I'm using the imx6dual for my project.
I finished overlay the camera image(using the V4L2) on the QT Application(GUI Based.) on the LVDS.
But,
In the LVDS screen, camera image is not full for LVDS (640x480).
QT GUI is perfectly fit with LVDS.
Look at this :
(gray screen is camera image. )
And 4 colored rectangle is on the QT Application.
Each rectangle is positioned each corner.
But Camera image is not fit with each rectangle.
It looks like,
V4L2 has a margin like this :
(pink is camera area,
blue is gui area.)
What can I do for this?
Actually, I tried this from example of internet source..
So I cannot know how can I access this problem...
※ This Camea is fit with same LVDS when I use another CPU.
So I think that this is not problem of LVDS or Camera's setting.
Below Code is sample code what I referred.
This code is working same as my QT Program.
It has same margin.
If you need see a some another code, please reply to me.
Thank you for your help.
/*
* Copyright 2007-2013 Freescale Semiconductor, Inc. All rights reserved.
*/
/*
* The code contained herein is licensed under the GNU General Public
* License. You may obtain a copy of the GNU General Public License
* Version 2 or later at the following locations:
*
* http://www.opensource.org/licenses/gpl-license.html
* http://www.gnu.org/copyleft/gpl.html
*/
/*
* @file mxc_v4l2_tvin.c
*
* @brief Mxc TVIN For Linux 2 driver test application
*
*/
#ifdef __cplusplus
extern "C"{
#endif
/*=======================================================================
INCLUDE FILES
=======================================================================*/
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <stdint.h>
#include <sys/types.h>
#include <stdint.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <unistd.h>
#include <asm/types.h>
#include <linux/videodev2.h>
#include <sys/mman.h>
#include <math.h>
#include <string.h>
#include <malloc.h>
#include <sys/time.h>
#include "mxcfb.h"
#include "mxc_v4l2.h"
#include "ipu.h"
#define TFAIL -1
#define TPASS 0
char v4l_capture_dev[100] = "/dev/video0";
char v4l_output_dev[100] = "/dev/video17";
int fd_capture_v4l = 0;
int fd_output_v4l = 0;
int g_cap_mode = 0;
int g_input = 1;
int g_fmt = V4L2_PIX_FMT_UYVY;
int g_rotate = 0;
int g_vflip = 0;
int g_hflip = 0;
int g_vdi_enable = 0;
int g_vdi_motion = 0;
int g_tb = 0;
int g_output = 3;
int g_output_num_buffers = 4;
int g_capture_num_buffers = 3;
int g_in_width = 0;
int g_in_height = 0;
int g_display_width = 0;
int g_display_height = 0;
int g_display_top = 0;
int g_display_left = 0;
int g_frame_size;
int g_frame_period = 33333;
v4l2_std_id g_current_std = V4L2_STD_NTSC;
struct testbuffer
{
unsigned char *start;
size_t offset;
unsigned int length;
};
struct testbuffer output_buffers[4];
struct testbuffer capture_buffers[3];
int start_capturing(void)
{
unsigned int i;
struct v4l2_buffer buf;
enum v4l2_buf_type type;
for (i = 0; i < g_capture_num_buffers; i++)
{
memset(&buf, 0, sizeof (buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (ioctl(fd_capture_v4l, VIDIOC_QUERYBUF, &buf) < 0)
{
printf("VIDIOC_QUERYBUF error\n");
return TFAIL;
}
capture_buffers[i].length = buf.length;
capture_buffers[i].offset = (size_t) buf.m.offset;
capture_buffers[i].start = mmap (NULL, capture_buffers[i].length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd_capture_v4l, capture_buffers[i].offset);
memset(capture_buffers[i].start, 0xFF, capture_buffers[i].length);
}
for (i = 0; i < g_capture_num_buffers; i++)
{
memset(&buf, 0, sizeof (buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
buf.m.offset = capture_buffers[i].offset;
if (ioctl (fd_capture_v4l, VIDIOC_QBUF, &buf) < 0) {
printf("VIDIOC_QBUF error\n");
return TFAIL;
}
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl (fd_capture_v4l, VIDIOC_STREAMON, &type) < 0) {
printf("VIDIOC_STREAMON error\n");
return TFAIL;
}
return 0;
}
int prepare_output(void)
{
int i;
struct v4l2_buffer output_buf;
for (i = 0; i < g_output_num_buffers; i++)
{
memset(&output_buf, 0, sizeof(output_buf));
output_buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
output_buf.memory = V4L2_MEMORY_MMAP;
output_buf.index = i;
if (ioctl(fd_output_v4l, VIDIOC_QUERYBUF, &output_buf) < 0)
{
printf("VIDIOC_QUERYBUF error\n");
return TFAIL;
}
output_buffers[i].length = output_buf.length;
output_buffers[i].offset = (size_t) output_buf.m.offset;
output_buffers[i].start = mmap (NULL, output_buffers[i].length,
PROT_READ | PROT_WRITE, MAP_SHARED,
fd_output_v4l, output_buffers[i].offset);
if (output_buffers[i].start == NULL) {
printf("v4l2 tvin test: output mmap failed\n");
return TFAIL;
}
}
return 0;
}
int v4l_capture_setup(void)
{
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
struct v4l2_requestbuffers req;
struct v4l2_dbg_chip_ident chip;
struct v4l2_streamparm parm;
v4l2_std_id id;
unsigned int min;
if (ioctl (fd_capture_v4l, VIDIOC_QUERYCAP, &cap) < 0) {
if (EINVAL == errno) {
fprintf (stderr, "%s is no V4L2 device\n",
v4l_capture_dev);
return TFAIL;
} else {
fprintf (stderr, "%s isn not V4L device,unknow error\n",
v4l_capture_dev);
return TFAIL;
}
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
fprintf (stderr, "%s is no video capture device\n",
v4l_capture_dev);
return TFAIL;
}
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf (stderr, "%s does not support streaming i/o\n",
v4l_capture_dev);
return TFAIL;
}
if (ioctl(fd_capture_v4l, VIDIOC_DBG_G_CHIP_IDENT, &chip))
{
printf("VIDIOC_DBG_G_CHIP_IDENT failed.\n");
close(fd_capture_v4l);
return TFAIL;
}
printf("TV decoder chip is %s\n", chip.match.name);
if (ioctl(fd_capture_v4l, VIDIOC_S_INPUT, &g_input) < 0)
{
printf("VIDIOC_S_INPUT failed\n");
close(fd_capture_v4l);
return TFAIL;
}
if (ioctl(fd_capture_v4l, VIDIOC_G_STD, &id) < 0)
{
printf("VIDIOC_G_STD failed\n");
close(fd_capture_v4l);
return TFAIL;
}
g_current_std = id;
if (ioctl(fd_capture_v4l, VIDIOC_S_STD, &id) < 0)
{
printf("VIDIOC_S_STD failed\n");
close(fd_capture_v4l);
return TFAIL;
}
/* Select video input, video standard and tune here. */
memset(&cropcap, 0, sizeof(cropcap));
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (ioctl (fd_capture_v4l, VIDIOC_CROPCAP, &cropcap) < 0) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */
if (ioctl (fd_capture_v4l, VIDIOC_S_CROP, &crop) < 0) {
switch (errno) {
case EINVAL:
/* Cropping not supported. */
fprintf (stderr, "%s doesn't support crop\n",
v4l_capture_dev);
break;
default:
/* Errors ignored. */
break;
}
}
} else {
/* Errors ignored. */
}
parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
parm.parm.capture.timeperframe.numerator = 1;
parm.parm.capture.timeperframe.denominator = 0;
parm.parm.capture.capturemode = 0;
if (ioctl(fd_capture_v4l, VIDIOC_S_PARM, &parm) < 0)
{
printf("VIDIOC_S_PARM failed\n");
close(fd_capture_v4l);
return TFAIL;
}
memset(&fmt, 0, sizeof(fmt));
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 0;
fmt.fmt.pix.height = 0;
fmt.fmt.pix.pixelformat = g_fmt;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if (ioctl (fd_capture_v4l, VIDIOC_S_FMT, &fmt) < 0){
fprintf (stderr, "%s iformat not supported \n",
v4l_capture_dev);
return TFAIL;
}
/* Note VIDIOC_S_FMT may change width and height. */
/* Buggy driver paranoia. */
min = fmt.fmt.pix.width * 2;
if (fmt.fmt.pix.bytesperline < min)
fmt.fmt.pix.bytesperline = min;
min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
if (fmt.fmt.pix.sizeimage < min)
fmt.fmt.pix.sizeimage = min;
if (ioctl(fd_capture_v4l, VIDIOC_G_FMT, &fmt) < 0)
{
printf("VIDIOC_G_FMT failed\n");
close(fd_capture_v4l);
return TFAIL;
}
g_in_width = fmt.fmt.pix.width;
g_in_height = fmt.fmt.pix.height;
memset(&req, 0, sizeof (req));
req.count = g_capture_num_buffers;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (ioctl (fd_capture_v4l, VIDIOC_REQBUFS, &req) < 0) {
if (EINVAL == errno) {
fprintf (stderr, "%s does not support "
"memory mapping\n", v4l_capture_dev);
return TFAIL;
} else {
fprintf (stderr, "%s does not support "
"memory mapping, unknow error\n", v4l_capture_dev);
return TFAIL;
}
}
if (req.count < 2) {
fprintf (stderr, "Insufficient buffer memory on %s\n",
v4l_capture_dev);
return TFAIL;
}
return 0;
}
int v4l_output_setup(void)
{
struct v4l2_control ctrl;
struct v4l2_format fmt;
struct v4l2_framebuffer fb;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_capability cap;
struct v4l2_fmtdesc fmtdesc;
struct v4l2_requestbuffers buf_req;
if (!ioctl(fd_output_v4l, VIDIOC_QUERYCAP, &cap)) {
printf("driver=%s, card=%s, bus=%s, \r\n"
"version=0x%08x, "
"capabilities=0x%08x\n",
cap.driver, cap.card, cap.bus_info,
cap.version,
cap.capabilities);
}
fmtdesc.index = 0;
fmtdesc.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
while (!ioctl(fd_output_v4l, VIDIOC_ENUM_FMT, &fmtdesc)) {
printf("fmt %s: fourcc = 0x%08x\n",
fmtdesc.description,
fmtdesc.pixelformat);
fmtdesc.index++;
}
memset(&cropcap, 0, sizeof(cropcap));
cropcap.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
if (ioctl(fd_output_v4l, VIDIOC_CROPCAP, &cropcap) < 0)
{
printf("get crop capability failed\n");
close(fd_output_v4l);
return TFAIL;
}
crop.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
crop.c.top = g_display_top;
crop.c.left = g_display_left;
crop.c.width = g_display_width;
crop.c.height = g_display_height;
if (ioctl(fd_output_v4l, VIDIOC_S_CROP, &crop) < 0)
{
printf("set crop failed\n");
close(fd_output_v4l);
return TFAIL;
}
// Set rotation
ctrl.id = V4L2_CID_ROTATE;
ctrl.value = g_rotate;
if (ioctl(fd_output_v4l, VIDIOC_S_CTRL, &ctrl) < 0)
{
printf("set ctrl rotate failed\n");
close(fd_output_v4l);
return TFAIL;
}
ctrl.id = V4L2_CID_VFLIP;
ctrl.value = g_vflip;
if (ioctl(fd_output_v4l, VIDIOC_S_CTRL, &ctrl) < 0)
{
printf("set ctrl vflip failed\n");
close(fd_output_v4l);
return TFAIL;
}
ctrl.id = V4L2_CID_HFLIP;
ctrl.value = g_hflip;
if (ioctl(fd_output_v4l, VIDIOC_S_CTRL, &ctrl) < 0)
{
printf("set ctrl hflip failed\n");
close(fd_output_v4l);
return TFAIL;
}
if (g_vdi_enable) {
ctrl.id = V4L2_CID_MXC_MOTION;
ctrl.value = g_vdi_motion;
//ctrl.value = 0;
if (ioctl(fd_output_v4l, VIDIOC_S_CTRL, &ctrl) < 0)
{
printf("set ctrl motion failed\n");
close(fd_output_v4l);
return TFAIL;
}
}
fb.flags = V4L2_FBUF_FLAG_OVERLAY;
ioctl(fd_output_v4l, VIDIOC_S_FBUF, &fb);
memset(&fmt, 0, sizeof(fmt));
fmt.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
fmt.fmt.pix.width= g_in_width;
fmt.fmt.pix.height= g_in_height;
fmt.fmt.pix.pixelformat = g_fmt;
fmt.fmt.pix.bytesperline = g_in_width;
fmt.fmt.pix.priv = 0;
fmt.fmt.pix.sizeimage = 0;
if (g_tb)
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED_TB;
else
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED_BT;
if (ioctl(fd_output_v4l, VIDIOC_S_FMT, &fmt) < 0)
{
printf("set format failed\n");
return TFAIL;
}
if (ioctl(fd_output_v4l, VIDIOC_G_FMT, &fmt) < 0)
{
printf("get format failed\n");
return TFAIL;
}
g_frame_size = fmt.fmt.pix.sizeimage;
memset(&buf_req, 0, sizeof(buf_req));
buf_req.count = g_output_num_buffers;
buf_req.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
buf_req.memory = V4L2_MEMORY_MMAP;
if (ioctl(fd_output_v4l, VIDIOC_REQBUFS, &buf_req) < 0)
{
printf("request buffers failed\n");
return TFAIL;
}
return 0;
}
int
mxc_v4l_tvin_test(void)
{
struct v4l2_buffer capture_buf, output_buf;
v4l2_std_id id;
int i, j;
enum v4l2_buf_type type;
int total_time;
struct timeval tv_start, tv_current;
int rtn;
if (prepare_output() < 0)
{
printf("prepare_output failed\n");
return TFAIL;
}
if (start_capturing() < 0)
{
printf("start_capturing failed\n");
return TFAIL;
}
gettimeofday(&tv_start, 0);
printf("start time = %d s, %d us\n", (unsigned int) tv_start.tv_sec,
(unsigned int) tv_start.tv_usec);
for (i = 0; ; i++) {
begin:
if (ioctl(fd_capture_v4l, VIDIOC_G_STD, &id)) {
printf("VIDIOC_G_STD failed.\n");
return TFAIL;
}
if (id == g_current_std)
{
//printf("goto next\r\n");
goto next;
}
else if (id == V4L2_STD_PAL || id == V4L2_STD_NTSC) {
type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
ioctl(fd_output_v4l, VIDIOC_STREAMOFF, &type);
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ioctl(fd_capture_v4l, VIDIOC_STREAMOFF, &type);
for (j = 0; j < g_output_num_buffers; j++)
{
munmap(output_buffers[j].start, output_buffers[j].length);
}
for (j = 0; j < g_capture_num_buffers; j++)
{
munmap(capture_buffers[j].start, capture_buffers[j].length);
}
if (v4l_capture_setup() < 0) {
printf("Setup v4l capture failed.\n");
return TFAIL;
}
if (v4l_output_setup() < 0) {
printf("Setup v4l output failed.\n");
return TFAIL;
}
if (prepare_output() < 0)
{
printf("prepare_output failed\n");
return TFAIL;
}
if (start_capturing() < 0)
{
printf("start_capturing failed\n");
return TFAIL;
}
i = 0;
printf("TV standard changed\n");
} else {
sleep(1);
/* Try again */
if (ioctl(fd_capture_v4l, VIDIOC_G_STD, &id)) {
printf("VIDIOC_G_STD failed.\n");
return TFAIL;
}
if (id != V4L2_STD_ALL)
goto begin;
printf("Cannot detect TV standard\n");
return 0;
}
next:
/*rtn = poll( (struct pollfd *)&poll_fds, 1, tmout );
if ( rtn < 0 ) return -1;*/
memset(&capture_buf, 0, sizeof(capture_buf));
capture_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
capture_buf.memory = V4L2_MEMORY_MMAP;
if (ioctl(fd_capture_v4l, VIDIOC_DQBUF, &capture_buf) < 0) {
printf("VIDIOC_DQBUF failed.\n");
return TFAIL;
}
memset(&output_buf, 0, sizeof(output_buf));
output_buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
output_buf.memory = V4L2_MEMORY_MMAP;
if (i < g_output_num_buffers) {
output_buf.index = i;
if (ioctl(fd_output_v4l, VIDIOC_QUERYBUF, &output_buf) < 0)
{
printf("VIDIOC_QUERYBUF failed\n");
return TFAIL;
}
} else {
output_buf.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
output_buf.memory = V4L2_MEMORY_MMAP;
if (ioctl(fd_output_v4l, VIDIOC_DQBUF, &output_buf) < 0)
{
printf("VIDIOC_DQBUF failed\n");
return TFAIL;
}
}
memcpy(output_buffers[output_buf.index].start, capture_buffers[capture_buf.index].start, g_frame_size);
if (ioctl(fd_capture_v4l, VIDIOC_QBUF, &capture_buf) < 0) {
printf("VIDIOC_QBUF failed\n");
return TFAIL;
}
output_buf.timestamp.tv_sec = tv_start.tv_sec;
output_buf.timestamp.tv_usec = tv_start.tv_usec + (g_frame_period * i);
if (g_vdi_enable)
output_buf.field = g_tb ? V4L2_FIELD_INTERLACED_TB :
V4L2_FIELD_INTERLACED_BT;
if (ioctl(fd_output_v4l, VIDIOC_QBUF, &output_buf) < 0)
{
printf("VIDIOC_QBUF failed\n");
return TFAIL;
}
if (i == 1) {
type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
if (ioctl(fd_output_v4l, VIDIOC_STREAMON, &type) < 0) {
printf("Could not start stream\n");
return TFAIL;
}
}
//if(i==4) break;
}
gettimeofday(&tv_current, 0);
total_time = (tv_current.tv_sec - tv_start.tv_sec) * 1000000L;
total_time += tv_current.tv_usec - tv_start.tv_usec;
printf("total time for %u frames = %u us = %lld fps\n", i, total_time, (i * 1000000ULL) / total_time);
return 0;
}
int process_cmdline(int argc, char **argv)
{
int i;
for (i = 1; i < argc; i++) {
if (strcmp(argv[i], "-ow") == 0) {
g_display_width = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-oh") == 0) {
g_display_height = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-ot") == 0) {
g_display_top = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-ol") == 0) {
g_display_left = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-r") == 0) {
g_rotate = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-f") == 0) {
i++;
g_fmt = v4l2_fourcc(argv[i][0], argv[i][1],argv[i][2],argv[i][3]);
if ((g_fmt != V4L2_PIX_FMT_NV12) &&
(g_fmt != V4L2_PIX_FMT_UYVY) &&
(g_fmt != V4L2_PIX_FMT_YUYV) &&
(g_fmt != V4L2_PIX_FMT_YUV420)) {
printf("Default format is used: UYVY\n");
}
}
else if (strcmp(argv[i], "-m") == 0) {
g_vdi_enable = 1;
g_vdi_motion = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-tb") == 0) {
g_tb = 1;
}
else if (strcmp(argv[i], "-help") == 0) {
printf("MXC Video4Linux TVin Test\n\n" \
"Syntax: mxc_v4l2_tvin.out\n" \
" -ow <capture display width>\n" \
" -oh <capture display height>\n" \
" -ot <display top>\n" \
" -ol <display left>\n" \
" -r <rotation> -c <capture counter> \n"
" -m <motion> 0:medium 1:low 2:high, 0-default\n"
" -tb top field first, bottom field first-default\n"
" -f <format, only YU12, YUYV, UYVY and NV12 are supported> \n");
return TFAIL;
}
}
if ((g_display_width == 0) || (g_display_height == 0)) {
printf("Zero display width or height\n");
return TFAIL;
}
return 0;
}
int main(int argc, char **argv)
{
#ifdef BUILD_FOR_ANDROID
char fb_device[100] = "/dev/graphics/fb0";
#else
char fb_device[100] = "/dev/fb0";
#endif
int fd_fb = 0, i;
struct mxcfb_gbl_alpha alpha;
enum v4l2_buf_type type;
if (process_cmdline(argc, argv) < 0) {
return TFAIL;
}
if ((fd_capture_v4l = open(v4l_capture_dev, O_RDWR, 0)) < 0)
{
printf("Unable to open %s\n", v4l_capture_dev);
return TFAIL;
}
if ((fd_output_v4l = open(v4l_output_dev, O_RDWR, 0)) < 0)
{
printf("Unable to open %s\n", v4l_output_dev);
return TFAIL;
}
if (v4l_capture_setup() < 0) {
printf("Setup v4l capture failed.\n");
return TFAIL;
}
if (v4l_output_setup() < 0) {
printf("Setup v4l output failed.\n");
close(fd_capture_v4l);
return TFAIL;
}
if ((fd_fb = open(fb_device, O_RDWR )) < 0) {
printf("Unable to open frame buffer\n");
close(fd_capture_v4l);
close(fd_output_v4l);
return TFAIL;
}
/* Overlay setting */
alpha.alpha = 0;
alpha.enable = 1;
if (ioctl(fd_fb, MXCFB_SET_GBL_ALPHA, &alpha) < 0) {
printf("Set global alpha failed\n");
close(fd_fb);
close(fd_capture_v4l);
close(fd_output_v4l);
return TFAIL;
}
mxc_v4l_tvin_test();
type = V4L2_BUF_TYPE_VIDEO_OUTPUT;
ioctl(fd_output_v4l, VIDIOC_STREAMOFF, &type);
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ioctl(fd_capture_v4l, VIDIOC_STREAMOFF, &type);
for (i = 0; i < g_output_num_buffers; i++)
{
munmap(output_buffers[i].start, output_buffers[i].length);
}
for (i = 0; i < g_capture_num_buffers; i++)
{
munmap(capture_buffers[i].start, capture_buffers[i].length);
}
close(fd_capture_v4l);
close(fd_output_v4l);
close(fd_fb);
return 0;
}
