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Merge pull request #1804 from fvantienen/ardrone2_cam_fix

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[v4l2] Ardrone 2 camera v4l2 fix
This commit is contained in:
Christophe De Wagter
2016-07-15 11:12:55 +02:00
committed by GitHub
parent 3373596088 b2c09c127d
commit a11a994fbf
1 changed files with 10 additions and 8 deletions
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sw/airborne/modules/computer_vision/lib/v4l/v4l2.c
+10 -8
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@@ -195,8 +195,6 @@ struct v4l2_device *v4l2_init(char *device_name, struct img_size_t size, struct
CLEAR(fmtdesc);
CLEAR(crp);
printf("Size %d %d, Crop %d %d %d %d\r\n", size.w, size.h, crop.x, crop.y, crop.w, crop.h);
// Try to open the device
int fd = open(device_name, O_RDWR | O_NONBLOCK, 0);
if (fd < 0) {
@@ -230,8 +228,9 @@ struct v4l2_device *v4l2_init(char *device_name, struct img_size_t size, struct
break;
}
if(fmtdesc.pixelformat != _pixelformat) {
printf("[v4l2] Pixelformat not available on device %s (wanted: %d)\r\n", device_name, _pixelformat);
// Accept if no format can be get
if(fmtdesc.index != 0 && fmtdesc.pixelformat != _pixelformat) {
printf("[v4l2] Pixelformat not available on device %s (wanted: %4X)\r\n", device_name, _pixelformat);
return NULL;
}
@@ -242,10 +241,13 @@ struct v4l2_device *v4l2_init(char *device_name, struct img_size_t size, struct
crp.c.width = crop.w;
crp.c.height = crop.h;
if (ioctl(fd, VIDIOC_S_CROP, &crp) < 0) {
printf("[v4l2] Could not set crop window of %s\n", device_name);
close(fd);
return NULL;
// Only crop when needed
if(crop.x != 0 || crop.y != 0 || crop.w != size.w || crop.h != size.h) {
if (ioctl(fd, VIDIOC_S_CROP, &crp) < 0) {
printf("[v4l2] Could not set crop window of %s\n", device_name);
close(fd);
return NULL;
}
}
// Set the format settings