ifdef HAVE_VIDEOIO

+#include <sys/videoio.h>

+#define HAVE_CAMV4L2 /* XXXPW unclean! */

+#endif

+

 /* Defaults - If your board can do better, set it here.  Set for the most common type inputs. */

 #define DEFAULT_V4L_WIDTH  640

 #define DEFAULT_V4L_HEIGHT 480

@@ -288,11 +295,13 @@ typedef struct CvCaptureCAM_V4L

     int deviceHandle;

     int bufferIndex;

     int FirstCapture;

+#ifdef HAVE_CAMV4L

     struct video_capability capability;

     struct video_window     captureWindow;

     struct video_picture    imageProperties;

     struct video_mbuf       memoryBuffer;

     struct video_mmap       *mmaps;

+#endif /* HAVE_CAMV4L */

     char *memoryMap;

     IplImage frame;

@@ -345,9 +354,6 @@ static int icvSetVideoSize( CvCaptureCAM

 static int numCameras = 0;

 static int indexList = 0;

-#ifdef HAVE_CAMV4L2

-

-// IOCTL handling for V4L2

 static int xioctl( int fd, int request, void *arg)

 {

@@ -361,8 +367,6 @@ static int xioctl( int fd, int request, 

 }

-#endif /* HAVE_CAMV4L2 */

-

 /* Simple test program: Find number of Video Sources available.

    Start from 0 and go to MAX_CAMERAS while checking for the device with that name.

    If it fails on the first attempt of /dev/video0, then check if /dev/video is valid.

@@ -393,6 +397,8 @@ static void icvInitCapture_V4L() {

 }; /* End icvInitCapture_V4L */

+#ifdef HAVE_CAMV4L

+

 static int

 try_palette(int fd,

             struct video_picture *cam_pic,

@@ -410,6 +416,8 @@ try_palette(int fd,

   return 0;

 }

+#endif /* HAVE_CAMV4L */

+

 #ifdef HAVE_CAMV4L2

 static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)

@@ -434,6 +442,8 @@ static int try_palette_v4l2(CvCaptureCAM

 #endif /* HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

+

 static int try_init_v4l(CvCaptureCAM_V4L* capture, char *deviceName)

 {

@@ -448,7 +458,8 @@ static int try_init_v4l(CvCaptureCAM_V4L

   /* Test using an open to see if this new device name really does exists. */

   /* No matter what the name - it still must be opened! */

   capture->deviceHandle = open(deviceName, O_RDWR);

-

+  if (capture->deviceHandle == -1)

+    perror(deviceName);

   if (capture->deviceHandle == 0)

   {

@@ -462,8 +473,8 @@ static int try_init_v4l(CvCaptureCAM_V4L

     /* Query the newly opened device for its capabilities */

     if (ioctl(capture->deviceHandle, VIDIOCGCAP, &capture->capability) < 0)

     {

+      perror("VIDIOCGCAP");

       detect = 0;

-

       icvCloseCAM_V4L(capture);

     }

       else

@@ -476,54 +487,64 @@ static int try_init_v4l(CvCaptureCAM_V4L

 }

+#endif /* HAVE_CAMV4L */

+

 #ifdef HAVE_CAMV4L2

 static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)

 {

-

-  // if detect = -1 then unable to open device

-  // if detect = 0 then detected nothing

-  // if detect = 1 then V4L2 device

-  int detect = 0;

-

-

   // Test device for V4L2 compability

+  // Return value:

+  // -1 then unable to open device

+  //  0 then detected nothing

+  //  1 then V4L2 device

+

+  int deviceIndex;

   /* Open and test V4L2 device */

   capture->deviceHandle = open (deviceName, O_RDWR /* required */ | O_NONBLOCK, 0);

-

-

-

-  if (capture->deviceHandle == 0)

+  if (-1 == capture->deviceHandle)

   {

-    detect = -1;

-

+#ifndef NDEBUG

+    fprintf(stderr, "(DEBUG) try_init_v4l2 open \"%s\": %s\n", deviceName, strerror(errno));

+#endif

     icvCloseCAM_V4L(capture);

+    return -1;

   }

-  if (detect == 0)

+  CLEAR (capture->cap);

+  if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))

   {

-    CLEAR (capture->cap);

-    if (-1 == xioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))

-    {

-      detect = 0;

+#ifndef NDEBUG

+    fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_QUERYCAP \"%s\": %s\n", deviceName, strerror(errno));

+#endif

+    icvCloseCAM_V4L(capture);

+    return 0;

+  }

-      icvCloseCAM_V4L(capture);

-    }

-      else

-    {

-      CLEAR (capture->capability);

-      capture->capability.type = capture->cap.capabilities;

+  /* Query channels number */

+  if (-1 == xioctl (capture->deviceHandle, VIDIOC_G_INPUT, &deviceIndex))

+  {

+#ifndef NDEBUG

+    fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_G_INPUT \"%s\": %s\n", deviceName, strerror(errno));

+#endif

+    icvCloseCAM_V4L(capture);

+    return 0;

+  }

-      /* Query channels number */

-      if (-1 != xioctl (capture->deviceHandle, VIDIOC_G_INPUT, &capture->capability.channels))

-      {

-        detect = 1;

-      }

-    }

+  /* Query information about current input */

+  CLEAR (capture->inp);

+  capture->inp.index = deviceIndex;

+  if (-1 == xioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))

+  {

+#ifndef NDEBUG

+    fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_ENUMINPUT \"%s\": %s\n", deviceName, strerror(errno));

+#endif

+    icvCloseCAM_V4L(capture);

+    return 0;

   }

-  return detect;

+  return 1;

 }

@@ -593,6 +614,8 @@ static int autosetup_capture_mode_v4l2(C

 #endif /* HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

+

 static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)

 {

@@ -626,6 +649,8 @@ static int autosetup_capture_mode_v4l(Cv

 }

+#endif /* HAVE_CAMV4L */

+

 #ifdef HAVE_CAMV4L2

 static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)

@@ -976,8 +1001,8 @@ static int _capture_V4L2 (CvCaptureCAM_V

    /* Set up Image data */

    cvInitImageHeader( &capture->frame,

-                      cvSize( capture->captureWindow.width,

-                              capture->captureWindow.height ),

+                      cvSize( capture->form.fmt.pix.width,

+                              capture->form.fmt.pix.height ),

                       IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );

    /* Allocate space for RGBA data */

    capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);

@@ -987,6 +1012,8 @@ static int _capture_V4L2 (CvCaptureCAM_V

 #endif /* HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

+

 static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)

 {

    int detect_v4l = 0;

@@ -1105,6 +1132,8 @@ static int _capture_V4L (CvCaptureCAM_V4

    return 1;

 }; /* End _capture_V4L */

+#endif /* HAVE_CAMV4L */

+

 static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)

 {

    static int autoindex;

@@ -1154,10 +1183,12 @@ static CvCaptureCAM_V4L * icvCaptureFrom

        icvCloseCAM_V4L(capture);

        V4L2_SUPPORT = 0;

 #endif  /* HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

        if (_capture_V4L (capture, deviceName) == -1) {

            icvCloseCAM_V4L(capture);

            return NULL;

        }

+#endif  /* HAVE_CAMV4L */

 #ifdef HAVE_CAMV4L2

    } else {

        V4L2_SUPPORT = 1;

@@ -1296,8 +1327,12 @@ static int icvGrabFrameCAM_V4L(CvCapture

             perror ("VIDIOC_STREAMON");

             return 0;

         }

-      } else

+      }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+      else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

       {

         for (capture->bufferIndex = 0;

@@ -1316,6 +1351,7 @@ static int icvGrabFrameCAM_V4L(CvCapture

         }

       }

+#endif /* HAVE_CAMV4L */

 #if defined(V4L_ABORT_BADJPEG) && defined(HAVE_CAMV4L2)

      if (V4L2_SUPPORT == 1)

@@ -1337,8 +1373,12 @@ static int icvGrabFrameCAM_V4L(CvCapture

      mainloop_v4l2(capture);

-   } else

+   }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+     else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

    {

      capture->mmaps[capture->bufferIndex].frame  = capture->bufferIndex;

@@ -1358,6 +1398,7 @@ static int icvGrabFrameCAM_V4L(CvCapture

      }

    }

+#endif /* HAVE_CAMV4L */

    return(1);

 }

@@ -2075,6 +2116,7 @@ static IplImage* icvRetrieveFrameCAM_V4L

 #ifdef HAVE_CAMV4L2

   if (V4L2_SUPPORT == 0)

 #endif /* HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

   {

     /* [FD] this really belongs here */

@@ -2083,6 +2125,7 @@ static IplImage* icvRetrieveFrameCAM_V4L

     }

   }

+#endif /* HAVE_CAMV4L */

    /* Now get what has already been captured as a IplImage return */

@@ -2103,8 +2146,12 @@ static IplImage* icvRetrieveFrameCAM_V4L

        capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);

     }

-  } else

+  }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+    else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

   {

     if((capture->frame.width != capture->mmaps[capture->bufferIndex].width)

@@ -2118,6 +2165,7 @@ static IplImage* icvRetrieveFrameCAM_V4L

     }

   }

+#endif /* HAVE_CAMV4L */

 #ifdef HAVE_CAMV4L2

@@ -2145,7 +2193,6 @@ static IplImage* icvRetrieveFrameCAM_V4L

                          (unsigned char*)capture->frame.imageData);

         break;

 #ifdef HAVE_JPEG

-#ifdef __USE_GNU

     /* support for MJPEG is only available with libjpeg and gcc,

        because it's use libjepg and fmemopen()

     */

@@ -2159,7 +2206,6 @@ static IplImage* icvRetrieveFrameCAM_V4L

           return 0;

         break;

 #endif

-#endif

       case PALETTE_YUYV:

         yuyv_to_rgb24(capture->form.fmt.pix.width,

@@ -2201,8 +2247,12 @@ static IplImage* icvRetrieveFrameCAM_V4L

                     (unsigned char*)capture->frame.imageData);

         break;

       }

-  } else

+  }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+    else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

   {

     switch(capture->imageProperties.palette) {

@@ -2238,6 +2288,7 @@ static IplImage* icvRetrieveFrameCAM_V4L

     }

   }

+#endif /* HAVE_CAMV4L */

    return(&capture->frame);

 }

@@ -2358,8 +2409,12 @@ static double icvGetPropertyCAM_V4L (CvC

       /* all was OK, so convert to 0.0 - 1.0 range, and return the value */

       return ((float)capture->control.value - v4l2_min + 1) / (v4l2_max - v4l2_min);

-  } else

+  }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+    else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

   {

     int retval = -1;

@@ -2417,6 +2472,7 @@ static double icvGetPropertyCAM_V4L (CvC

     return float (retval) / 0xFFFF;

   }

+#endif /* HAVE_CAMV4L */

 };

@@ -2489,8 +2545,12 @@ static int icvSetVideoSize( CvCaptureCAM

     return 0;

-  } else

+  }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+    else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

   {

     if (capture==0) return 0;

@@ -2517,6 +2577,7 @@ static int icvSetVideoSize( CvCaptureCAM

      capture->FirstCapture = 1;

   }

+#endif /* HAVE_CAMV4L */

   return 0;

@@ -2648,8 +2709,12 @@ static int icvSetControl (CvCaptureCAM_V

         perror ("VIDIOC_S_CTRL");

         return -1;

     }

-  } else

+  }

 #endif /* HAVE_CAMV4L2 */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+    else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

   {

     int v4l_value;

@@ -2694,6 +2759,7 @@ static int icvSetControl (CvCaptureCAM_V

        return -1;

     }

   }

+#endif /* HAVE_CAMV4L */

   /* all was OK */

   return 0;

@@ -2754,6 +2820,7 @@ static void icvCloseCAM_V4L( CvCaptureCA

 #ifdef HAVE_CAMV4L2

      if (V4L2_SUPPORT == 0)

 #endif /* HAVE_CAMV4L2 */

+#ifdef HAVE_CAMV4L

      {

        if (capture->mmaps)

@@ -2762,10 +2829,14 @@ static void icvCloseCAM_V4L( CvCaptureCA

          munmap(capture->memoryMap, capture->memoryBuffer.size);

      }

+#endif /* HAVE_CAMV4L */

+#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)

+     else

+#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */

 #ifdef HAVE_CAMV4L2

-     else {

+       {

        capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

-       if (ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type) < 0) {

+       if (-1 == ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type)) {

            perror ("Unable to stop the stream.");

        }