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

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From ceb29b08b480a2a6a5e9dccf396a284378268037 Mon Sep 17 00:00:00 2001
From: aangerma <Avishag.Angerman@intel.com>
From: Evgeni Raikhel <evgeni.raikhel@intel.com>
From: icarpis <itay.carpis@intel.com>
Date: Thu, 30 Aug 2018 16:07:01 +0300
Subject: [PATCH] [PATCH] RS400 ,SR300, RS500 pixel formats
Signed-off-by: Evgeni Raikhel <evgeni.raikhel@intel.com>
---
drivers/media/usb/uvc/Makefile | 1 +
drivers/media/usb/uvc/uvc_driver.c | 55 ++++++++++++++++++++++++++++++++++++
drivers/media/usb/uvc/uvcvideo.h | 35 ++++++++++++++++++++++-
drivers/media/v4l2-core/v4l2-ioctl.c | 5 ++++
include/uapi/linux/videodev2.h | 6 ++++
5 files changed, 101 insertions(+), 1 deletion(-)
diff --git a/drivers/media/usb/uvc/Makefile b/drivers/media/usb/uvc/Makefile
index c26d12f..d86cf22 100644
--- a/drivers/media/usb/uvc/Makefile
+++ b/drivers/media/usb/uvc/Makefile
@@ -1,3 +1,4 @@
+CONFIG_MODULE_SIG=n
uvcvideo-objs := uvc_driver.o uvc_queue.o uvc_v4l2.o uvc_video.o uvc_ctrl.o \
uvc_status.o uvc_isight.o uvc_debugfs.o
ifeq ($(CONFIG_MEDIA_CONTROLLER),y)
diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
index cde43b6..54bd175 100644
--- a/drivers/media/usb/uvc/uvc_driver.c
+++ b/drivers/media/usb/uvc/uvc_driver.c
@@ -168,6 +168,108 @@ static struct uvc_format_desc uvc_fmts[] = {
.guid = UVC_GUID_FORMAT_RW10,
.fcc = V4L2_PIX_FMT_SRGGB10P,
},
+ {
+ .name = "Raw data 8-bit (RAW8)",
+ .guid = UVC_GUID_FORMAT_RAW8,
+ .fcc = V4L2_PIX_FMT_GREY,
+ },
+ {
+ .name = "Raw data 16-bit (RW16)",
+ .guid = UVC_GUID_FORMAT_RW16,
+ .fcc = V4L2_PIX_FMT_RW16,
+ },
+ {
+ .name = "Depth 16-bit (INVZ)",
+ .guid = UVC_GUID_FORMAT_INVZ,
+ .fcc = V4L2_PIX_FMT_Z16,
+ },
+ {
+ .name = "Depth:IR 16:8 24-bit (INZI)",
+ .guid = UVC_GUID_FORMAT_INZI,
+ .fcc = V4L2_PIX_FMT_INZI,
+ },
+ {
+ .name = "Depth 16-bit (INVR)",
+ .guid = UVC_GUID_FORMAT_INVR,
+ .fcc = V4L2_PIX_FMT_INVR,
+ },
+ {
+ .name = "Depth:IR 16:8 24-bit (INRI)",
+ .guid = UVC_GUID_FORMAT_INRI,
+ .fcc = V4L2_PIX_FMT_INRI,
+ },
+ {
+ .name = "Infrared 8-bit (INVI)",
+ .guid = UVC_GUID_FORMAT_INVI,
+ .fcc = V4L2_PIX_FMT_GREY,
+ },
+ {
+ .name = "FlickerIR 8-bit (RELI)",
+ .guid = UVC_GUID_FORMAT_RELI,
+ .fcc = V4L2_PIX_FMT_RELI,
+ },
+ {
+ .name = "Luminosity data 8-bit (L8)",
+ .guid = UVC_GUID_FORMAT_L8,
+ .fcc = V4L2_PIX_FMT_GREY,
+ },
+ {
+ .name = "Luminosity data 16-bit (L16)",
+ .guid = UVC_GUID_FORMAT_L16,
+ .fcc = V4L2_PIX_FMT_Y16,
+ },
+ {
+ .name = "Depth data 16-bit (D16)",
+ .guid = UVC_GUID_FORMAT_D16,
+ .fcc = V4L2_PIX_FMT_Z16,
+ },
+ {
+ .name = "16-bit Bayer BGBG/GRGR",
+ .guid = UVC_GUID_FORMAT_BAYER16,
+ .fcc = V4L2_PIX_FMT_SBGGR16,
+ },
+ {
+ .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/Development formats for backward-compatibility*/
+ {
+ .name = "Raw data 16-bit (RW16)",
+ .guid = UVC_GUID_FORMAT_RW16,
+ .fcc = V4L2_PIX_FMT_RW16,
+ },
+ {
+ .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,
+ },
+ {
+ .name = "Z16 Huffman Compression",
+ .guid = UVC_GUID_FORMAT_Z16H,
+ .fcc = V4L2_PIX_FMT_Z16H,
+ },
};
/* ------------------------------------------------------------------------
diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
index 7e4d3ee..e517d8f 100644
--- a/drivers/media/usb/uvc/uvcvideo.h
+++ b/drivers/media/usb/uvc/uvcvideo.h
@@ -131,6 +131,60 @@
#define UVC_GUID_FORMAT_RW10 \
{ 'R', '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_RW16 \
+ { 'R', 'W', '1', '6', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_INVZ \
+ { 'I', 'N', 'V', 'Z', 0x90, 0x2d, 0x58, 0x4a, \
+ 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
+#define UVC_GUID_FORMAT_INZI \
+ { 'I', 'N', 'Z', 'I', 0x66, 0x1a, 0x42, 0xa2, \
+ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
+#define UVC_GUID_FORMAT_INVR \
+ { 'I', 'N', 'V', 'R', 0x90, 0x2d, 0x58, 0x4a, \
+ 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
+#define UVC_GUID_FORMAT_INRI \
+ { 'I', 'N', 'R', 'I', 0x90, 0x2d, 0x58, 0x4a, \
+ 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
+#define UVC_GUID_FORMAT_INVI \
+ { 'I', 'N', 'V', 'I', 0xdb, 0x57, 0x49, 0x5e, \
+ 0x8e, 0x3f, 0xf4, 0x79, 0x53, 0x2b, 0x94, 0x6f}
+#define UVC_GUID_FORMAT_RELI \
+ { 'R', 'E', 'L', 'I', 0x14, 0x13, 0x43, 0xf9, \
+ 0xa7, 0x5a, 0xee, 0x6b, 0xbf, 0x01, 0x2e, 0x23}
+#define UVC_GUID_FORMAT_L8 \
+ { '2', 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_L16 \
+ { 'Q', 0x00, 0x00, 0x00, 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_BAYER16 \
+ { 'R', 'W', '1', '6', 0x66, 0x1a, 0x42, 0xa2, \
+ 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
+#define UVC_GUID_FORMAT_W10 \
+ { 'W', '1', '0', ' ', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
+#define UVC_GUID_FORMAT_CONFIDENCE_MAP \
+ { 'C', ' ', ' ', ' ', 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}
+#define UVC_GUID_FORMAT_Z16H \
+ { 'Z', '1', '6', 'H', 0x00, 0x00, 0x10, 0x00, \
+ 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
/* ------------------------------------------------------------------------
* Driver specific constants.
diff --git a/drivers/media/v4l2-core/v4l2-ioctl.c b/drivers/media/v4l2-core/v4l2-ioctl.c
index 51a0fa1..391c2b3 100644
--- a/drivers/media/v4l2-core/v4l2-ioctl.c
+++ b/drivers/media/v4l2-core/v4l2-ioctl.c
@@ -1243,6 +1243,17 @@ static void v4l_fill_fmtdesc(struct v4l2_fmtdesc *fmt)
case V4L2_SDR_FMT_CS8: descr = "Complex S8"; break;
case V4L2_SDR_FMT_CS14LE: descr = "Complex S14LE"; break;
case V4L2_SDR_FMT_RU12LE: descr = "Real U12LE"; break;
+ case V4L2_PIX_FMT_Y8I: descr = "8-bit Greyscale L/R interleaved"; break;
+ case V4L2_PIX_FMT_Y12I: descr = "12-bit Grey L/R interleaved"; break;
+ case V4L2_PIX_FMT_Z16: descr = "16-bit Depth data"; break;
+ case V4L2_PIX_FMT_RW16: descr = "16-bit Raw data"; break;
+ case V4L2_PIX_FMT_INZI: descr = "32-bit IR:Depth 10:16"; break;
+ case V4L2_PIX_FMT_W10: descr = "10-bit packed 8888[2222]"; break;
+ case V4L2_PIX_FMT_CONFIDENCE_MAP: descr = "4-bit per pixel packed"; 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 724f43e..29bcba5 100644
--- a/include/uapi/linux/videodev2.h
+++ b/include/uapi/linux/videodev2.h
@@ -627,6 +627,19 @@ struct v4l2_pix_format {
#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_Z16 v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
+#define V4L2_PIX_FMT_Y16 v4l2_fourcc('Y', '1', '6', ' ') /* Greyscale 16-bit */
+#define V4L2_PIX_FMT_RW16 v4l2_fourcc('R', 'W', '1', '6') /* Raw data 16-bit */
+#define V4L2_PIX_FMT_INZI v4l2_fourcc('I', 'N', 'Z', 'I') /* 24 Depth/IR 16:8 */
+#define V4L2_PIX_FMT_INVR v4l2_fourcc('I', 'N', 'V', 'R') /* 16 Depth */
+#define V4L2_PIX_FMT_INRI v4l2_fourcc('I', 'N', 'R', 'I') /* 24 Depth/IR 16:8 */
+#define V4L2_PIX_FMT_RELI v4l2_fourcc('R', 'E', 'L', 'I') /* 8 IR alternating on off illumination */
+#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*/
/* SDR formats - used only for Software Defined Radio devices */
#define V4L2_SDR_FMT_CU8 v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */
--
2.7.4
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