cap_v4l.cpp

/* This is the contributed code:

File:             cvcap_v4l.cpp
Current Location: ../opencv-0.9.6/otherlibs/highgui

Original Version: 2003-03-12  Magnus Lundin lundin@mlu.mine.nu
Original Comments:

ML:This set of files adds support for firevre and usb cameras.
First it tries to install a firewire camera,
if that fails it tries a v4l/USB camera
It has been tested with the motempl sample program

First Patch:  August 24, 2004 Travis Wood   TravisOCV@tkwood.com
For Release:  OpenCV-Linux Beta4  opencv-0.9.6
Tested On:    LMLBT44 with 8 video inputs
Problems?     Post problems/fixes to OpenCV group on groups.yahoo.com
Patched Comments:

TW: The cv cam utils that came with the initial release of OpenCV for LINUX Beta4
were not working.  I have rewritten them so they work for me. At the same time, trying
to keep the original code as ML wrote it as unchanged as possible.  No one likes to debug
someone elses code, so I resisted changes as much as possible.  I have tried to keep the
same "ideas" where applicable, that is, where I could figure out what the previous author
intended. Some areas I just could not help myself and had to "spiffy-it-up" my way.

These drivers should work with other V4L frame capture cards other then my bttv
driven frame capture card.

Re Written driver for standard V4L mode. Tested using LMLBT44 video capture card.
Standard bttv drivers are on the LMLBT44 with up to 8 Inputs.

This utility was written with the help of the document:
http://pages.cpsc.ucalgary.ca/~sayles/VFL_HowTo
as a general guide for interfacing into the V4l standard.

Made the index value passed for icvOpenCAM_V4L(index) be the number of the
video device source in the /dev tree. The -1 uses original /dev/video.

Index  Device
  0    /dev/video0
  1    /dev/video1
  2    /dev/video2
  3    /dev/video3
  ...
  7    /dev/video7
with
  -1   /dev/video

TW: You can select any video source, but this package was limited from the start to only
ONE camera opened at any ONE time.
This is an original program limitation.
If you are interested, I will make my version available to other OpenCV users.  The big
difference in mine is you may pass the camera number as part of the cv argument, but this
convention is non standard for current OpenCV calls and the camera number is not currently
passed into the called routine.

Second Patch:   August 28, 2004 Sfuncia Fabio fiblan@yahoo.it
For Release:  OpenCV-Linux Beta4 Opencv-0.9.6

FS: this patch fix not sequential index of device (unplugged device), and real numCameras.
    for -1 index (icvOpenCAM_V4L) i dont use /dev/video but real device available, because
    if /dev/video is a link to /dev/video0 and i unplugged device on /dev/video0, /dev/video
    is a bad link. I search the first available device with indexList.

Third Patch:   December 9, 2004 Frederic Devernay Frederic.Devernay@inria.fr
For Release:  OpenCV-Linux Beta4 Opencv-0.9.6

[FD] I modified the following:
 - handle YUV420P, YUV420, and YUV411P palettes (for many webcams) without using floating-point
 - cvGrabFrame should not wait for the end of the first frame, and should return quickly
   (see highgui doc)
 - cvRetrieveFrame should in turn wait for the end of frame capture, and should not
   trigger the capture of the next frame (the user choses when to do it using GrabFrame)
   To get the old behavior, re-call cvRetrieveFrame just after cvGrabFrame.
 - having global bufferIndex and FirstCapture variables makes the code non-reentrant
 (e.g. when using several cameras), put these in the CvCapture struct.
 - according to V4L HowTo, incrementing the buffer index must be done before VIDIOCMCAPTURE.
 - the VID_TYPE_SCALES stuff from V4L HowTo is wrong: image size can be changed
   even if the hardware does not support scaling (e.g. webcams can have several
   resolutions available). Just don't try to set the size at 640x480 if the hardware supports
   scaling: open with the default (probably best) image size, and let the user scale it
   using SetProperty.
 - image size can be changed by two subsequent calls to SetProperty (for width and height)
 - bug fix: if the image size changes, realloc the new image only when it is grabbed
 - issue errors only when necessary, fix error message formatting.

Fourth Patch: Sept 7, 2005 Csaba Kertesz sign@freemail.hu
For Release:  OpenCV-Linux Beta5 OpenCV-0.9.7

I modified the following:
  - Additional Video4Linux2 support :)
  - Use mmap functions (v4l2)
  - New methods are internal:
    try_palette_v4l2 -> rewrite try_palette for v4l2
    mainloop_v4l2, read_image_v4l2 -> this methods are moved from official v4l2 capture.c example
    try_init_v4l -> device v4l initialisation
    try_init_v4l2 -> device v4l2 initialisation
    autosetup_capture_mode_v4l -> autodetect capture modes for v4l
    autosetup_capture_mode_v4l2 -> autodetect capture modes for v4l2
  - Modifications are according with Video4Linux old codes
  - Video4Linux handling is automatically if it does not recognize a Video4Linux2 device
  - Tested succesful with Logitech Quickcam Express (V4L), Creative Vista (V4L) and Genius VideoCam Notebook (V4L2)
  - Correct source lines with compiler warning messages
  - Information message from v4l/v4l2 detection

Fifth Patch: Sept 7, 2005 Csaba Kertesz sign@freemail.hu
For Release:  OpenCV-Linux Beta5 OpenCV-0.9.7

I modified the following:
  - SN9C10x chip based webcams support
  - New methods are internal:
    bayer2rgb24, sonix_decompress -> decoder routines for SN9C10x decoding from Takafumi Mizuno <taka-qce@ls-a.jp> with his pleasure :)
  - Tested succesful with Genius VideoCam Notebook (V4L2)

Sixth Patch: Sept 10, 2005 Csaba Kertesz sign@freemail.hu
For Release:  OpenCV-Linux Beta5 OpenCV-0.9.7

I added the following:
  - Add capture control support (hue, saturation, brightness, contrast, gain)
  - Get and change V4L capture controls (hue, saturation, brightness, contrast)
  - New method is internal:
    icvSetControl -> set capture controls
  - Tested succesful with Creative Vista (V4L)

Seventh Patch: Sept 10, 2005 Csaba Kertesz sign@freemail.hu
For Release:  OpenCV-Linux Beta5 OpenCV-0.9.7

I added the following:
  - Detect, get and change V4L2 capture controls (hue, saturation, brightness, contrast, gain)
  - New methods are internal:
    v4l2_scan_controls_enumerate_menu, v4l2_scan_controls -> detect capture control intervals
  - Tested succesful with Genius VideoCam Notebook (V4L2)

8th patch: Jan 5, 2006, Olivier.Bornet@idiap.ch
Add support of V4L2_PIX_FMT_YUYV and V4L2_PIX_FMT_MJPEG.
With this patch, new webcams of Logitech, like QuickCam Fusion works.
Note: For use these webcams, look at the UVC driver at
http://linux-uvc.berlios.de/

9th patch: Mar 4, 2006, Olivier.Bornet@idiap.ch
- try V4L2 before V4L, because some devices are V4L2 by default,
  but they try to implement the V4L compatibility layer.
  So, I think this is better to support V4L2 before V4L.
- better separation between V4L2 and V4L initialization. (this was needed to support
  some drivers working, but not fully with V4L2. (so, we do not know when we
  need to switch from V4L2 to V4L.

10th patch: July 02, 2008, Mikhail Afanasyev fopencv@theamk.com
Fix reliability problems with high-resolution UVC cameras on linux
the symptoms were damaged image and 'Corrupt JPEG data: premature end of data segment' on stderr
- V4L_ABORT_BADJPEG detects JPEG warnings and turns them into errors, so bad images
  could be filtered out
- USE_TEMP_BUFFER fixes the main problem (improper buffer management) and
  prevents bad images in the first place

11th patch: April 2, 2013, Forrest Reiling forrest.reiling@gmail.com
Added v4l2 support for getting capture property CV_CAP_PROP_POS_MSEC.
Returns the millisecond timestamp of the last frame grabbed or 0 if no frames have been grabbed
Used to successfully synchonize 2 Logitech C310 USB webcams to within 16 ms of one another


make & enjoy!

*/

/*M///////////////////////////////////////////////////////////////////////////////////////
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//  If you do not agree to this license, do not download, install,
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#include "precomp.hpp"

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

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

#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/mman.h>

#ifdef HAVE_CAMV4L
#include <linux/videodev.h>
#endif

#include <string.h>
#include <stdlib.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
#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

#define CHANNEL_NUMBER 1
#define MAX_CAMERAS 8


// default and maximum number of V4L buffers, not including last, 'special' buffer
#define MAX_V4L_BUFFERS 10
#define DEFAULT_V4L_BUFFERS 4

// if enabled, then bad JPEG warnings become errors and cause NULL returned instead of image
#define V4L_ABORT_BADJPEG

#define MAX_DEVICE_DRIVER_NAME 80

/* Device Capture Objects */

#ifdef HAVE_CAMV4L2

/* V4L2 structure */
struct buffer
{
  void *  start;
  size_t  length;
};

static unsigned int n_buffers = 0;

/* Additional V4L2 pixelformats support for Sonix SN9C10x base webcams */
#ifndef V4L2_PIX_FMT_SBGGR8
#define V4L2_PIX_FMT_SBGGR8  v4l2_fourcc('B','A','8','1') /* 8 BGBG.. GRGR.. */
#endif
#ifndef V4L2_PIX_FMT_SN9C10X
#define V4L2_PIX_FMT_SN9C10X  v4l2_fourcc('S','9','1','0') /* SN9C10x cmpr. */
#endif

#ifndef V4L2_PIX_FMT_SGBRG
#define V4L2_PIX_FMT_SGBRG v4l2_fourcc('G','B','R','G') /* bayer GBRG   GBGB.. RGRG.. */
#endif

#endif  /* HAVE_CAMV4L2 */

enum PALETTE_TYPE {
  PALETTE_BGR24 = 1,
  PALETTE_YVU420,
  PALETTE_YUV411P,
  PALETTE_YUYV,
  PALETTE_UYVY,
  PALETTE_SBGGR8,
  PALETTE_SN9C10X,
  PALETTE_MJPEG,
  PALETTE_SGBRG
};

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;

#ifdef HAVE_CAMV4L2
   enum PALETTE_TYPE palette;
   /* V4L2 variables */
   buffer buffers[MAX_V4L_BUFFERS + 1];
   struct v4l2_capability cap;
   struct v4l2_input inp;
   struct v4l2_format form;
   struct v4l2_crop crop;
   struct v4l2_cropcap cropcap;
   struct v4l2_requestbuffers req;
   struct v4l2_control control;
   enum v4l2_buf_type type;
   struct v4l2_queryctrl queryctrl;
   struct v4l2_querymenu querymenu;

   struct timeval timestamp;

   /* V4L2 control variables */
   int v4l2_brightness, v4l2_brightness_min, v4l2_brightness_max;
   int v4l2_contrast, v4l2_contrast_min, v4l2_contrast_max;
   int v4l2_saturation, v4l2_saturation_min, v4l2_saturation_max;
   int v4l2_hue, v4l2_hue_min, v4l2_hue_max;
   int v4l2_gain, v4l2_gain_min, v4l2_gain_max;
   int v4l2_exposure, v4l2_exposure_min, v4l2_exposure_max;

#endif /* HAVE_CAMV4L2 */

}
CvCaptureCAM_V4L;

#ifdef HAVE_CAMV4L2

int V4L2_SUPPORT = 0;

#endif /* HAVE_CAMV4L2 */

static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture );

static int icvGrabFrameCAM_V4L( CvCaptureCAM_V4L* capture );
static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int );

static double icvGetPropertyCAM_V4L( CvCaptureCAM_V4L* capture, int property_id );
static int    icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture, int property_id, double value );

static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h);

/***********************   Implementations  ***************************************/

static int numCameras = 0;
static int indexList = 0;

/* 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.
   Returns the global numCameras with the correct value (we hope) */

static void icvInitCapture_V4L() {
   int deviceHandle;
   int CameraNumber;
   char deviceName[MAX_DEVICE_DRIVER_NAME];

   CameraNumber = 0;
   while(CameraNumber < MAX_CAMERAS) {
      /* Print the CameraNumber at the end of the string with a width of one character */
      sprintf(deviceName, "/dev/video%1d", CameraNumber);
      /* Test using an open to see if this new device name really does exists. */
      deviceHandle = open(deviceName, O_RDONLY);
      if (deviceHandle != -1) {
         /* This device does indeed exist - add it to the total so far */
    // add indexList
    indexList|=(1 << CameraNumber);
        numCameras++;
    }
    if (deviceHandle != -1)
      close(deviceHandle);
      /* Set up to test the next /dev/video source in line */
      CameraNumber++;
   } /* End while */

}; /* End icvInitCapture_V4L */

#ifdef HAVE_CAMV4L

static int
try_palette(int fd,
            struct video_picture *cam_pic,
            int pal,
            int depth)
{
  cam_pic->palette = pal;
  cam_pic->depth = depth;
  if (ioctl(fd, VIDIOCSPICT, cam_pic) < 0)
    return 0;
  if (ioctl(fd, VIDIOCGPICT, cam_pic) < 0)
    return 0;
  if (cam_pic->palette == pal)
    return 1;
  return 0;
}

#endif /* HAVE_CAMV4L */

#ifdef HAVE_CAMV4L2

static int try_palette_v4l2(CvCaptureCAM_V4L* capture, unsigned long colorspace)
{
  CLEAR (capture->form);

  capture->form.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  capture->form.fmt.pix.pixelformat = colorspace;
  capture->form.fmt.pix.field       = V4L2_FIELD_ANY;
  capture->form.fmt.pix.width = DEFAULT_V4L_WIDTH;
  capture->form.fmt.pix.height = DEFAULT_V4L_HEIGHT;

  if (-1 == ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form))
      return -1;


  if (colorspace != capture->form.fmt.pix.pixelformat)
    return -1;
  else
    return 0;
}

#endif /* HAVE_CAMV4L2 */

#ifdef HAVE_CAMV4L

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

  // if detect = -1 then unable to open device
  // if detect = 0 then detected nothing
  // if detect = 1 then V4L device
  int detect = 0;


  // Test device for V4L compability

  /* 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 == 0)
  {
    detect = -1;

    icvCloseCAM_V4L(capture);
  }

  if (detect == 0)
  {
    /* Query the newly opened device for its capabilities */
    if (ioctl(capture->deviceHandle, VIDIOCGCAP, &capture->capability) < 0)
    {
      detect = 0;
      icvCloseCAM_V4L(capture);
    }
      else
    {
      detect = 1;
    }
  }

  return detect;

}

#endif /* HAVE_CAMV4L */

#ifdef HAVE_CAMV4L2

static int try_init_v4l2(CvCaptureCAM_V4L* capture, char *deviceName)
{
  // 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 (-1 == capture->deviceHandle)
  {
#ifndef NDEBUG
    fprintf(stderr, "(DEBUG) try_init_v4l2 open \"%s\": %s\n", deviceName, strerror(errno));
#endif
    icvCloseCAM_V4L(capture);
    return -1;
  }

  CLEAR (capture->cap);
  if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYCAP, &capture->cap))
  {
#ifndef NDEBUG
    fprintf(stderr, "(DEBUG) try_init_v4l2 VIDIOC_QUERYCAP \"%s\": %s\n", deviceName, strerror(errno));
#endif
    icvCloseCAM_V4L(capture);
    return 0;
  }

  /* Query channels number */
  if (-1 == ioctl (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 information about current input */
  CLEAR (capture->inp);
  capture->inp.index = deviceIndex;
  if (-1 == ioctl (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 1;

}

static int autosetup_capture_mode_v4l2(CvCaptureCAM_V4L* capture)
{
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_BGR24) == 0)
  {
    capture->palette = PALETTE_BGR24;
  }
  else
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_YVU420) == 0)
  {
    capture->palette = PALETTE_YVU420;
  }
  else
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUV411P) == 0)
  {
    capture->palette = PALETTE_YUV411P;
  }
  else

#ifdef HAVE_JPEG
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_MJPEG) == 0 ||
      try_palette_v4l2(capture, V4L2_PIX_FMT_JPEG) == 0)
  {
    capture->palette = PALETTE_MJPEG;
  }
  else
#endif

  if (try_palette_v4l2(capture, V4L2_PIX_FMT_YUYV) == 0)
  {
    capture->palette = PALETTE_YUYV;
  }
  else if (try_palette_v4l2(capture, V4L2_PIX_FMT_UYVY) == 0)
  {
    capture->palette = PALETTE_UYVY;
  }
  else
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_SN9C10X) == 0)
  {
    capture->palette = PALETTE_SN9C10X;
  } else
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_SBGGR8) == 0)
  {
    capture->palette = PALETTE_SBGGR8;
  } else
  if (try_palette_v4l2(capture, V4L2_PIX_FMT_SGBRG) == 0)
  {
    capture->palette = PALETTE_SGBRG;
  }
      else
  {
    fprintf(stderr, "HIGHGUI ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV\n");
    icvCloseCAM_V4L(capture);
    return -1;
  }

  return 0;

}

#endif /* HAVE_CAMV4L2 */

#ifdef HAVE_CAMV4L

static int autosetup_capture_mode_v4l(CvCaptureCAM_V4L* capture)
{

  if(ioctl(capture->deviceHandle, VIDIOCGPICT, &capture->imageProperties) < 0) {
     fprintf( stderr, "HIGHGUI ERROR: V4L: Unable to determine size of incoming image\n");
     icvCloseCAM_V4L(capture);
     return -1;
  }

  /* Yet MORE things that might have to be changes with your frame capture card */
  /* This sets the scale to the center of a 2^16 number */
  if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_RGB24, 24)) {
      //printf("negotiated palette RGB24\n");
  }
  else if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_YUV420P, 16)) {
      //printf("negotiated palette YUV420P\n");
  }
  else if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_YUV420, 16)) {
      //printf("negotiated palette YUV420\n");
  }
  else if (try_palette(capture->deviceHandle, &capture->imageProperties, VIDEO_PALETTE_YUV411P, 16)) {
      //printf("negotiated palette YUV420P\n");
  }
  else {
    fprintf(stderr, "HIGHGUI ERROR: V4L: Pixel format of incoming image is unsupported by OpenCV\n");
    icvCloseCAM_V4L(capture);
    return -1;
  }

  return 0;

}

#endif /* HAVE_CAMV4L */

#ifdef HAVE_CAMV4L2

static void v4l2_scan_controls_enumerate_menu(CvCaptureCAM_V4L* capture)
{
//  printf (" Menu items:\n");
  CLEAR (capture->querymenu);
  capture->querymenu.id = capture->queryctrl.id;
  for (capture->querymenu.index = capture->queryctrl.minimum;
       (int)capture->querymenu.index <= capture->queryctrl.maximum;
       capture->querymenu.index++)
  {
    if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYMENU,
                     &capture->querymenu))
    {
//      printf (" %s\n", capture->querymenu.name);
    } else {
        perror ("VIDIOC_QUERYMENU");
    }
  }
}

static void v4l2_scan_controls(CvCaptureCAM_V4L* capture)
{

  __u32 ctrl_id;

  for (ctrl_id = V4L2_CID_BASE;
       ctrl_id < V4L2_CID_LASTP1;
       ctrl_id++)
  {

    /* set the id we will query now */
    CLEAR (capture->queryctrl);
    capture->queryctrl.id = ctrl_id;

    if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
                     &capture->queryctrl))
    {

      if (capture->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
        continue;

      if (capture->queryctrl.id == V4L2_CID_BRIGHTNESS)
      {
        capture->v4l2_brightness = 1;
        capture->v4l2_brightness_min = capture->queryctrl.minimum;
        capture->v4l2_brightness_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_CONTRAST)
      {
        capture->v4l2_contrast = 1;
        capture->v4l2_contrast_min = capture->queryctrl.minimum;
        capture->v4l2_contrast_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_SATURATION)
      {
        capture->v4l2_saturation = 1;
        capture->v4l2_saturation_min = capture->queryctrl.minimum;
        capture->v4l2_saturation_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_HUE)
      {
        capture->v4l2_hue = 1;
        capture->v4l2_hue_min = capture->queryctrl.minimum;
        capture->v4l2_hue_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_GAIN)
      {
        capture->v4l2_gain = 1;
        capture->v4l2_gain_min = capture->queryctrl.minimum;
        capture->v4l2_gain_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_EXPOSURE)
      {
        capture->v4l2_exposure = 1;
        capture->v4l2_exposure_min = capture->queryctrl.minimum;
        capture->v4l2_exposure_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.type == V4L2_CTRL_TYPE_MENU)
        v4l2_scan_controls_enumerate_menu(capture);

    } else {

      if (errno == EINVAL)
        continue;

      perror ("VIDIOC_QUERYCTRL");

    }

  }

  for (ctrl_id = V4L2_CID_PRIVATE_BASE;;ctrl_id++)
  {

    /* set the id we will query now */
    CLEAR (capture->queryctrl);
    capture->queryctrl.id = ctrl_id;

    if (0 == ioctl (capture->deviceHandle, VIDIOC_QUERYCTRL,
                     &capture->queryctrl))
    {

      if (capture->queryctrl.flags & V4L2_CTRL_FLAG_DISABLED)
        continue;

      if (capture->queryctrl.id == V4L2_CID_BRIGHTNESS)
      {
        capture->v4l2_brightness = 1;
        capture->v4l2_brightness_min = capture->queryctrl.minimum;
        capture->v4l2_brightness_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_CONTRAST)
      {
        capture->v4l2_contrast = 1;
        capture->v4l2_contrast_min = capture->queryctrl.minimum;
        capture->v4l2_contrast_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_SATURATION)
      {
        capture->v4l2_saturation = 1;
        capture->v4l2_saturation_min = capture->queryctrl.minimum;
        capture->v4l2_saturation_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_HUE)
      {
        capture->v4l2_hue = 1;
        capture->v4l2_hue_min = capture->queryctrl.minimum;
        capture->v4l2_hue_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_GAIN)
      {
        capture->v4l2_gain = 1;
        capture->v4l2_gain_min = capture->queryctrl.minimum;
        capture->v4l2_gain_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.id == V4L2_CID_EXPOSURE)
      {
        capture->v4l2_exposure = 1;
        capture->v4l2_exposure_min = capture->queryctrl.minimum;
        capture->v4l2_exposure_max = capture->queryctrl.maximum;
      }

      if (capture->queryctrl.type == V4L2_CTRL_TYPE_MENU)
        v4l2_scan_controls_enumerate_menu(capture);

    } else {

      if (errno == EINVAL)
        break;

      perror ("VIDIOC_QUERYCTRL");

    }

  }

}

static int _capture_V4L2 (CvCaptureCAM_V4L *capture, char *deviceName)
{
   int detect_v4l2 = 0;

   detect_v4l2 = try_init_v4l2(capture, deviceName);

   if (detect_v4l2 != 1) {
       /* init of the v4l2 device is not OK */
       return -1;
   }

   /* starting from here, we assume we are in V4L2 mode */
   V4L2_SUPPORT = 1;

   /* Init V4L2 control variables */
   capture->v4l2_brightness = 0;
   capture->v4l2_contrast = 0;
   capture->v4l2_saturation = 0;
   capture->v4l2_hue = 0;
   capture->v4l2_gain = 0;
   capture->v4l2_exposure = 0;

   capture->v4l2_brightness_min = 0;
   capture->v4l2_contrast_min = 0;
   capture->v4l2_saturation_min = 0;
   capture->v4l2_hue_min = 0;
   capture->v4l2_gain_min = 0;
   capture->v4l2_exposure_min = 0;

   capture->v4l2_brightness_max = 0;
   capture->v4l2_contrast_max = 0;
   capture->v4l2_saturation_max = 0;
   capture->v4l2_hue_max = 0;
   capture->v4l2_gain_max = 0;
   capture->v4l2_exposure_max = 0;

   capture->timestamp.tv_sec = 0;
   capture->timestamp.tv_usec = 0;

   /* Scan V4L2 controls */
   v4l2_scan_controls(capture);

   if ((capture->cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
      /* Nope. */
      fprintf( stderr, "HIGHGUI ERROR: V4L2: device %s is unable to capture video memory.\n",deviceName);
      icvCloseCAM_V4L(capture);
      return -1;
   }

   /* The following code sets the CHANNEL_NUMBER of the video input.  Some video sources
   have sub "Channel Numbers".  For a typical V4L TV capture card, this is usually 1.
   I myself am using a simple NTSC video input capture card that uses the value of 1.
   If you are not in North America or have a different video standard, you WILL have to change
   the following settings and recompile/reinstall.  This set of settings is based on
   the most commonly encountered input video source types (like my bttv card) */

   if(capture->inp.index > 0) {
       CLEAR (capture->inp);
       capture->inp.index = CHANNEL_NUMBER;
       /* Set only channel number to CHANNEL_NUMBER */
       /* V4L2 have a status field from selected video mode */
       if (-1 == ioctl (capture->deviceHandle, VIDIOC_ENUMINPUT, &capture->inp))
       {
         fprintf (stderr, "HIGHGUI ERROR: V4L2: Aren't able to set channel number\n");
         icvCloseCAM_V4L (capture);
         return -1;
       }
   } /* End if */

   /* Find Window info */
   CLEAR (capture->form);
   capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

   if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
       fprintf( stderr, "HIGHGUI ERROR: V4L2: Could not obtain specifics of capture window.\n\n");
       icvCloseCAM_V4L(capture);
       return -1;
   }

   if (V4L2_SUPPORT == 0)
   {
   }

   if (autosetup_capture_mode_v4l2(capture) == -1)
       return -1;

   icvSetVideoSize(capture, DEFAULT_V4L_WIDTH, DEFAULT_V4L_HEIGHT);

   unsigned int min;

   /* Buggy driver paranoia. */
   min = capture->form.fmt.pix.width * 2;

   if (capture->form.fmt.pix.bytesperline < min)
       capture->form.fmt.pix.bytesperline = min;

   min = capture->form.fmt.pix.bytesperline * capture->form.fmt.pix.height;

   if (capture->form.fmt.pix.sizeimage < min)
       capture->form.fmt.pix.sizeimage = min;

   CLEAR (capture->req);

   unsigned int buffer_number = DEFAULT_V4L_BUFFERS;

   try_again:

   capture->req.count = buffer_number;
   capture->req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   capture->req.memory = V4L2_MEMORY_MMAP;

   if (-1 == ioctl (capture->deviceHandle, VIDIOC_REQBUFS, &capture->req))
   {
       if (EINVAL == errno)
       {
         fprintf (stderr, "%s does not support memory mapping\n", deviceName);
       } else {
         perror ("VIDIOC_REQBUFS");
       }
       /* free capture, and returns an error code */
       icvCloseCAM_V4L (capture);
       return -1;
   }

   if (capture->req.count < buffer_number)
   {
       if (buffer_number == 1)
       {
           fprintf (stderr, "Insufficient buffer memory on %s\n", deviceName);

           /* free capture, and returns an error code */
           icvCloseCAM_V4L (capture);
           return -1;
       } else {
         buffer_number--;
     fprintf (stderr, "Insufficient buffer memory on %s -- decreaseing buffers\n", deviceName);

     goto try_again;
       }
   }

   for (n_buffers = 0; n_buffers < capture->req.count; ++n_buffers)
   {
       struct v4l2_buffer buf;

       CLEAR (buf);

       buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
       buf.memory = V4L2_MEMORY_MMAP;
       buf.index = n_buffers;

       if (-1 == ioctl (capture->deviceHandle, VIDIOC_QUERYBUF, &buf)) {
           perror ("VIDIOC_QUERYBUF");

           /* free capture, and returns an error code */
           icvCloseCAM_V4L (capture);
           return -1;
       }

       capture->buffers[n_buffers].length = buf.length;
       capture->buffers[n_buffers].start =
         mmap (NULL /* start anywhere */,
               buf.length,
               PROT_READ | PROT_WRITE /* required */,
               MAP_SHARED /* recommended */,
               capture->deviceHandle, buf.m.offset);

       if (MAP_FAILED == capture->buffers[n_buffers].start) {
           perror ("mmap");

           /* free capture, and returns an error code */
           icvCloseCAM_V4L (capture);
           return -1;
       }

       if (n_buffers == 0) {
     capture->buffers[MAX_V4L_BUFFERS].start = malloc( buf.length );
     capture->buffers[MAX_V4L_BUFFERS].length = buf.length;
       }
   }

   /* Set up Image data */
   cvInitImageHeader( &capture->frame,
                      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);

   return 1;
}; /* End _capture_V4L2 */

#endif /* HAVE_CAMV4L2 */

#ifdef HAVE_CAMV4L

static int _capture_V4L (CvCaptureCAM_V4L *capture, char *deviceName)
{
   int detect_v4l = 0;

   detect_v4l = try_init_v4l(capture, deviceName);

   if ((detect_v4l == -1)
       )
   {
     fprintf (stderr, "HIGHGUI ERROR: V4L"
              ": device %s: Unable to open for READ ONLY\n", deviceName);

     return -1;
   }

   if ((detect_v4l <= 0)
       )
   {
     fprintf (stderr, "HIGHGUI ERROR: V4L"
              ": device %s: Unable to query number of channels\n", deviceName);

     return -1;
   }

   {
     if ((capture->capability.type & VID_TYPE_CAPTURE) == 0) {
       /* Nope. */
       fprintf( stderr, "HIGHGUI ERROR: V4L: "
                "device %s is unable to capture video memory.\n",deviceName);
       icvCloseCAM_V4L(capture);
       return -1;
     }

   }


   /* The following code sets the CHANNEL_NUMBER of the video input.  Some video sources
   have sub "Channel Numbers".  For a typical V4L TV capture card, this is usually 1.
   I myself am using a simple NTSC video input capture card that uses the value of 1.
   If you are not in North America or have a different video standard, you WILL have to change
   the following settings and recompile/reinstall.  This set of settings is based on
   the most commonly encountered input video source types (like my bttv card) */

   {

     if(capture->capability.channels>0) {

       struct video_channel selectedChannel;
       memset(&selectedChannel, 0, sizeof(selectedChannel));

       selectedChannel.channel=CHANNEL_NUMBER;
       if (ioctl(capture->deviceHandle, VIDIOCGCHAN , &selectedChannel) != -1) {
          /* set the video mode to ( VIDEO_MODE_PAL, VIDEO_MODE_NTSC, VIDEO_MODE_SECAM) */
//           selectedChannel.norm = VIDEO_MODE_NTSC;
          if (ioctl(capture->deviceHandle, VIDIOCSCHAN , &selectedChannel) == -1) {
             /* Could not set selected channel - Oh well */
             //printf("\n%d, %s not NTSC capable.\n",selectedChannel.channel, selectedChannel.name);
          } /* End if */
       } /* End if */
     } /* End if */

   }

   {

     if(ioctl(capture->deviceHandle, VIDIOCGWIN, &capture->captureWindow) == -1) {
       fprintf( stderr, "HIGHGUI ERROR: V4L: "
                "Could not obtain specifics of capture window.\n\n");
       icvCloseCAM_V4L(capture);
       return -1;
     }

   }

   {

     if (autosetup_capture_mode_v4l(capture) == -1)
       return -1;

   }

   {

     ioctl(capture->deviceHandle, VIDIOCGMBUF, &capture->memoryBuffer);
     capture->memoryMap  = (char *)mmap(0,
                                   capture->memoryBuffer.size,
                                   PROT_READ | PROT_WRITE,
                                   MAP_SHARED,
                                   capture->deviceHandle,
                                   0);
     if (capture->memoryMap == MAP_FAILED) {
        fprintf( stderr, "HIGHGUI ERROR: V4L: Mapping Memmory from video source error: %s\n", strerror(errno));
        icvCloseCAM_V4L(capture);
     }

     /* Set up video_mmap structure pointing to this memory mapped area so each image may be
        retrieved from an index value */
     capture->mmaps = (struct video_mmap *)
                 (malloc(capture->memoryBuffer.frames * sizeof(struct video_mmap)));
     if (!capture->mmaps) {
        fprintf( stderr, "HIGHGUI ERROR: V4L: Could not memory map video frames.\n");
        icvCloseCAM_V4L(capture);
        return -1;
     }

   }

   /* Set up Image data */
   cvInitImageHeader( &capture->frame,
                      cvSize( capture->captureWindow.width,
                              capture->captureWindow.height ),
                      IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
   /* Allocate space for RGBA data */
   capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);

   return 1;
}; /* End _capture_V4L */

#endif /* HAVE_CAMV4L */

static CvCaptureCAM_V4L * icvCaptureFromCAM_V4L (int index)
{
   static int autoindex;
   autoindex = 0;

   char deviceName[MAX_DEVICE_DRIVER_NAME];

   if (!numCameras)
      icvInitCapture_V4L(); /* Havent called icvInitCapture yet - do it now! */
   if (!numCameras)
     return NULL; /* Are there any /dev/video input sources? */

   //search index in indexList
   if ( (index>-1) && ! ((1 << index) & indexList) )
   {
     fprintf( stderr, "HIGHGUI ERROR: V4L: index %d is not correct!\n",index);
     return NULL; /* Did someone ask for not correct video source number? */
   }
   /* Allocate memory for this humongus CvCaptureCAM_V4L structure that contains ALL
      the handles for V4L processing */
   CvCaptureCAM_V4L * capture = (CvCaptureCAM_V4L*)cvAlloc(sizeof(CvCaptureCAM_V4L));
   if (!capture) {
      fprintf( stderr, "HIGHGUI ERROR: V4L: Could not allocate memory for capture process.\n");
      return NULL;
   }
   /* Select camera, or rather, V4L video source */
   if (index<0) { // Asking for the first device available
     for (; autoindex<MAX_CAMERAS;autoindex++)
    if (indexList & (1<<autoindex))
        break;
     if (autoindex==MAX_CAMERAS)
    return NULL;
     index=autoindex;
     autoindex++;// i can recall icvOpenCAM_V4l with index=-1 for next camera
   }
   /* Print the CameraNumber at the end of the string with a width of one character */
   sprintf(deviceName, "/dev/video%1d", index);

   /* w/o memset some parts  arent initialized - AKA: Fill it with zeros so it is clean */
   memset(capture,0,sizeof(CvCaptureCAM_V4L));
   /* Present the routines needed for V4L funtionality.  They are inserted as part of
      the standard set of cv calls promoting transparency.  "Vector Table" insertion. */
   capture->FirstCapture = 1;

#ifdef HAVE_CAMV4L2
   if (_capture_V4L2 (capture, deviceName) == -1) {
       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;
   }
#endif  /* HAVE_CAMV4L2 */

   return capture;
}; /* End icvOpenCAM_V4L */

#ifdef HAVE_CAMV4L2

static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
    struct v4l2_buffer buf;

    CLEAR (buf);

    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    if (-1 == ioctl (capture->deviceHandle, VIDIOC_DQBUF, &buf)) {
        switch (errno) {
        case EAGAIN:
            return 0;

        case EIO:
        if (!(buf.flags & (V4L2_BUF_FLAG_QUEUED | V4L2_BUF_FLAG_DONE)))
        {
          if (ioctl(capture->deviceHandle, VIDIOC_QBUF, &buf) == -1)
          {
            return 0;
          }
        }
        return 0;

        default:
            /* display the error and stop processing */
            perror ("VIDIOC_DQBUF");
            return 1;
        }
   }

   assert(buf.index < capture->req.count);

   memcpy(capture->buffers[MAX_V4L_BUFFERS].start,
      capture->buffers[buf.index].start,
      capture->buffers[MAX_V4L_BUFFERS].length );
   capture->bufferIndex = MAX_V4L_BUFFERS;
   //printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n",
   //	  buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);

   if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
       perror ("VIDIOC_QBUF");

   //set timestamp in capture struct to be timestamp of most recent frame
   capture->timestamp = buf.timestamp;

   return 1;
}

static void mainloop_v4l2(CvCaptureCAM_V4L* capture) {
    unsigned int count;

    count = 1;

    while (count-- > 0) {
        for (;;) {
            fd_set fds;
            struct timeval tv;
            int r;

            FD_ZERO (&fds);
            FD_SET (capture->deviceHandle, &fds);

            /* Timeout. */
            tv.tv_sec = 10;
            tv.tv_usec = 0;

            r = select (capture->deviceHandle+1, &fds, NULL, NULL, &tv);

            if (-1 == r) {
                if (EINTR == errno)
                    continue;

                perror ("select");
            }

            if (0 == r) {
                fprintf (stderr, "select timeout\n");

                /* end the infinite loop */
                break;
            }

            if (read_frame_v4l2 (capture))
                break;
        }
    }
}

#endif /* HAVE_CAMV4L2 */

static int icvGrabFrameCAM_V4L(CvCaptureCAM_V4L* capture) {

   if (capture->FirstCapture) {
      /* Some general initialization must take place the first time through */

      /* This is just a technicality, but all buffers must be filled up before any
         staggered SYNC is applied.  SO, filler up. (see V4L HowTo) */

#ifdef HAVE_CAMV4L2

#ifdef HAVE_CAMV4L
      if (V4L2_SUPPORT == 1)
#endif
      {

        for (capture->bufferIndex = 0;
             capture->bufferIndex < ((int)capture->req.count);
             ++capture->bufferIndex)
        {

          struct v4l2_buffer buf;

          CLEAR (buf);

          buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
          buf.memory      = V4L2_MEMORY_MMAP;
          buf.index       = (unsigned long)capture->bufferIndex;

          if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf)) {
              perror ("VIDIOC_QBUF");
              return 0;
          }
        }

        /* enable the streaming */
        capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        if (-1 == ioctl (capture->deviceHandle, VIDIOC_STREAMON,
                          &capture->type)) {
            /* error enabling the stream */
            perror ("VIDIOC_STREAMON");
            return 0;
        }
      }
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
      else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
      {

        for (capture->bufferIndex = 0;
         capture->bufferIndex < (capture->memoryBuffer.frames-1);
         ++capture->bufferIndex) {

          capture->mmaps[capture->bufferIndex].frame  = capture->bufferIndex;
          capture->mmaps[capture->bufferIndex].width  = capture->captureWindow.width;
          capture->mmaps[capture->bufferIndex].height = capture->captureWindow.height;
          capture->mmaps[capture->bufferIndex].format = capture->imageProperties.palette;

          if (ioctl(capture->deviceHandle, VIDIOCMCAPTURE, &capture->mmaps[capture->bufferIndex]) == -1) {
            fprintf( stderr, "HIGHGUI ERROR: V4L: Initial Capture Error: Unable to load initial memory buffers.\n");
            return 0;
          }
        }

      }
#endif /* HAVE_CAMV4L */

#if defined(V4L_ABORT_BADJPEG) && defined(HAVE_CAMV4L2)
     if (V4L2_SUPPORT == 1)
     {
        // skip first frame. it is often bad -- this is unnotied in traditional apps,
        //  but could be fatal if bad jpeg is enabled
        mainloop_v4l2(capture);
     }
#endif

      /* preparation is ok */
      capture->FirstCapture = 0;
   }

#ifdef HAVE_CAMV4L2

   if (V4L2_SUPPORT == 1)
   {

     mainloop_v4l2(capture);

   }
#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;
     capture->mmaps[capture->bufferIndex].width  = capture->captureWindow.width;
     capture->mmaps[capture->bufferIndex].height = capture->captureWindow.height;
     capture->mmaps[capture->bufferIndex].format = capture->imageProperties.palette;

     if (ioctl (capture->deviceHandle, VIDIOCMCAPTURE,
        &capture->mmaps[capture->bufferIndex]) == -1) {
     /* capture is on the way, so just exit */
     return 1;
     }

     ++capture->bufferIndex;
     if (capture->bufferIndex == capture->memoryBuffer.frames) {
        capture->bufferIndex = 0;
     }

   }
#endif /* HAVE_CAMV4L */

   return(1);
}

/*
 * Turn a YUV4:2:0 block into an RGB block
 *
 * Video4Linux seems to use the blue, green, red channel
 * order convention-- rgb[0] is blue, rgb[1] is green, rgb[2] is red.
 *
 * Color space conversion coefficients taken from the excellent
 * http://www.inforamp.net/~poynton/ColorFAQ.html
 * In his terminology, this is a CCIR 601.1 YCbCr -> RGB.
 * Y values are given for all 4 pixels, but the U (Pb)
 * and V (Pr) are assumed constant over the 2x2 block.
 *
 * To avoid floating point arithmetic, the color conversion
 * coefficients are scaled into 16.16 fixed-point integers.
 * They were determined as follows:
 *
 *  double brightness = 1.0;  (0->black; 1->full scale)
 *  double saturation = 1.0;  (0->greyscale; 1->full color)
 *  double fixScale = brightness * 256 * 256;
 *  int rvScale = (int)(1.402 * saturation * fixScale);
 *  int guScale = (int)(-0.344136 * saturation * fixScale);
 *  int gvScale = (int)(-0.714136 * saturation * fixScale);
 *  int buScale = (int)(1.772 * saturation * fixScale);
 *  int yScale = (int)(fixScale);
 */

/* LIMIT: convert a 16.16 fixed-point value to a byte, with clipping. */
#define LIMIT(x) ((x)>0xffffff?0xff: ((x)<=0xffff?0:((x)>>16)))

static inline void
move_420_block(int yTL, int yTR, int yBL, int yBR, int u, int v,
               int rowPixels, unsigned char * rgb)
{
    const int rvScale = 91881;
    const int guScale = -22553;
    const int gvScale = -46801;
    const int buScale = 116129;
    const int yScale  = 65536;
    int r, g, b;

    g = guScale * u + gvScale * v;
//  if (force_rgb) {
//      r = buScale * u;
//      b = rvScale * v;
//  } else {
        r = rvScale * v;
        b = buScale * u;
//  }

    yTL *= yScale; yTR *= yScale;
    yBL *= yScale; yBR *= yScale;

    /* Write out top two pixels */
    rgb[0] = LIMIT(b+yTL); rgb[1] = LIMIT(g+yTL);
    rgb[2] = LIMIT(r+yTL);

    rgb[3] = LIMIT(b+yTR); rgb[4] = LIMIT(g+yTR);
    rgb[5] = LIMIT(r+yTR);

    /* Skip down to next line to write out bottom two pixels */
    rgb += 3 * rowPixels;
    rgb[0] = LIMIT(b+yBL); rgb[1] = LIMIT(g+yBL);
    rgb[2] = LIMIT(r+yBL);

    rgb[3] = LIMIT(b+yBR); rgb[4] = LIMIT(g+yBR);
    rgb[5] = LIMIT(r+yBR);
}

static inline void
move_411_block(int yTL, int yTR, int yBL, int yBR, int u, int v,
               int /*rowPixels*/, unsigned char * rgb)
{
    const int rvScale = 91881;
    const int guScale = -22553;
    const int gvScale = -46801;
    const int buScale = 116129;
    const int yScale  = 65536;
    int r, g, b;

    g = guScale * u + gvScale * v;
//  if (force_rgb) {
//      r = buScale * u;
//      b = rvScale * v;
//  } else {
        r = rvScale * v;
        b = buScale * u;
//  }

    yTL *= yScale; yTR *= yScale;
    yBL *= yScale; yBR *= yScale;

    /* Write out top two first pixels */
    rgb[0] = LIMIT(b+yTL); rgb[1] = LIMIT(g+yTL);
    rgb[2] = LIMIT(r+yTL);

    rgb[3] = LIMIT(b+yTR); rgb[4] = LIMIT(g+yTR);
    rgb[5] = LIMIT(r+yTR);

    /* Write out top two last pixels */
    rgb += 6;
    rgb[0] = LIMIT(b+yBL); rgb[1] = LIMIT(g+yBL);
    rgb[2] = LIMIT(r+yBL);

    rgb[3] = LIMIT(b+yBR); rgb[4] = LIMIT(g+yBR);
    rgb[5] = LIMIT(r+yBR);
}

// Consider a YUV420P image of 8x2 pixels.
//
// A plane of Y values    A B C D E F G H
//                        I J K L M N O P
//
// A plane of U values    1   2   3   4
// A plane of V values    1   2   3   4 ....
//
// The U1/V1 samples correspond to the ABIJ pixels.
//     U2/V2 samples correspond to the CDKL pixels.
//
/* Converts from planar YUV420P to RGB24. */
static void
yuv420p_to_rgb24(int width, int height,
           unsigned char *pIn0, unsigned char *pOut0)
{
    const int numpix = width * height;
    const int bytes = 24 >> 3;
    int i, j, y00, y01, y10, y11, u, v;
    unsigned char *pY = pIn0;
    unsigned char *pU = pY + numpix;
    unsigned char *pV = pU + numpix / 4;
    unsigned char *pOut = pOut0;

    for (j = 0; j <= height - 2; j += 2) {
        for (i = 0; i <= width - 2; i += 2) {
            y00 = *pY;
            y01 = *(pY + 1);
            y10 = *(pY + width);
            y11 = *(pY + width + 1);
            u = (*pU++) - 128;
            v = (*pV++) - 128;

            move_420_block(y00, y01, y10, y11, u, v,
                       width, pOut);

            pY += 2;
            pOut += 2 * bytes;

        }
        pY += width;
        pOut += width * bytes;
    }
}

// Consider a YUV420 image of 6x2 pixels.
//
// A B C D U1 U2
// I J K L V1 V2
//
// The U1/V1 samples correspond to the ABIJ pixels.
//     U2/V2 samples correspond to the CDKL pixels.
//
/* Converts from interlaced YUV420 to RGB24. */
/* [FD] untested... */
#ifdef HAVE_CAMV4L
static void
yuv420_to_rgb24(int width, int height,
        unsigned char *pIn0, unsigned char *pOut0)
{
    const int bytes = 24 >> 3;
    int i, j, y00, y01, y10, y11, u, v;
    unsigned char *pY = pIn0;
    unsigned char *pU = pY + 4;
    unsigned char *pV = pU + width;
    unsigned char *pOut = pOut0;

    for (j = 0; j <= height - 2; j += 2) {
        for (i = 0; i <= width - 4; i += 4) {
            y00 = *pY;
            y01 = *(pY + 1);
            y10 = *(pY + width);
            y11 = *(pY + width + 1);
            u = (*pU++) - 128;
            v = (*pV++) - 128;

            move_420_block(y00, y01, y10, y11, u, v,
                       width, pOut);

            pY += 2;
            pOut += 2 * bytes;

            y00 = *pY;
            y01 = *(pY + 1);
            y10 = *(pY + width);
            y11 = *(pY + width + 1);
            u = (*pU++) - 128;
            v = (*pV++) - 128;

            move_420_block(y00, y01, y10, y11, u, v,
                       width, pOut);

            pY += 4; // skip UV
            pOut += 2 * bytes;

        }
        pY += width;
        pOut += width * bytes;
    }
}
#endif //HAVE_CAMV4L

// Consider a YUV411P image of 8x2 pixels.
//
// A plane of Y values as before.
//
// A plane of U values    1       2
//                        3       4
//
// A plane of V values    1       2
//                        3       4
//
// The U1/V1 samples correspond to the ABCD pixels.
//     U2/V2 samples correspond to the EFGH pixels.
//
/* Converts from planar YUV411P to RGB24. */
/* [FD] untested... */
static void
yuv411p_to_rgb24(int width, int height,
           unsigned char *pIn0, unsigned char *pOut0)
{
    const int numpix = width * height;
    const int bytes = 24 >> 3;
    int i, j, y00, y01, y10, y11, u, v;
    unsigned char *pY = pIn0;
    unsigned char *pU = pY + numpix;
    unsigned char *pV = pU + numpix / 4;
    unsigned char *pOut = pOut0;

    for (j = 0; j <= height; j++) {
        for (i = 0; i <= width - 4; i += 4) {
            y00 = *pY;
            y01 = *(pY + 1);
            y10 = *(pY + 2);
            y11 = *(pY + 3);
            u = (*pU++) - 128;
            v = (*pV++) - 128;

            move_411_block(y00, y01, y10, y11, u, v,
                       width, pOut);

            pY += 4;
            pOut += 4 * bytes;

        }
    }
}

/* convert from 4:2:2 YUYV interlaced to RGB24 */
/* based on ccvt_yuyv_bgr32() from camstream */
#define SAT(c) \
        if (c & (~255)) { if (c < 0) c = 0; else c = 255; }

#ifdef HAVE_CAMV4L2
static void
yuyv_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
{
   unsigned char *s;
   unsigned char *d;
   int l, c;
   int r, g, b, cr, cg, cb, y1, y2;

   l = height;
   s = src;
   d = dst;
   while (l--) {
      c = width >> 1;
      while (c--) {
         y1 = *s++;
         cb = ((*s - 128) * 454) >> 8;
         cg = (*s++ - 128) * 88;
         y2 = *s++;
         cr = ((*s - 128) * 359) >> 8;
         cg = (cg + (*s++ - 128) * 183) >> 8;

         r = y1 + cr;
         b = y1 + cb;
         g = y1 - cg;
         SAT(r);
         SAT(g);
         SAT(b);

     *d++ = b;
     *d++ = g;
     *d++ = r;

         r = y2 + cr;
         b = y2 + cb;
         g = y2 - cg;
         SAT(r);
         SAT(g);
         SAT(b);

     *d++ = b;
     *d++ = g;
     *d++ = r;
      }
   }
}

static void
uyvy_to_rgb24 (int width, int height, unsigned char *src, unsigned char *dst)
{
   unsigned char *s;
   unsigned char *d;
   int l, c;
   int r, g, b, cr, cg, cb, y1, y2;

   l = height;
   s = src;
   d = dst;
   while (l--) {
      c = width >> 1;
      while (c--) {
         cb = ((*s - 128) * 454) >> 8;
         cg = (*s++ - 128) * 88;
         y1 = *s++;
         cr = ((*s - 128) * 359) >> 8;
         cg = (cg + (*s++ - 128) * 183) >> 8;
         y2 = *s++;

         r = y1 + cr;
         b = y1 + cb;
         g = y1 - cg;
         SAT(r);
         SAT(g);
         SAT(b);

     *d++ = b;
     *d++ = g;
     *d++ = r;

         r = y2 + cr;
         b = y2 + cb;
         g = y2 - cg;
         SAT(r);
         SAT(g);
         SAT(b);

     *d++ = b;
     *d++ = g;
     *d++ = r;
      }
   }
}
#endif //HAVE_CAMV4L2

#ifdef HAVE_JPEG

/* convert from mjpeg to rgb24 */
static bool
mjpeg_to_rgb24 (int width, int height,
        unsigned char *src, int length,
        unsigned char *dst)
{
  cv::Mat temp=cv::imdecode(cv::Mat(std::vector<uchar>(src, src + length)), 1);
  if( !temp.data || temp.cols != width || temp.rows != height )
    return false;
  memcpy(dst, temp.data, width*height*3);
  return true;
}

#endif

/*
 * BAYER2RGB24 ROUTINE TAKEN FROM:
 *
 * Sonix SN9C10x based webcam basic I/F routines
 * Takafumi Mizuno <taka-qce@ls-a.jp>
 *
 */

#ifdef HAVE_CAMV4L2
static void bayer2rgb24(long int WIDTH, long int HEIGHT, unsigned char *src, unsigned char *dst)
{
    long int i;
    unsigned char *rawpt, *scanpt;
    long int size;

    rawpt = src;
    scanpt = dst;
    size = WIDTH*HEIGHT;

    for ( i = 0; i < size; i++ ) {
  if ( (i/WIDTH) % 2 == 0 ) {
      if ( (i % 2) == 0 ) {
    /* B */
    if ( (i > WIDTH) && ((i % WIDTH) > 0) ) {
        *scanpt++ = (*(rawpt-WIDTH-1)+*(rawpt-WIDTH+1)+
         *(rawpt+WIDTH-1)+*(rawpt+WIDTH+1))/4;  /* R */
        *scanpt++ = (*(rawpt-1)+*(rawpt+1)+
         *(rawpt+WIDTH)+*(rawpt-WIDTH))/4;      /* G */
        *scanpt++ = *rawpt;                                     /* B */
    } else {
        /* first line or left column */
        *scanpt++ = *(rawpt+WIDTH+1);           /* R */
        *scanpt++ = (*(rawpt+1)+*(rawpt+WIDTH))/2;      /* G */
        *scanpt++ = *rawpt;                             /* B */
    }
      } else {
    /* (B)G */
    if ( (i > WIDTH) && ((i % WIDTH) < (WIDTH-1)) ) {
        *scanpt++ = (*(rawpt+WIDTH)+*(rawpt-WIDTH))/2;  /* R */
        *scanpt++ = *rawpt;                                     /* G */
        *scanpt++ = (*(rawpt-1)+*(rawpt+1))/2;          /* B */
    } else {
        /* first line or right column */
        *scanpt++ = *(rawpt+WIDTH);     /* R */
        *scanpt++ = *rawpt;             /* G */
        *scanpt++ = *(rawpt-1); /* B */
    }
      }
  } else {
      if ( (i % 2) == 0 ) {
    /* G(R) */
    if ( (i < (WIDTH*(HEIGHT-1))) && ((i % WIDTH) > 0) ) {
        *scanpt++ = (*(rawpt-1)+*(rawpt+1))/2;          /* R */
        *scanpt++ = *rawpt;                                     /* G */
        *scanpt++ = (*(rawpt+WIDTH)+*(rawpt-WIDTH))/2;  /* B */
    } else {
        /* bottom line or left column */
        *scanpt++ = *(rawpt+1);         /* R */
        *scanpt++ = *rawpt;                     /* G */
        *scanpt++ = *(rawpt-WIDTH);             /* B */
    }
      } else {
    /* R */
    if ( i < (WIDTH*(HEIGHT-1)) && ((i % WIDTH) < (WIDTH-1)) ) {
        *scanpt++ = *rawpt;                                     /* R */
        *scanpt++ = (*(rawpt-1)+*(rawpt+1)+
         *(rawpt-WIDTH)+*(rawpt+WIDTH))/4;      /* G */
        *scanpt++ = (*(rawpt-WIDTH-1)+*(rawpt-WIDTH+1)+
         *(rawpt+WIDTH-1)+*(rawpt+WIDTH+1))/4;  /* B */
    } else {
        /* bottom line or right column */
        *scanpt++ = *rawpt;                             /* R */
        *scanpt++ = (*(rawpt-1)+*(rawpt-WIDTH))/2;      /* G */
        *scanpt++ = *(rawpt-WIDTH-1);           /* B */
    }
      }
  }
  rawpt++;
    }

}

// SGBRG to RGB24
// for some reason, red and blue needs to be swapped
// at least for  046d:092f Logitech, Inc. QuickCam Express Plus to work
//see: http://www.siliconimaging.com/RGB%20Bayer.htm
//and 4.6 at http://tldp.org/HOWTO/html_single/libdc1394-HOWTO/
static void sgbrg2rgb24(long int WIDTH, long int HEIGHT, unsigned char *src, unsigned char *dst)
{
    long int i;
    unsigned char *rawpt, *scanpt;
    long int size;

    rawpt = src;
    scanpt = dst;
    size = WIDTH*HEIGHT;

    for ( i = 0; i < size; i++ )
    {
        if ( (i/WIDTH) % 2 == 0 ) //even row
        {
            if ( (i % 2) == 0 ) //even pixel
            {
                if ( (i > WIDTH) && ((i % WIDTH) > 0) )
                {
                    *scanpt++ = (*(rawpt-1)+*(rawpt+1))/2;       /* R */
                    *scanpt++ = *(rawpt);                        /* G */
                    *scanpt++ = (*(rawpt-WIDTH) + *(rawpt+WIDTH))/2;      /* B */
                } else
                {
                  /* first line or left column */

                  *scanpt++ = *(rawpt+1);           /* R */
                  *scanpt++ = *(rawpt);             /* G */
                  *scanpt++ =  *(rawpt+WIDTH);      /* B */
                }
            } else //odd pixel
            {
                if ( (i > WIDTH) && ((i % WIDTH) < (WIDTH-1)) )
                {
                    *scanpt++ = *(rawpt);       /* R */
                    *scanpt++ = (*(rawpt-1)+*(rawpt+1)+*(rawpt-WIDTH)+*(rawpt+WIDTH))/4; /* G */
                    *scanpt++ = (*(rawpt-WIDTH-1) + *(rawpt-WIDTH+1) + *(rawpt+WIDTH-1) + *(rawpt+WIDTH+1))/4;      /* B */
                } else
                {
                    /* first line or right column */

                    *scanpt++ = *(rawpt);       /* R */
                    *scanpt++ = (*(rawpt-1)+*(rawpt+WIDTH))/2; /* G */
                    *scanpt++ = *(rawpt+WIDTH-1);      /* B */
                }
            }
        } else
        { //odd row
            if ( (i % 2) == 0 ) //even pixel
            {
                if ( (i < (WIDTH*(HEIGHT-1))) && ((i % WIDTH) > 0) )
                {
                    *scanpt++ =  (*(rawpt-WIDTH-1)+*(rawpt-WIDTH+1)+*(rawpt+WIDTH-1)+*(rawpt+WIDTH+1))/4;          /* R */
                    *scanpt++ =  (*(rawpt-1)+*(rawpt+1)+*(rawpt-WIDTH)+*(rawpt+WIDTH))/4;      /* G */
                    *scanpt++ =  *(rawpt); /* B */
                } else
                {
                    /* bottom line or left column */

                    *scanpt++ =  *(rawpt-WIDTH+1);          /* R */
                    *scanpt++ =  (*(rawpt+1)+*(rawpt-WIDTH))/2;      /* G */
                    *scanpt++ =  *(rawpt); /* B */
                }
            } else
            { //odd pixel
                if ( i < (WIDTH*(HEIGHT-1)) && ((i % WIDTH) < (WIDTH-1)) )
                {
                    *scanpt++ = (*(rawpt-WIDTH)+*(rawpt+WIDTH))/2;  /* R */
                    *scanpt++ = *(rawpt);      /* G */
                    *scanpt++ = (*(rawpt-1)+*(rawpt+1))/2; /* B */
                } else
                {
                    /* bottom line or right column */

                    *scanpt++ = (*(rawpt-WIDTH));  /* R */
                    *scanpt++ = *(rawpt);      /* G */
                    *scanpt++ = (*(rawpt-1)); /* B */
                }
            }
        }
        rawpt++;
    }
}

#define CLAMP(x)        ((x)<0?0:((x)>255)?255:(x))

typedef struct {
  int is_abs;
  int len;
  int val;
} code_table_t;


/* local storage */
static code_table_t table[256];
static int init_done = 0;


/*
  sonix_decompress_init
  =====================
    pre-calculates a locally stored table for efficient huffman-decoding.

  Each entry at index x in the table represents the codeword
  present at the MSB of byte x.

*/
static void sonix_decompress_init(void)
{
  int i;
  int is_abs, val, len;

  for (i = 0; i < 256; i++) {
    is_abs = 0;
    val = 0;
    len = 0;
    if ((i & 0x80) == 0) {
      /* code 0 */
      val = 0;
      len = 1;
    }
    else if ((i & 0xE0) == 0x80) {
      /* code 100 */
      val = +4;
      len = 3;
    }
    else if ((i & 0xE0) == 0xA0) {
      /* code 101 */
      val = -4;
      len = 3;
    }
    else if ((i & 0xF0) == 0xD0) {
      /* code 1101 */
      val = +11;
      len = 4;
    }
    else if ((i & 0xF0) == 0xF0) {
      /* code 1111 */
      val = -11;
      len = 4;
    }
    else if ((i & 0xF8) == 0xC8) {
      /* code 11001 */
      val = +20;
      len = 5;
    }
    else if ((i & 0xFC) == 0xC0) {
      /* code 110000 */
      val = -20;
      len = 6;
    }
    else if ((i & 0xFC) == 0xC4) {
      /* code 110001xx: unknown */
      val = 0;
      len = 8;
    }
    else if ((i & 0xF0) == 0xE0) {
      /* code 1110xxxx */
      is_abs = 1;
      val = (i & 0x0F) << 4;
      len = 8;
    }
    table[i].is_abs = is_abs;
    table[i].val = val;
    table[i].len = len;
  }

  init_done = 1;
}


/*
  sonix_decompress
  ================
    decompresses an image encoded by a SN9C101 camera controller chip.

  IN    width
    height
    inp         pointer to compressed frame (with header already stripped)
  OUT   outp    pointer to decompressed frame

  Returns 0 if the operation was successful.
  Returns <0 if operation failed.

*/
static int sonix_decompress(int width, int height, unsigned char *inp, unsigned char *outp)
{
  int row, col;
  int val;
  int bitpos;
  unsigned char code;
  unsigned char *addr;

  if (!init_done) {
    /* do sonix_decompress_init first! */
    return -1;
  }

  bitpos = 0;
  for (row = 0; row < height; row++) {

    col = 0;



    /* first two pixels in first two rows are stored as raw 8-bit */
    if (row < 2) {
      addr = inp + (bitpos >> 3);
      code = (addr[0] << (bitpos & 7)) | (addr[1] >> (8 - (bitpos & 7)));
      bitpos += 8;
      *outp++ = code;

      addr = inp + (bitpos >> 3);
      code = (addr[0] << (bitpos & 7)) | (addr[1] >> (8 - (bitpos & 7)));
      bitpos += 8;
      *outp++ = code;

      col += 2;
    }

    while (col < width) {
      /* get bitcode from bitstream */
      addr = inp + (bitpos >> 3);
      code = (addr[0] << (bitpos & 7)) | (addr[1] >> (8 - (bitpos & 7)));

      /* update bit position */
      bitpos += table[code].len;

      /* calculate pixel value */
      val = table[code].val;
      if (!table[code].is_abs) {
        /* value is relative to top and left pixel */
        if (col < 2) {
          /* left column: relative to top pixel */
          val += outp[-2*width];
        }
        else if (row < 2) {
          /* top row: relative to left pixel */
          val += outp[-2];
        }
        else {
          /* main area: average of left pixel and top pixel */
          val += (outp[-2] + outp[-2*width]) / 2;
        }
      }

      /* store pixel */
      *outp++ = CLAMP(val);
      col++;
    }
  }

  return 0;
}
#endif //HAVE_CAMV4L2

static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {

#ifdef HAVE_CAMV4L2
  if (V4L2_SUPPORT == 0)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
  {

    /* [FD] this really belongs here */
    if (ioctl(capture->deviceHandle, VIDIOCSYNC, &capture->mmaps[capture->bufferIndex].frame) == -1) {
      fprintf( stderr, "HIGHGUI ERROR: V4L: Could not SYNC to video stream. %s\n", strerror(errno));
    }

  }
#endif /* HAVE_CAMV4L */

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

   /* First, reallocate imageData if the frame size changed */

#ifdef HAVE_CAMV4L2

  if (V4L2_SUPPORT == 1)
  {

    if(((unsigned long)capture->frame.width != capture->form.fmt.pix.width)
       || ((unsigned long)capture->frame.height != capture->form.fmt.pix.height)) {
        cvFree(&capture->frame.imageData);
        cvInitImageHeader( &capture->frame,
              cvSize( capture->form.fmt.pix.width,
                  capture->form.fmt.pix.height ),
              IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
       capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
    }

  }
#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)
      || (capture->frame.height != capture->mmaps[capture->bufferIndex].height)) {
       cvFree(&capture->frame.imageData);
       cvInitImageHeader( &capture->frame,
              cvSize( capture->captureWindow.width,
                  capture->captureWindow.height ),
              IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
       capture->frame.imageData = (char *)cvAlloc(capture->frame.imageSize);
    }

  }
#endif /* HAVE_CAMV4L */

#ifdef HAVE_CAMV4L2

  if (V4L2_SUPPORT == 1)
  {
    switch (capture->palette)
    {
    case PALETTE_BGR24:
        memcpy((char *)capture->frame.imageData,
               (char *)capture->buffers[capture->bufferIndex].start,
               capture->frame.imageSize);
        break;

    case PALETTE_YVU420:
        yuv420p_to_rgb24(capture->form.fmt.pix.width,
                 capture->form.fmt.pix.height,
                 (unsigned char*)(capture->buffers[capture->bufferIndex].start),
                 (unsigned char*)capture->frame.imageData);
        break;

    case PALETTE_YUV411P:
        yuv411p_to_rgb24(capture->form.fmt.pix.width,
                 capture->form.fmt.pix.height,
                 (unsigned char*)(capture->buffers[capture->bufferIndex].start),
                 (unsigned char*)capture->frame.imageData);
        break;
#ifdef HAVE_JPEG
    case PALETTE_MJPEG:
        if (!mjpeg_to_rgb24(capture->form.fmt.pix.width,
                    capture->form.fmt.pix.height,
                    (unsigned char*)(capture->buffers[capture->bufferIndex]
                             .start),
                    capture->buffers[capture->bufferIndex].length,
                    (unsigned char*)capture->frame.imageData))
          return 0;
        break;
#endif

    case PALETTE_YUYV:
        yuyv_to_rgb24(capture->form.fmt.pix.width,
                  capture->form.fmt.pix.height,
                  (unsigned char*)(capture->buffers[capture->bufferIndex].start),
                  (unsigned char*)capture->frame.imageData);
        break;
    case PALETTE_UYVY:
        uyvy_to_rgb24(capture->form.fmt.pix.width,
                  capture->form.fmt.pix.height,
                  (unsigned char*)(capture->buffers[capture->bufferIndex].start),
                  (unsigned char*)capture->frame.imageData);
        break;
    case PALETTE_SBGGR8:
        bayer2rgb24(capture->form.fmt.pix.width,
                capture->form.fmt.pix.height,
                (unsigned char*)capture->buffers[capture->bufferIndex].start,
                (unsigned char*)capture->frame.imageData);
        break;

    case PALETTE_SN9C10X:
        sonix_decompress_init();
        sonix_decompress(capture->form.fmt.pix.width,
                 capture->form.fmt.pix.height,
                 (unsigned char*)capture->buffers[capture->bufferIndex].start,
                 (unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start);

        bayer2rgb24(capture->form.fmt.pix.width,
                capture->form.fmt.pix.height,
                (unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
                (unsigned char*)capture->frame.imageData);
        break;

    case PALETTE_SGBRG:
        sgbrg2rgb24(capture->form.fmt.pix.width,
                capture->form.fmt.pix.height,
                (unsigned char*)capture->buffers[(capture->bufferIndex+1) % capture->req.count].start,
                (unsigned char*)capture->frame.imageData);
        break;
    }
  }
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
    else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
  {

    switch(capture->imageProperties.palette)
    {
    case VIDEO_PALETTE_RGB24:
        memcpy((char *)capture->frame.imageData,
           (char *)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
           capture->frame.imageSize);
        break;
    case VIDEO_PALETTE_YUV420P:
        yuv420p_to_rgb24(capture->captureWindow.width,
             capture->captureWindow.height,
             (unsigned char*)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
             (unsigned char*)capture->frame.imageData);
        break;
    case VIDEO_PALETTE_YUV420:
        yuv420_to_rgb24(capture->captureWindow.width,
          capture->captureWindow.height,
          (unsigned char*)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
          (unsigned char*)capture->frame.imageData);
        break;
    case VIDEO_PALETTE_YUV411P:
        yuv411p_to_rgb24(capture->captureWindow.width,
          capture->captureWindow.height,
          (unsigned char*)(capture->memoryMap + capture->memoryBuffer.offsets[capture->bufferIndex]),
          (unsigned char*)capture->frame.imageData);
        break;
    default:
        fprintf( stderr,
                 "HIGHGUI ERROR: V4L: Cannot convert from palette %d to RGB\n",
                 capture->imageProperties.palette);

        return 0;
    }

  }
#endif /* HAVE_CAMV4L */

   return(&capture->frame);
}

static double icvGetPropertyCAM_V4L (CvCaptureCAM_V4L* capture,
                                     int property_id ) {

#ifdef HAVE_CAMV4L2

#ifdef HAVE_CAMV4L
  if (V4L2_SUPPORT == 1)
#endif
  {

      /* default value for min and max */
      int v4l2_min = 0;
      int v4l2_max = 255;

      CLEAR (capture->form);
      capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
      if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form)) {
          /* display an error message, and return an error code */
          perror ("VIDIOC_G_FMT");
          return -1;
      }

      switch (property_id) {
      case CV_CAP_PROP_FRAME_WIDTH:
          return capture->form.fmt.pix.width;
      case CV_CAP_PROP_FRAME_HEIGHT:
          return capture->form.fmt.pix.height;
      }

      /* initialize the control structure */

      switch (property_id) {
      case CV_CAP_PROP_POS_MSEC:
          if (capture->FirstCapture) {
            return 0;
          } else {
            return 1000 * capture->timestamp.tv_sec + ((double) capture->timestamp.tv_usec) / 1000;
          }
          break;
      case CV_CAP_PROP_BRIGHTNESS:
          capture->control.id = V4L2_CID_BRIGHTNESS;
          break;
      case CV_CAP_PROP_CONTRAST:
          capture->control.id = V4L2_CID_CONTRAST;
          break;
      case CV_CAP_PROP_SATURATION:
          capture->control.id = V4L2_CID_SATURATION;
          break;
      case CV_CAP_PROP_HUE:
          capture->control.id = V4L2_CID_HUE;
          break;
      case CV_CAP_PROP_GAIN:
          capture->control.id = V4L2_CID_GAIN;
          break;
      case CV_CAP_PROP_EXPOSURE:
          capture->control.id = V4L2_CID_EXPOSURE;
          break;
      default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L2: getting property #%d is not supported\n",
                property_id);
        return -1;
      }

      if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_CTRL,
                        &capture->control)) {

          fprintf( stderr, "HIGHGUI ERROR: V4L2: ");
          switch (property_id) {
          case CV_CAP_PROP_BRIGHTNESS:
              fprintf (stderr, "Brightness");
              break;
          case CV_CAP_PROP_CONTRAST:
              fprintf (stderr, "Contrast");
              break;
          case CV_CAP_PROP_SATURATION:
              fprintf (stderr, "Saturation");
              break;
          case CV_CAP_PROP_HUE:
              fprintf (stderr, "Hue");
              break;
          case CV_CAP_PROP_GAIN:
              fprintf (stderr, "Gain");
              break;
          case CV_CAP_PROP_EXPOSURE:
              fprintf (stderr, "Exposure");
              break;
          }
          fprintf (stderr, " is not supported by your device\n");

          return -1;
      }

      /* get the min/max values */
      switch (property_id) {

      case CV_CAP_PROP_BRIGHTNESS:
          v4l2_min = capture->v4l2_brightness_min;
          v4l2_max = capture->v4l2_brightness_max;
          break;
      case CV_CAP_PROP_CONTRAST:
          v4l2_min = capture->v4l2_contrast_min;
          v4l2_max = capture->v4l2_contrast_max;
          break;
      case CV_CAP_PROP_SATURATION:
          v4l2_min = capture->v4l2_saturation_min;
          v4l2_max = capture->v4l2_saturation_max;
          break;
      case CV_CAP_PROP_HUE:
          v4l2_min = capture->v4l2_hue_min;
          v4l2_max = capture->v4l2_hue_max;
          break;
      case CV_CAP_PROP_GAIN:
          v4l2_min = capture->v4l2_gain_min;
          v4l2_max = capture->v4l2_gain_max;
          break;
      case CV_CAP_PROP_EXPOSURE:
          v4l2_min = capture->v4l2_exposure_min;
          v4l2_max = capture->v4l2_exposure_max;
          break;
      }

      /* 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);

  }
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
    else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
  {

    int retval = -1;

    if (ioctl (capture->deviceHandle,
               VIDIOCGWIN, &capture->captureWindow) < 0) {
        fprintf (stderr,
                 "HIGHGUI ERROR: V4L: "
                 "Unable to determine size of incoming image\n");
        icvCloseCAM_V4L(capture);
        return -1;
    }

    switch (property_id) {
    case CV_CAP_PROP_FRAME_WIDTH:
        retval = capture->captureWindow.width;
        break;
    case CV_CAP_PROP_FRAME_HEIGHT:
        retval = capture->captureWindow.height;
        break;
    case CV_CAP_PROP_BRIGHTNESS:
        retval = capture->imageProperties.brightness;
        break;
    case CV_CAP_PROP_CONTRAST:
        retval = capture->imageProperties.contrast;
        break;
    case CV_CAP_PROP_SATURATION:
        retval = capture->imageProperties.colour;
        break;
    case CV_CAP_PROP_HUE:
        retval = capture->imageProperties.hue;
        break;
    case CV_CAP_PROP_GAIN:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: Gain control in V4L is not supported\n");
        return -1;
        break;
    case CV_CAP_PROP_EXPOSURE:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: Exposure control in V4L is not supported\n");
        return -1;
        break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: getting property #%d is not supported\n",
                property_id);
    }

    if (retval == -1) {
        /* there was a problem */
        return -1;
    }

    /* all was OK, so convert to 0.0 - 1.0 range, and return the value */
    return float (retval) / 0xFFFF;

  }
#endif /* HAVE_CAMV4L */

};

static int icvSetVideoSize( CvCaptureCAM_V4L* capture, int w, int h) {

#ifdef HAVE_CAMV4L2

  if (V4L2_SUPPORT == 1)
  {

    CLEAR (capture->cropcap);
    capture->cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if (ioctl (capture->deviceHandle, VIDIOC_CROPCAP, &capture->cropcap) < 0) {
        fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: VIDIOC_CROPCAP\n");
    } else {

        CLEAR (capture->crop);
        capture->crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        capture->crop.c= capture->cropcap.defrect;

        /* set the crop area, but don't exit if the device don't support croping */
        if (ioctl (capture->deviceHandle, VIDIOC_S_CROP, &capture->crop) < 0) {
            fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: VIDIOC_S_CROP\n");
        }
    }

    CLEAR (capture->form);
    capture->form.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    /* read the current setting, mainly to retreive the pixelformat information */
    ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form);

    /* set the values we want to change */
    capture->form.fmt.pix.width = w;
    capture->form.fmt.pix.height = h;
    capture->form.fmt.win.chromakey = 0;
    capture->form.fmt.win.field = V4L2_FIELD_ANY;
    capture->form.fmt.win.clips = 0;
    capture->form.fmt.win.clipcount = 0;
    capture->form.fmt.pix.field = V4L2_FIELD_ANY;

    /* ask the device to change the size
     * don't test if the set of the size is ok, because some device
     * don't allow changing the size, and we will get the real size
     * later */
    ioctl (capture->deviceHandle, VIDIOC_S_FMT, &capture->form);

    /* try to set framerate to 30 fps */
    struct v4l2_streamparm setfps;
    memset (&setfps, 0, sizeof(struct v4l2_streamparm));
    setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    setfps.parm.capture.timeperframe.numerator = 1;
    setfps.parm.capture.timeperframe.denominator = 30;
    ioctl (capture->deviceHandle, VIDIOC_S_PARM, &setfps);

    /* we need to re-initialize some things, like buffers, because the size has
     * changed */
    capture->FirstCapture = 1;

    /* Get window info again, to get the real value */
    if (-1 == ioctl (capture->deviceHandle, VIDIOC_G_FMT, &capture->form))
    {
      fprintf(stderr, "HIGHGUI ERROR: V4L/V4L2: Could not obtain specifics of capture window.\n\n");

      icvCloseCAM_V4L(capture);

      return 0;
    }

    return 0;

  }
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
    else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
  {

    if (capture==0) return 0;
     if (w>capture->capability.maxwidth) {
       w=capture->capability.maxwidth;
     }
     if (h>capture->capability.maxheight) {
       h=capture->capability.maxheight;
     }

     capture->captureWindow.width=w;
     capture->captureWindow.height=h;

     if (ioctl(capture->deviceHandle, VIDIOCSWIN, &capture->captureWindow) < 0) {
       icvCloseCAM_V4L(capture);
       return 0;
     }

     if (ioctl(capture->deviceHandle, VIDIOCGWIN, &capture->captureWindow) < 0) {
       icvCloseCAM_V4L(capture);
       return 0;
     }

     capture->FirstCapture = 1;

  }
#endif /* HAVE_CAMV4L */

  return 0;

}

static int icvSetControl (CvCaptureCAM_V4L* capture,
                          int property_id, double value) {

  /* limitation of the input value */
  if (value < 0.0) {
    value = 0.0;
  } else if (value > 1.0) {
    value = 1.0;
  }

#ifdef HAVE_CAMV4L2

  if (V4L2_SUPPORT == 1)
  {

    /* default value for min and max */
    int v4l2_min = 0;
    int v4l2_max = 255;

    /* initialisations */
    CLEAR (capture->control);

    /* set which control we want to set */
    switch (property_id) {

    case CV_CAP_PROP_BRIGHTNESS:
        capture->control.id = V4L2_CID_BRIGHTNESS;
        break;
    case CV_CAP_PROP_CONTRAST:
        capture->control.id = V4L2_CID_CONTRAST;
        break;
    case CV_CAP_PROP_SATURATION:
        capture->control.id = V4L2_CID_SATURATION;
        break;
    case CV_CAP_PROP_HUE:
        capture->control.id = V4L2_CID_HUE;
        break;
    case CV_CAP_PROP_GAIN:
        capture->control.id = V4L2_CID_GAIN;
        break;
    case CV_CAP_PROP_EXPOSURE:
        capture->control.id = V4L2_CID_EXPOSURE;
        break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L2: setting property #%d is not supported\n",
                property_id);
        return -1;
    }

    /* get the min and max values */
    if (-1 == ioctl (capture->deviceHandle,
                      VIDIOC_G_CTRL, &capture->control)) {
//          perror ("VIDIOC_G_CTRL for getting min/max values");
          return -1;
    }

    /* get the min/max values */
    switch (property_id) {

    case CV_CAP_PROP_BRIGHTNESS:
        v4l2_min = capture->v4l2_brightness_min;
        v4l2_max = capture->v4l2_brightness_max;
        break;
    case CV_CAP_PROP_CONTRAST:
        v4l2_min = capture->v4l2_contrast_min;
        v4l2_max = capture->v4l2_contrast_max;
        break;
    case CV_CAP_PROP_SATURATION:
        v4l2_min = capture->v4l2_saturation_min;
        v4l2_max = capture->v4l2_saturation_max;
        break;
    case CV_CAP_PROP_HUE:
        v4l2_min = capture->v4l2_hue_min;
        v4l2_max = capture->v4l2_hue_max;
        break;
    case CV_CAP_PROP_GAIN:
        v4l2_min = capture->v4l2_gain_min;
        v4l2_max = capture->v4l2_gain_max;
        break;
    case CV_CAP_PROP_EXPOSURE:
        v4l2_min = capture->v4l2_exposure_min;
        v4l2_max = capture->v4l2_exposure_max;
        break;
    }

    /* initialisations */
    CLEAR (capture->control);

    /* set which control we want to set */
    switch (property_id) {

    case CV_CAP_PROP_BRIGHTNESS:
        capture->control.id = V4L2_CID_BRIGHTNESS;
        break;
    case CV_CAP_PROP_CONTRAST:
        capture->control.id = V4L2_CID_CONTRAST;
        break;
    case CV_CAP_PROP_SATURATION:
        capture->control.id = V4L2_CID_SATURATION;
        break;
    case CV_CAP_PROP_HUE:
        capture->control.id = V4L2_CID_HUE;
        break;
    case CV_CAP_PROP_GAIN:
        capture->control.id = V4L2_CID_GAIN;
        break;
    case CV_CAP_PROP_EXPOSURE:
        capture->control.id = V4L2_CID_EXPOSURE;
        break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L2: setting property #%d is not supported\n",
                property_id);
        return -1;
    }

    /* set the value we want to set to the scaled the value */
    capture->control.value = (int)(value * (v4l2_max - v4l2_min) + v4l2_min);

    /* The driver may clamp the value or return ERANGE, ignored here */
    if (-1 == ioctl (capture->deviceHandle,
                      VIDIOC_S_CTRL, &capture->control) && errno != ERANGE) {
        perror ("VIDIOC_S_CTRL");
        return -1;
    }
  }
#endif /* HAVE_CAMV4L2 */
#if defined(HAVE_CAMV4L) && defined(HAVE_CAMV4L2)
    else
#endif /* HAVE_CAMV4L && HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
  {

    int v4l_value;

    /* scale the value to the wanted integer one */
    v4l_value = (int)(0xFFFF * value);

    switch (property_id) {
    case CV_CAP_PROP_BRIGHTNESS:
      capture->imageProperties.brightness = v4l_value;
      break;
    case CV_CAP_PROP_CONTRAST:
      capture->imageProperties.contrast = v4l_value;
      break;
    case CV_CAP_PROP_SATURATION:
      capture->imageProperties.colour = v4l_value;
      break;
    case CV_CAP_PROP_HUE:
      capture->imageProperties.hue = v4l_value;
      break;
    case CV_CAP_PROP_GAIN:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: Gain control in V4L is not supported\n");
        return -1;
    case CV_CAP_PROP_EXPOSURE:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: Exposure control in V4L is not supported\n");
        return -1;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: property #%d is not supported\n",
                property_id);
        return -1;
    }

    if (ioctl(capture->deviceHandle, VIDIOCSPICT, &capture->imageProperties)
        < 0)
    {
       fprintf(stderr,
               "HIGHGUI ERROR: V4L: Unable to set video informations\n");
       icvCloseCAM_V4L(capture);
       return -1;
    }
  }
#endif /* HAVE_CAMV4L */

  /* all was OK */
  return 0;

}

static int icvSetPropertyCAM_V4L( CvCaptureCAM_V4L* capture,
                                  int property_id, double value ){
    static int width = 0, height = 0;
    int retval;

    /* initialization */
    retval = 0;

    /* two subsequent calls setting WIDTH and HEIGHT will change
       the video size */
    /* the first one will return an error, though. */

    switch (property_id) {
    case CV_CAP_PROP_FRAME_WIDTH:
        width = cvRound(value);
        if(width !=0 && height != 0) {
            retval = icvSetVideoSize( capture, width, height);
            width = height = 0;
        }
        break;
    case CV_CAP_PROP_FRAME_HEIGHT:
        height = cvRound(value);
        if(width !=0 && height != 0) {
            retval = icvSetVideoSize( capture, width, height);
            width = height = 0;
        }
        break;
    case CV_CAP_PROP_BRIGHTNESS:
    case CV_CAP_PROP_CONTRAST:
    case CV_CAP_PROP_SATURATION:
    case CV_CAP_PROP_HUE:
    case CV_CAP_PROP_GAIN:
    case CV_CAP_PROP_EXPOSURE:
        retval = icvSetControl(capture, property_id, value);
        break;
    default:
        fprintf(stderr,
                "HIGHGUI ERROR: V4L: setting property #%d is not supported\n",
                property_id);
    }

    /* return the the status */
    return retval;
}

static void icvCloseCAM_V4L( CvCaptureCAM_V4L* capture ){
   /* Deallocate space - Hopefully, no leaks */

   if (capture)
   {

#ifdef HAVE_CAMV4L2
     if (V4L2_SUPPORT == 0)
#endif /* HAVE_CAMV4L2 */
#ifdef HAVE_CAMV4L
     {

       if (capture->mmaps)
         free(capture->mmaps);
       if (capture->memoryMap)
         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
       {
       capture->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
       if (-1 == ioctl(capture->deviceHandle, VIDIOC_STREAMOFF, &capture->type)) {
           perror ("Unable to stop the stream.");
       }

       for (unsigned int n_buffers_ = 0; n_buffers_ < capture->req.count; ++n_buffers_)
       {
           if (-1 == munmap (capture->buffers[n_buffers_].start, capture->buffers[n_buffers_].length)) {
               perror ("munmap");
           }
       }

       if (capture->buffers[MAX_V4L_BUFFERS].start)
       {
           free(capture->buffers[MAX_V4L_BUFFERS].start);
           capture->buffers[MAX_V4L_BUFFERS].start = 0;
       }
     }
#endif /* HAVE_CAMV4L2 */

     if (capture->deviceHandle != -1)
       close(capture->deviceHandle);

     if (capture->frame.imageData) cvFree(&capture->frame.imageData);
      //cvFree((void **)capture);
   }
};


class CvCaptureCAM_V4L_CPP : CvCapture
{
public:
    CvCaptureCAM_V4L_CPP() { captureV4L = 0; }
    virtual ~CvCaptureCAM_V4L_CPP() { close(); }

    virtual bool open( int index );
    virtual void close();

    virtual double getProperty(int);
    virtual bool setProperty(int, double);
    virtual bool grabFrame();
    virtual IplImage* retrieveFrame(int);
protected:

    CvCaptureCAM_V4L* captureV4L;
};

bool CvCaptureCAM_V4L_CPP::open( int index )
{
    close();
    captureV4L = icvCaptureFromCAM_V4L(index);
    return captureV4L != 0;
}

void CvCaptureCAM_V4L_CPP::close()
{
    if( captureV4L )
    {
        icvCloseCAM_V4L( captureV4L );
        cvFree( &captureV4L );
    }
}

bool CvCaptureCAM_V4L_CPP::grabFrame()
{
    return captureV4L ? icvGrabFrameCAM_V4L( captureV4L ) != 0 : false;
}

IplImage* CvCaptureCAM_V4L_CPP::retrieveFrame(int)
{
    return captureV4L ? icvRetrieveFrameCAM_V4L( captureV4L, 0 ) : 0;
}

double CvCaptureCAM_V4L_CPP::getProperty( int propId )
{
    return captureV4L ? icvGetPropertyCAM_V4L( captureV4L, propId ) : 0.0;
}

bool CvCaptureCAM_V4L_CPP::setProperty( int propId, double value )
{
    return captureV4L ? icvSetPropertyCAM_V4L( captureV4L, propId, value ) != 0 : false;
}

CvCapture* cvCreateCameraCapture_V4L( int index )
{
    CvCaptureCAM_V4L_CPP* capture = new CvCaptureCAM_V4L_CPP;

    if( capture->open( index ))
        return (CvCapture*)capture;

    delete capture;
    return 0;
}

#endif