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hight-level-robotics-congni.../librealsense/scripts/realsense-camera-formats-ja...

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From 54652ca363c197f78b61d513347b1055538c689d Mon Sep 17 00:00:00 2001
From: Dmitry Perchanov <dmitry.perchanov@intel.com>
Date: Wed, 24 May 2023 19:40:10 +0300
Subject: [PATCH] Streaming formats for Ubuntu 22.04 (jammy). Kernel 5.19
Signed-off-by: Dmitry Perchanov <dmitry.perchanov@intel.com>
---
drivers/media/usb/uvc/uvc_driver.c | 57 ++++++++++++++++++++++++++++
drivers/media/usb/uvc/uvcvideo.h | 34 +++++++++++++++++
drivers/media/v4l2-core/v4l2-ioctl.c | 9 +++++
include/uapi/linux/videodev2.h | 9 +++++
4 files changed, 109 insertions(+)
diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
index 28ee45e87..caed9a2ab 100644
--- a/drivers/media/usb/uvc/uvc_driver.c
+++ b/drivers/media/usb/uvc/uvc_driver.c
@@ -169,6 +169,11 @@ static struct uvc_format_desc uvc_fmts[] = {
.guid = UVC_GUID_FORMAT_Y12I,
.fcc = V4L2_PIX_FMT_Y12I,
},
+ {
+ .name = "Greyscale 16 L/R (Y16I)",
+ .guid = UVC_GUID_FORMAT_Y16I,
+ .fcc = V4L2_PIX_FMT_Y16I,
+ },
{
.name = "Depth data 16-bit (Z16)",
.guid = UVC_GUID_FORMAT_Z16,
@@ -224,6 +229,58 @@ static struct uvc_format_desc uvc_fmts[] = {
.guid = UVC_GUID_FORMAT_HEVC,
.fcc = V4L2_PIX_FMT_HEVC,
},
+ {
+ .name = "Depth data 16-bit (D16)",
+ .guid = UVC_GUID_FORMAT_D16,
+ .fcc = V4L2_PIX_FMT_Z16,
+ },
+ {
+ .name = "Packed raw data 10-bit",
+ .guid = UVC_GUID_FORMAT_W10,
+ .fcc = V4L2_PIX_FMT_W10,
+ },
+ {
+ .name = "Confidence data (C )",
+ .guid = UVC_GUID_FORMAT_CONFIDENCE_MAP,
+ .fcc = V4L2_PIX_FMT_CONFIDENCE_MAP,
+ },
+ /* FishEye 8-bit monochrome */
+ {
+ .name = "Raw data 8-bit (RAW8)",
+ .guid = UVC_GUID_FORMAT_RAW8,
+ .fcc = V4L2_PIX_FMT_GREY,
+ },
+ /* Legacy formats for backward-compatibility*/
+ {
+ .name = "Raw data 16-bit (RW16)",
+ .guid = UVC_GUID_FORMAT_RW16,
+ .fcc = V4L2_PIX_FMT_RW16,
+ },
+ {
+ .name = "16-bit Bayer BGBG/GRGR",
+ .guid = UVC_GUID_FORMAT_BAYER16,
+ .fcc = V4L2_PIX_FMT_SBGGR16,
+ },
+ {
+ .name = "Z16 Huffman Compression",
+ .guid = UVC_GUID_FORMAT_Z16H,
+ .fcc = V4L2_PIX_FMT_Z16H,
+ },
+ {
+ .name = "Frame Grabber (FG )",
+ .guid = UVC_GUID_FORMAT_FG,
+ .fcc = V4L2_PIX_FMT_FG,
+ },
+ {
+ .name = "SR300 Depth/Confidence (INZC)",
+ .guid = UVC_GUID_FORMAT_INZC,
+ .fcc = V4L2_PIX_FMT_INZC,
+ },
+ {
+ .name = "Relative IR (PAIR)",
+ .guid = UVC_GUID_FORMAT_PAIR,
+ .fcc = V4L2_PIX_FMT_PAIR,
+ },
};
/* ------------------------------------------------------------------------
diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
index c5b4febd2..20782860d 100644
--- a/drivers/media/usb/uvc/uvcvideo.h
+++ b/drivers/media/usb/uvc/uvcvideo.h
@@ -148,6 +148,9 @@
#define UVC_GUID_FORMAT_Y12I \
{ 'Y', '1', '2', 'I', 0x00, 0x00, 0x10, 0x00, \
0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_Y16I \
+ { 'Y', '1', '6', 'I', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
#define UVC_GUID_FORMAT_Z16 \
{ 'Z', '1', '6', ' ', 0x00, 0x00, 0x10, 0x00, \
0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
@@ -178,6 +181,37 @@
{ 'H', 'E', 'V', 'C', 0x00, 0x00, 0x10, 0x00, \
0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_D16 \
+ { 'P', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_W10 \
+ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_RAW8 \
+ { 'R', 'A', 'W', '8', 0x66, 0x1a, 0x42, 0xa2, \
+ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
+#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
+ { 'C', ' ', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+ /* Legacy formats */
+#define UVC_GUID_FORMAT_RW16 \
+ { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_BAYER16 \
+ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \
+ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
+#define UVC_GUID_FORMAT_Z16H \
+ { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_FG \
+ { 'F', 'G', ' ', ' ', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_INZC \
+ { 'I', 'N', 'Z', 'C', 0x02, 0xb6, 0x0f, 0x48, \
+ 0x97, 0x8c, 0xe4, 0xe8, 0x8a, 0xe8, 0x9b, 0x89}
+#define UVC_GUID_FORMAT_PAIR \
+ { 'P', 'A', 'I', 'R', 0x36, 0x85, 0x41, 0x48, \
+ 0xb6, 0xbf, 0x8f, 0xc6, 0xff, 0xb0, 0x83, 0xa8}
/* ------------------------------------------------------------------------
* Driver specific constants.
diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c
index 21470de62..b5040a294 100644
--- a/drivers/media/v4l2-core/v4l2-ioctl.c
+++ b/drivers/media/v4l2-core/v4l2-ioctl.c
@@ -1272,6 +1272,7 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
case V4L2_PIX_FMT_IPU3_Y10: descr = "10-bit greyscale (IPU3 Packed)"; break;
case V4L2_PIX_FMT_Y8I: descr = "Interleaved 8-bit Greyscale"; break;
case V4L2_PIX_FMT_Y12I: descr = "Interleaved 12-bit Greyscale"; break;
+ case V4L2_PIX_FMT_Y16I: descr = "Interleaved 16-bit Greyscale"; break;
case V4L2_PIX_FMT_Z16: descr = "16-bit Depth"; break;
case V4L2_PIX_FMT_INZI: descr = "Planar 10:16 Greyscale Depth"; break;
case V4L2_PIX_FMT_CNF4: descr = "4-bit Depth Confidence (Packed)"; break;
@@ -1397,6 +1398,14 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
case V4L2_META_FMT_RK_ISP1_STAT_3A: descr = "Rockchip ISP1 3A Statistics"; break;
case V4L2_PIX_FMT_NV12M_8L128: descr = "NV12M (8x128 Linear)"; break;
case V4L2_PIX_FMT_NV12M_10BE_8L128: descr = "10-bit NV12M (8x128 Linear, BE)"; break;
+ /* Librealsense formats*/
+ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break;
+ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break;
+ case V4L2_PIX_FMT_CONFIDENCE_MAP: descr = "Packed [44] confidence data"; break;
+ case V4L2_PIX_FMT_FG: descr = "Frame Grabber (FG )"; break;
+ case V4L2_PIX_FMT_INZC: descr = "Planar Depth/Confidence (INZC)"; break;
+ case V4L2_PIX_FMT_PAIR: descr = "Relative IR (PAIR)"; break;
+ case V4L2_PIX_FMT_Z16H: descr = "Z16 Huffman Compression"; break;
default:
/* Compressed formats */
diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
index 36275af26..974c93aa6 100644
--- a/include/uapi/linux/videodev2.h
+++ b/include/uapi/linux/videodev2.h
@@ -741,6 +741,7 @@ struct v4l2_pix_format {
#define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */
#define V4L2_PIX_FMT_Y8I v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */
#define V4L2_PIX_FMT_Y12I v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */
+#define V4L2_PIX_FMT_Y16I v4l2_fourcc('Y', '1', '6', 'I') /* Greyscale 16-bit L/R interleaved */
#define V4L2_PIX_FMT_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
#define V4L2_PIX_FMT_MT21C v4l2_fourcc('M', 'T', '2', '1') /* Mediatek compressed block mode */
#define V4L2_PIX_FMT_MM21 v4l2_fourcc('M', 'M', '2', '1') /* Mediatek 8-bit block mode, two non-contiguous planes */
@@ -749,6 +750,14 @@ struct v4l2_pix_format {
#define V4L2_PIX_FMT_HI240 v4l2_fourcc('H', 'I', '2', '4') /* BTTV 8-bit dithered RGB */
#define V4L2_PIX_FMT_QC08C v4l2_fourcc('Q', '0', '8', 'C') /* Qualcomm 8-bit compressed */
#define V4L2_PIX_FMT_QC10C v4l2_fourcc('Q', '1', '0', 'C') /* Qualcomm 10-bit compressed */
+#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
+#define V4L2_PIX_FMT_W10 v4l2_fourcc('W', '1', '0', ' ') /* Packed raw data 10-bit */
+#define V4L2_PIX_FMT_CONFIDENCE_MAP v4l2_fourcc('C', ' ', ' ', ' ') /* Two pixels in one byte */
+/* Librealsense development*/
+#define V4L2_PIX_FMT_FG v4l2_fourcc('F', 'G', ' ', ' ') /* Frame Grabber */
+#define V4L2_PIX_FMT_INZC v4l2_fourcc('I', 'N', 'Z', 'C') /* Planar Depth/Confidence */
+#define V4L2_PIX_FMT_PAIR v4l2_fourcc('P', 'A', 'I', 'R') /* Relative IR */
+#define V4L2_PIX_FMT_Z16H v4l2_fourcc('Z', '1', '6', 'H') /* Depth Z16 custom Huffman Code compression*/
/* 10bit raw packed, 32 bytes for every 25 pixels, last LSB 6 bits unused */
#define V4L2_PIX_FMT_IPU3_SBGGR10 v4l2_fourcc('i', 'p', '3', 'b') /* IPU3 packed 10-bit BGGR bayer */
--
2.34.1
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