zoneminder/src/zm_local_camera.cpp

//
// ZoneMinder Local Camera Class Implementation, $Date$, $Revision$
// Copyright (C) 2001-2008 Philip Coombes
// 
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 2
// of the License, or (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
// 
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
// 

#include "zm.h"

#if ZM_HAS_V4L

#include "zm_local_camera.h"

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/mman.h>
#include <errno.h>
#include <stdlib.h>
#include <limits.h>

/* Workaround for GNU/kFreeBSD and FreeBSD */
#if defined(__FreeBSD_kernel__) || defined(__FreeBSD__)
#ifndef ENODATA
#define ENODATA ENOATTR
#endif
#endif

static unsigned int BigEndian;

static int vidioctl(int fd, int request, void *arg) {
  int result = -1;
  do {
    result = ioctl(fd, request, arg);
  } while( result == -1 && errno == EINTR );
  return result;
}

#if HAVE_LIBSWSCALE
static _AVPIXELFORMAT getFfPixFormatFromV4lPalette(int v4l_version, int palette) {
  _AVPIXELFORMAT pixFormat = AV_PIX_FMT_NONE;
     
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    switch ( palette ) {
#if defined(V4L2_PIX_FMT_RGB444) && defined(AV_PIX_FMT_RGB444)
      case V4L2_PIX_FMT_RGB444 :
        pixFormat = AV_PIX_FMT_RGB444;
        break;
#endif // V4L2_PIX_FMT_RGB444
      case V4L2_PIX_FMT_RGB555 :
        pixFormat = AV_PIX_FMT_RGB555;
        break;
      case V4L2_PIX_FMT_RGB565 :
        pixFormat = AV_PIX_FMT_RGB565;
        break;
      case V4L2_PIX_FMT_BGR24 :
        pixFormat = AV_PIX_FMT_BGR24;
        break;
      case V4L2_PIX_FMT_RGB24 :
        pixFormat = AV_PIX_FMT_RGB24;
        break;
      case V4L2_PIX_FMT_BGR32 :
        pixFormat = AV_PIX_FMT_BGRA;
        break;
      case V4L2_PIX_FMT_RGB32 :
        pixFormat = AV_PIX_FMT_ARGB;
        break;
      case V4L2_PIX_FMT_GREY :
        pixFormat = AV_PIX_FMT_GRAY8;
        break;
      case V4L2_PIX_FMT_YUYV :
        pixFormat = AV_PIX_FMT_YUYV422;
        break;
      case V4L2_PIX_FMT_YUV422P :
        pixFormat = AV_PIX_FMT_YUV422P;
        break;
      case V4L2_PIX_FMT_YUV411P :
        pixFormat = AV_PIX_FMT_YUV411P;
        break;
#ifdef V4L2_PIX_FMT_YUV444
      case V4L2_PIX_FMT_YUV444 :
        pixFormat = AV_PIX_FMT_YUV444P;
        break;
#endif // V4L2_PIX_FMT_YUV444
      case V4L2_PIX_FMT_YUV410 :
        pixFormat = AV_PIX_FMT_YUV410P;
        break;
      case V4L2_PIX_FMT_YUV420 :
        pixFormat = AV_PIX_FMT_YUV420P;
        break;
      case V4L2_PIX_FMT_JPEG :
      case V4L2_PIX_FMT_MJPEG :
        pixFormat = AV_PIX_FMT_YUVJ444P;
        break;
      case V4L2_PIX_FMT_UYVY :
        pixFormat = AV_PIX_FMT_UYVY422;
        break;
        // These don't seem to have ffmpeg equivalents
        // See if you can match any of the ones in the default clause below!?
      case V4L2_PIX_FMT_RGB332 :
      case V4L2_PIX_FMT_RGB555X :
      case V4L2_PIX_FMT_RGB565X :
        //case V4L2_PIX_FMT_Y16 :
        //case V4L2_PIX_FMT_PAL8 :
      case V4L2_PIX_FMT_YVU410 :
      case V4L2_PIX_FMT_YVU420 :
      case V4L2_PIX_FMT_Y41P :
        //case V4L2_PIX_FMT_YUV555 :
        //case V4L2_PIX_FMT_YUV565 :
        //case V4L2_PIX_FMT_YUV32 :
      case V4L2_PIX_FMT_NV12 :
      case V4L2_PIX_FMT_NV21 :
      case V4L2_PIX_FMT_YYUV :
      case V4L2_PIX_FMT_HI240 :
      case V4L2_PIX_FMT_HM12 :
        //case V4L2_PIX_FMT_SBGGR8 :
        //case V4L2_PIX_FMT_SGBRG8 :
        //case V4L2_PIX_FMT_SBGGR16 :
      case V4L2_PIX_FMT_DV :
      case V4L2_PIX_FMT_MPEG :
      case V4L2_PIX_FMT_WNVA :
      case V4L2_PIX_FMT_SN9C10X :
      case V4L2_PIX_FMT_PWC1 :
      case V4L2_PIX_FMT_PWC2 :
      case V4L2_PIX_FMT_ET61X251 :
        //case V4L2_PIX_FMT_SPCA501 :
        //case V4L2_PIX_FMT_SPCA505 :
        //case V4L2_PIX_FMT_SPCA508 :
        //case V4L2_PIX_FMT_SPCA561 :
        //case V4L2_PIX_FMT_PAC207 :
        //case V4L2_PIX_FMT_PJPG :
        //case V4L2_PIX_FMT_YVYU :
      default :
        {
          Fatal("Can't find swscale format for palette %d", palette);
          break;
          // These are all spare and may match some of the above
          pixFormat = AV_PIX_FMT_YUVJ420P;
          pixFormat = AV_PIX_FMT_YUVJ422P;
          pixFormat = AV_PIX_FMT_UYVY422;
          pixFormat = AV_PIX_FMT_UYYVYY411;
          pixFormat = AV_PIX_FMT_BGR565;
          pixFormat = AV_PIX_FMT_BGR555;
          pixFormat = AV_PIX_FMT_BGR8;
          pixFormat = AV_PIX_FMT_BGR4;
          pixFormat = AV_PIX_FMT_BGR4_BYTE;
          pixFormat = AV_PIX_FMT_RGB8;
          pixFormat = AV_PIX_FMT_RGB4;
          pixFormat = AV_PIX_FMT_RGB4_BYTE;
          pixFormat = AV_PIX_FMT_NV12;
          pixFormat = AV_PIX_FMT_NV21;
          pixFormat = AV_PIX_FMT_RGB32_1;
          pixFormat = AV_PIX_FMT_BGR32_1;
          pixFormat = AV_PIX_FMT_GRAY16BE;
          pixFormat = AV_PIX_FMT_GRAY16LE;
          pixFormat = AV_PIX_FMT_YUV440P;
          pixFormat = AV_PIX_FMT_YUVJ440P;
          pixFormat = AV_PIX_FMT_YUVA420P;
          //pixFormat = AV_PIX_FMT_VDPAU_H264;
          //pixFormat = AV_PIX_FMT_VDPAU_MPEG1;
          //pixFormat = AV_PIX_FMT_VDPAU_MPEG2;
        }
    } // end switch palette
  } // end if v4l2
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    switch( palette ) {
      case VIDEO_PALETTE_RGB32 :
        if ( BigEndian )
          pixFormat = AV_PIX_FMT_ARGB;
        else
          pixFormat = AV_PIX_FMT_BGRA;
        break;
      case VIDEO_PALETTE_RGB24 :
        if ( BigEndian )
          pixFormat = AV_PIX_FMT_RGB24;
        else
          pixFormat = AV_PIX_FMT_BGR24;
        break;
      case VIDEO_PALETTE_GREY :
        pixFormat = AV_PIX_FMT_GRAY8;
        break;
      case VIDEO_PALETTE_RGB555 :
        pixFormat = AV_PIX_FMT_RGB555;
        break;
      case VIDEO_PALETTE_RGB565 :
        pixFormat = AV_PIX_FMT_RGB565;
        break;
      case VIDEO_PALETTE_YUYV :
      case VIDEO_PALETTE_YUV422 :
        pixFormat = AV_PIX_FMT_YUYV422;
        break;
      case VIDEO_PALETTE_YUV422P :
        pixFormat = AV_PIX_FMT_YUV422P;
        break;
      case VIDEO_PALETTE_YUV420P :
        pixFormat = AV_PIX_FMT_YUV420P;
        break;
      default :
        {
          Fatal("Can't find swscale format for palette %d", palette);
          break;
          // These are all spare and may match some of the above
          pixFormat = AV_PIX_FMT_YUVJ420P;
          pixFormat = AV_PIX_FMT_YUVJ422P;
          pixFormat = AV_PIX_FMT_YUVJ444P;
          pixFormat = AV_PIX_FMT_UYVY422;
          pixFormat = AV_PIX_FMT_UYYVYY411;
          pixFormat = AV_PIX_FMT_BGR565;
          pixFormat = AV_PIX_FMT_BGR555;
          pixFormat = AV_PIX_FMT_BGR8;
          pixFormat = AV_PIX_FMT_BGR4;
          pixFormat = AV_PIX_FMT_BGR4_BYTE;
          pixFormat = AV_PIX_FMT_RGB8;
          pixFormat = AV_PIX_FMT_RGB4;
          pixFormat = AV_PIX_FMT_RGB4_BYTE;
          pixFormat = AV_PIX_FMT_NV12;
          pixFormat = AV_PIX_FMT_NV21;
          pixFormat = AV_PIX_FMT_RGB32_1;
          pixFormat = AV_PIX_FMT_BGR32_1;
          pixFormat = AV_PIX_FMT_GRAY16BE;
          pixFormat = AV_PIX_FMT_GRAY16LE;
          pixFormat = AV_PIX_FMT_YUV440P;
          pixFormat = AV_PIX_FMT_YUVJ440P;
          pixFormat = AV_PIX_FMT_YUVA420P;
          //pixFormat = AV_PIX_FMT_VDPAU_H264;
          //pixFormat = AV_PIX_FMT_VDPAU_MPEG1;
          //pixFormat = AV_PIX_FMT_VDPAU_MPEG2;
        }
    } // end switch palette
  } // end if v4l1
#endif // ZM_HAS_V4L1
  return pixFormat;
} // end getFfPixFormatFromV4lPalette
#endif // HAVE_LIBSWSCALE

#if ZM_HAS_V4L2
static char palette_desc[32];
/* Automatic format selection preferred formats */
static const uint32_t prefered_rgb32_formats[] = {
  V4L2_PIX_FMT_BGR32,
  V4L2_PIX_FMT_RGB32,
  V4L2_PIX_FMT_BGR24,
  V4L2_PIX_FMT_RGB24,
  V4L2_PIX_FMT_YUYV,
  V4L2_PIX_FMT_UYVY,
  V4L2_PIX_FMT_JPEG,
  V4L2_PIX_FMT_MJPEG,
  V4L2_PIX_FMT_YUV422P,
  V4L2_PIX_FMT_YUV420
};
static const uint32_t prefered_rgb24_formats[] = {
  V4L2_PIX_FMT_BGR24,
  V4L2_PIX_FMT_RGB24,
  V4L2_PIX_FMT_YUYV,
  V4L2_PIX_FMT_UYVY,
  V4L2_PIX_FMT_JPEG,
  V4L2_PIX_FMT_MJPEG,
  V4L2_PIX_FMT_YUV422P,
  V4L2_PIX_FMT_YUV420
};
static const uint32_t prefered_gray8_formats[] = {
  V4L2_PIX_FMT_GREY,
  V4L2_PIX_FMT_YUYV,
  V4L2_PIX_FMT_UYVY,
  V4L2_PIX_FMT_JPEG,
  V4L2_PIX_FMT_MJPEG,
  V4L2_PIX_FMT_YUV422P,
  V4L2_PIX_FMT_YUV420
};
#endif


int LocalCamera::camera_count = 0;
int LocalCamera::channel_count = 0;
int LocalCamera::channels[VIDEO_MAX_FRAME];
int LocalCamera::standards[VIDEO_MAX_FRAME];

int LocalCamera::vid_fd = -1;

int LocalCamera::v4l_version = 0;
#if ZM_HAS_V4L2
LocalCamera::V4L2Data LocalCamera::v4l2_data;
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
LocalCamera::V4L1Data LocalCamera::v4l1_data;
#endif // ZM_HAS_V4L1

#if HAVE_LIBSWSCALE
AVFrame **LocalCamera::capturePictures = nullptr;
#endif // HAVE_LIBSWSCALE

LocalCamera *LocalCamera::last_camera = nullptr;

LocalCamera::LocalCamera(
  int p_id,
  const std::string &p_device,
  int p_channel,
  int p_standard,
  bool p_v4l_multi_buffer,
  unsigned int p_v4l_captures_per_frame,
  const std::string &p_method,
  int p_width,
  int p_height,
  int p_colours,
  int p_palette,
  int p_brightness,
  int p_contrast,
  int p_hue,
  int p_colour,
  bool p_capture,
	bool p_record_audio,
  unsigned int p_extras) :
    Camera( p_id, LOCAL_SRC, p_width, p_height, p_colours, ZM_SUBPIX_ORDER_DEFAULT_FOR_COLOUR(p_colours), p_brightness, p_contrast, p_hue, p_colour, p_capture, p_record_audio ),
  device( p_device ),
  channel( p_channel ),
  standard( p_standard ),
  palette( p_palette ),
  channel_index( 0 ),
  extras ( p_extras )
{
  // If we are the first, or only, input on this device then
  // do the initial opening etc
  device_prime = (camera_count++ == 0);
  v4l_version = (p_method=="v4l2"?2:1);
  v4l_multi_buffer = p_v4l_multi_buffer;
  v4l_captures_per_frame = p_v4l_captures_per_frame;

  if ( capture ) {
    if ( device_prime ) {
      Debug( 2, "V4L support enabled, using V4L%d api", v4l_version );
    }

    if ( !last_camera || channel != last_camera->channel ) {
      // We are the first, or only, input that uses this channel
      channel_prime = true;
      channel_index = channel_count++;
      channels[channel_index] = channel;
      standards[channel_index] = standard;
    } else {
      // We are the second, or subsequent, input using this channel
      channel_prime = false;
    }
  }

  /* The V4L1 API doesn't care about endianness, we need to check the endianness of the machine */
  uint32_t checkval = 0xAABBCCDD;
  if ( *(unsigned char*)&checkval == 0xDD ) {
    BigEndian = 0;
    Debug(2,"little-endian processor detected");
  } else if ( *(unsigned char*)&checkval == 0xAA ) {
    BigEndian = 1;
    Debug(2,"Big-endian processor detected");
  } else {
    Error("Unable to detect the processor's endianness. Assuming little-endian.");
    BigEndian = 0;
  }

#if ZM_HAS_V4L2
  if ( v4l_version == 2 && palette == 0 ) {
    /* Use automatic format selection */
    Debug(2,"Using automatic format selection");
    palette = AutoSelectFormat(colours);
    if ( palette == 0 ) {
      Error("Automatic format selection failed. Falling back to YUYV");
      palette = V4L2_PIX_FMT_YUYV;
    } else {
      if ( capture ) {
        Info("Selected capture palette: %s (0x%02hhx%02hhx%02hhx%02hhx)",
            palette_desc, (palette>>24)&0xff, (palette>>16)&0xff, (palette>>8)&0xff, (palette)&0xff);
      }
    }
  }
#endif

  if ( capture ) {
    if ( last_camera ) {
      if ( (p_method == "v4l2" && v4l_version != 2) || (p_method == "v4l1" && v4l_version != 1) ) 
        Fatal( "Different Video For Linux version used for monitors sharing same device" );

      if ( standard != last_camera->standard )
        Warning( "Different video standards defined for monitors sharing same device, results may be unpredictable or completely wrong" );

      if ( palette != last_camera->palette )
        Warning( "Different video palettes defined for monitors sharing same device, results may be unpredictable or completely wrong" );

      if ( width != last_camera->width || height != last_camera->height )
        Warning( "Different capture sizes defined for monitors sharing same device, results may be unpredictable or completely wrong" );
    }

#if HAVE_LIBSWSCALE
    /* Get ffmpeg pixel format based on capture palette and endianness */
    capturePixFormat = getFfPixFormatFromV4lPalette( v4l_version, palette );
    imagePixFormat = AV_PIX_FMT_NONE;
#endif // HAVE_LIBSWSCALE   
  }

  /* V4L2 format matching */
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    /* Try to find a match for the selected palette and target colourspace */

    /* RGB32 palette and 32bit target colourspace */
    if ( palette == V4L2_PIX_FMT_RGB32 && colours == ZM_COLOUR_RGB32 ) {
      conversion_type = 0;
      subpixelorder = ZM_SUBPIX_ORDER_ARGB;

      /* BGR32 palette and 32bit target colourspace */
    } else if ( palette == V4L2_PIX_FMT_BGR32 && colours == ZM_COLOUR_RGB32 ) {
      conversion_type = 0;
      subpixelorder = ZM_SUBPIX_ORDER_BGRA;

      /* RGB24 palette and 24bit target colourspace */
    } else if ( palette == V4L2_PIX_FMT_RGB24 && colours == ZM_COLOUR_RGB24 ) {
      conversion_type = 0;
      subpixelorder = ZM_SUBPIX_ORDER_RGB;

      /* BGR24 palette and 24bit target colourspace */
    } else if ( palette == V4L2_PIX_FMT_BGR24 && colours == ZM_COLOUR_RGB24 ) {
      conversion_type = 0;
      subpixelorder = ZM_SUBPIX_ORDER_BGR;

      /* Grayscale palette and grayscale target colourspace */
    } else if ( palette == V4L2_PIX_FMT_GREY && colours == ZM_COLOUR_GRAY8 ) {
      conversion_type = 0;
      subpixelorder = ZM_SUBPIX_ORDER_NONE;
      /* Unable to find a solution for the selected palette and target colourspace. Conversion required. Notify the user of performance penalty */
    } else {
      if ( capture ) {
#if HAVE_LIBSWSCALE
        Info("No direct match for the selected palette (0x%02hhx%02hhx%02hhx%02hhx) and target colorspace (%02u). Format conversion is required, performance penalty expected",
            (capturePixFormat>>24)&0xff,((capturePixFormat>>16)&0xff),((capturePixFormat>>8)&0xff),((capturePixFormat)&0xff), colours);
#else
        Info("No direct match for the selected palette and target colorspace. Format conversion is required, performance penalty expected");
#endif
      }
#if HAVE_LIBSWSCALE
      /* Try using swscale for the conversion */
      conversion_type = 1; 
      Debug(2,"Using swscale for image conversion");
      if ( colours == ZM_COLOUR_RGB32 ) {
        subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        imagePixFormat = AV_PIX_FMT_RGBA;
      } else if ( colours == ZM_COLOUR_RGB24 ) {
        subpixelorder = ZM_SUBPIX_ORDER_RGB;
        imagePixFormat = AV_PIX_FMT_RGB24;
      } else if ( colours == ZM_COLOUR_GRAY8 ) {
        subpixelorder = ZM_SUBPIX_ORDER_NONE;
        imagePixFormat = AV_PIX_FMT_GRAY8;
      } else {
        Panic("Unexpected colours: %u",colours);
      }
      if ( capture ) {
#if LIBSWSCALE_VERSION_CHECK(0, 8, 0, 8, 0)
        if ( !sws_isSupportedInput(capturePixFormat) ) {
          Error("swscale does not support the used capture format: 0x%02hhx%02hhx%02hhx%02hhx",
              (capturePixFormat>>24)&0xff,((capturePixFormat>>16)&0xff),((capturePixFormat>>8)&0xff),((capturePixFormat)&0xff));
          conversion_type = 2; /* Try ZM format conversions */
        }
        if ( !sws_isSupportedOutput(imagePixFormat) ) {
          Error("swscale does not support the target format: 0x%02hhx%02hhx%02hhx%02hhx",
              (imagePixFormat>>24)&0xff,((imagePixFormat>>16)&0xff),((imagePixFormat>>8)&0xff),((imagePixFormat)&0xff));
          conversion_type = 2; /* Try ZM format conversions */
        }
#endif
      }
#else
      /* Don't have swscale, see what we can do */
      conversion_type = 2;
#endif
      /* Our YUYV->Grayscale conversion is a lot faster than swscale's */
      if ( colours == ZM_COLOUR_GRAY8 && palette == V4L2_PIX_FMT_YUYV ) {
        conversion_type = 2;
      }

      /* JPEG */
      if ( palette == V4L2_PIX_FMT_JPEG || palette == V4L2_PIX_FMT_MJPEG ) {
        Debug(2,"Using JPEG image decoding");
        conversion_type = 3;
      }

      if ( conversion_type == 2 ) {
        Debug(2,"Using ZM for image conversion");
        if ( palette == V4L2_PIX_FMT_RGB32 && colours == ZM_COLOUR_GRAY8 ) {
          conversion_fptr = &std_convert_argb_gray8;
          subpixelorder = ZM_SUBPIX_ORDER_NONE;
        } else if ( palette == V4L2_PIX_FMT_BGR32 && colours == ZM_COLOUR_GRAY8 ) {
          conversion_fptr = &std_convert_bgra_gray8;
          subpixelorder = ZM_SUBPIX_ORDER_NONE;
        } else if ( palette == V4L2_PIX_FMT_YUYV && colours == ZM_COLOUR_GRAY8 ) {
          /* Fast YUYV->Grayscale conversion by extracting the Y channel */
          if ( config.cpu_extensions && sse_version >= 35 ) {
            conversion_fptr = &ssse3_convert_yuyv_gray8;
            Debug(2,"Using SSSE3 YUYV->grayscale fast conversion");
          } else {
            conversion_fptr = &std_convert_yuyv_gray8;
            Debug(2,"Using standard YUYV->grayscale fast conversion");
          }
          subpixelorder = ZM_SUBPIX_ORDER_NONE;
        } else if ( palette == V4L2_PIX_FMT_YUYV && colours == ZM_COLOUR_RGB24 ) {
          conversion_fptr = &zm_convert_yuyv_rgb;
          subpixelorder = ZM_SUBPIX_ORDER_RGB;
        } else if ( palette == V4L2_PIX_FMT_YUYV && colours == ZM_COLOUR_RGB32 ) {
          conversion_fptr = &zm_convert_yuyv_rgba;
          subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        } else if ( palette == V4L2_PIX_FMT_RGB555 && colours == ZM_COLOUR_RGB24 ) {
          conversion_fptr = &zm_convert_rgb555_rgb;
          subpixelorder = ZM_SUBPIX_ORDER_RGB;
        } else if ( palette == V4L2_PIX_FMT_RGB555 && colours == ZM_COLOUR_RGB32 ) {
          conversion_fptr = &zm_convert_rgb555_rgba;
          subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        } else if ( palette == V4L2_PIX_FMT_RGB565 && colours == ZM_COLOUR_RGB24 ) {
          conversion_fptr = &zm_convert_rgb565_rgb;
          subpixelorder = ZM_SUBPIX_ORDER_RGB;
        } else if ( palette == V4L2_PIX_FMT_RGB565 && colours == ZM_COLOUR_RGB32 ) {
          conversion_fptr = &zm_convert_rgb565_rgba;
          subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        } else {
          Fatal("Unable to find a suitable format conversion for the selected palette and target colorspace.");
        }
      } // end if conversion_type == 2
    } // end if needs conversion
  } // end if v4l2
#endif // ZM_HAS_V4L2

  /* V4L1 format matching */
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    /* Try to find a match for the selected palette and target colourspace */

    /* RGB32 palette and 32bit target colourspace */
    if ( palette == VIDEO_PALETTE_RGB32 && colours == ZM_COLOUR_RGB32 ) {
      conversion_type = 0;
      if ( BigEndian ) {
        subpixelorder = ZM_SUBPIX_ORDER_ARGB;
      } else {
        subpixelorder = ZM_SUBPIX_ORDER_BGRA;
      }

      /* RGB24 palette and 24bit target colourspace */
    } else if ( palette == VIDEO_PALETTE_RGB24 && colours == ZM_COLOUR_RGB24 ) {
      conversion_type = 0;
      if ( BigEndian ) {
        subpixelorder = ZM_SUBPIX_ORDER_RGB;
      } else {
        subpixelorder = ZM_SUBPIX_ORDER_BGR;
      }

      /* Grayscale palette and grayscale target colourspace */
    } else if ( palette == VIDEO_PALETTE_GREY && colours == ZM_COLOUR_GRAY8 ) {
      conversion_type = 0;
      subpixelorder = ZM_SUBPIX_ORDER_NONE;
      /* Unable to find a solution for the selected palette and target colourspace. Conversion required. Notify the user of performance penalty */
    } else {
      if ( capture )
        Info("No direct match for the selected palette and target colorspace. Format conversion is required, performance penalty expected");
#if HAVE_LIBSWSCALE
      /* Try using swscale for the conversion */
      conversion_type = 1; 
      Debug(2,"Using swscale for image conversion");
      if ( colours == ZM_COLOUR_RGB32 ) {
        subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        imagePixFormat = AV_PIX_FMT_RGBA;
      } else if ( colours == ZM_COLOUR_RGB24 ) {
        subpixelorder = ZM_SUBPIX_ORDER_RGB;
        imagePixFormat = AV_PIX_FMT_RGB24;
      } else if ( colours == ZM_COLOUR_GRAY8 ) {
        subpixelorder = ZM_SUBPIX_ORDER_NONE;
        imagePixFormat = AV_PIX_FMT_GRAY8;
      } else {
        Panic("Unexpected colours: %u", colours);
      }
      if ( capture ) {
        if ( !sws_isSupportedInput(capturePixFormat) ) {
          Error("swscale does not support the used capture format");
          conversion_type = 2; /* Try ZM format conversions */
        }
        if ( !sws_isSupportedOutput(imagePixFormat) ) {
          Error("swscale does not support the target format");
          conversion_type = 2; /* Try ZM format conversions */
        }
      }
#else
      /* Don't have swscale, see what we can do */
      conversion_type = 2;
#endif
      /* Our YUYV->Grayscale conversion is a lot faster than swscale's */
      if ( colours == ZM_COLOUR_GRAY8 && (palette == VIDEO_PALETTE_YUYV || palette == VIDEO_PALETTE_YUV422) ) {
        conversion_type = 2;
      }

      if ( conversion_type == 2 ) {
        Debug(2,"Using ZM for image conversion");
        if ( palette == VIDEO_PALETTE_RGB32 && colours == ZM_COLOUR_GRAY8 ) {
          if ( BigEndian ) {
            conversion_fptr = &std_convert_argb_gray8;
            subpixelorder = ZM_SUBPIX_ORDER_NONE;
          } else {
            conversion_fptr = &std_convert_bgra_gray8;
            subpixelorder = ZM_SUBPIX_ORDER_NONE;
          }
        } else if ( (palette == VIDEO_PALETTE_YUYV || palette == VIDEO_PALETTE_YUV422) && colours == ZM_COLOUR_GRAY8 ) {
          /* Fast YUYV->Grayscale conversion by extracting the Y channel */
          if ( config.cpu_extensions && sse_version >= 35 ) {
            conversion_fptr = &ssse3_convert_yuyv_gray8;
            Debug(2,"Using SSSE3 YUYV->grayscale fast conversion");
          } else {
            conversion_fptr = &std_convert_yuyv_gray8;
            Debug(2,"Using standard YUYV->grayscale fast conversion");
          }
          subpixelorder = ZM_SUBPIX_ORDER_NONE;
        } else if ( (palette == VIDEO_PALETTE_YUYV || palette == VIDEO_PALETTE_YUV422) && colours == ZM_COLOUR_RGB24 ) {
          conversion_fptr = &zm_convert_yuyv_rgb;
          subpixelorder = ZM_SUBPIX_ORDER_RGB;
        } else if ( (palette == VIDEO_PALETTE_YUYV || palette == VIDEO_PALETTE_YUV422) && colours == ZM_COLOUR_RGB32 ) {
          conversion_fptr = &zm_convert_yuyv_rgba;
          subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        } else if ( palette == VIDEO_PALETTE_RGB555 && colours == ZM_COLOUR_RGB24 ) {
          conversion_fptr = &zm_convert_rgb555_rgb;
          subpixelorder = ZM_SUBPIX_ORDER_RGB;
        } else if ( palette == VIDEO_PALETTE_RGB555 && colours == ZM_COLOUR_RGB32 ) {
          conversion_fptr = &zm_convert_rgb555_rgba;
          subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        } else if ( palette == VIDEO_PALETTE_RGB565 && colours == ZM_COLOUR_RGB24 ) {
          conversion_fptr = &zm_convert_rgb565_rgb;
          subpixelorder = ZM_SUBPIX_ORDER_RGB;
        } else if ( palette == VIDEO_PALETTE_RGB565 && colours == ZM_COLOUR_RGB32 ) {
          conversion_fptr = &zm_convert_rgb565_rgba;
          subpixelorder = ZM_SUBPIX_ORDER_RGBA;
        } else {
          Fatal("Unable to find a suitable format conversion for the selected palette and target colorspace.");
        }
      }
    }
  }
#endif // ZM_HAS_V4L1    

  last_camera = this;
  Debug(3,"Selected subpixelorder: %u",subpixelorder);

#if HAVE_LIBSWSCALE
  /* Initialize swscale stuff */
  if ( capture && conversion_type == 1 ) {
#if LIBAVCODEC_VERSION_CHECK(55, 28, 1, 45, 101)
    tmpPicture = av_frame_alloc();
#else
    tmpPicture = avcodec_alloc_frame();
#endif
    if ( !tmpPicture )
      Fatal("Could not allocate temporary picture");

#if LIBAVUTIL_VERSION_CHECK(54, 6, 0, 6, 0)
    unsigned int pSize = av_image_get_buffer_size(imagePixFormat, width, height, 1);
#else
    unsigned int pSize = avpicture_get_size(imagePixFormat, width, height);
#endif
    if ( pSize != imagesize ) {
      Fatal("Image size mismatch. Required: %d Available: %u", pSize, imagesize);
    }

    imgConversionContext = sws_getContext(width, height, capturePixFormat, width, height, imagePixFormat, SWS_BICUBIC, nullptr, nullptr, nullptr);

    if ( !imgConversionContext ) {
      Fatal("Unable to initialise image scaling context");
    }
  } else {
    tmpPicture = nullptr;
    imgConversionContext = nullptr;
  }
#endif
} // end LocalCamera::LocalCamera

LocalCamera::~LocalCamera() {
  if ( device_prime && capture )
    Terminate();

#if HAVE_LIBSWSCALE
  /* Clean up swscale stuff */
  if ( capture && conversion_type == 1 ) {
    sws_freeContext(imgConversionContext);
    imgConversionContext = nullptr;

    av_frame_free(&tmpPicture);
  }
#endif
}

void LocalCamera::Initialise() {
#if HAVE_LIBSWSCALE
  if ( logDebugging() )
    av_log_set_level(AV_LOG_DEBUG);
  else
    av_log_set_level(AV_LOG_QUIET);
#endif // HAVE_LIBSWSCALE

  Debug(3, "Opening video device %s", device.c_str());
  //if ( (vid_fd = open( device.c_str(), O_RDWR|O_NONBLOCK, 0 )) < 0 )
  if ( (vid_fd = open(device.c_str(), O_RDWR, 0)) < 0 )
    Fatal("Failed to open video device %s: %s", device.c_str(), strerror(errno));

  struct stat st; 
  if ( stat(device.c_str(), &st) < 0 )
    Fatal("Failed to stat video device %s: %s", device.c_str(), strerror(errno));

  if ( !S_ISCHR(st.st_mode) )
    Fatal("File %s is not device file: %s", device.c_str(), strerror(errno));

#if ZM_HAS_V4L2
  Debug(2, "V4L2 support enabled, using V4L%d api", v4l_version);
  if ( v4l_version == 2 ) {
    struct v4l2_capability vid_cap;

    Debug(3, "Checking video device capabilities");
    if ( vidioctl(vid_fd, VIDIOC_QUERYCAP, &vid_cap) < 0 )
      Fatal("Failed to query video device: %s", strerror(errno));

    if ( !(vid_cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) )
      Fatal("Video device is not video capture device");

    if ( !(vid_cap.capabilities & V4L2_CAP_STREAMING) )
      Fatal("Video device does not support streaming i/o");

    Debug(3, "Setting up video format");

    memset(&v4l2_data.fmt, 0, sizeof(v4l2_data.fmt));
    v4l2_data.fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if ( vidioctl( vid_fd, VIDIOC_G_FMT, &v4l2_data.fmt ) < 0 )
      Fatal("Failed to get video format: %s", strerror(errno));

    Debug(4,
        " v4l2_data.fmt.type = %08x\n"
        " v4l2_data.fmt.fmt.pix.width = %d\n"
        " v4l2_data.fmt.fmt.pix.height = %d\n"
        " v4l2_data.fmt.fmt.pix.pixelformat = %08x\n"
        " v4l2_data.fmt.fmt.pix.field = %08x\n"
        " v4l2_data.fmt.fmt.pix.bytesperline = %d\n"
        " v4l2_data.fmt.fmt.pix.sizeimage = %d\n"
        " v4l2_data.fmt.fmt.pix.colorspace = %08x\n"
        " v4l2_data.fmt.fmt.pix.priv = %08x\n"
        , v4l2_data.fmt.type
        , v4l2_data.fmt.fmt.pix.width
        , v4l2_data.fmt.fmt.pix.height
        , v4l2_data.fmt.fmt.pix.pixelformat
        , v4l2_data.fmt.fmt.pix.field
        , v4l2_data.fmt.fmt.pix.bytesperline
        , v4l2_data.fmt.fmt.pix.sizeimage
        , v4l2_data.fmt.fmt.pix.colorspace
        , v4l2_data.fmt.fmt.pix.priv
        );

    v4l2_data.fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    v4l2_data.fmt.fmt.pix.width = width; 
    v4l2_data.fmt.fmt.pix.height = height;
    v4l2_data.fmt.fmt.pix.pixelformat = palette;

    if ( (extras & 0xff) != 0 ) {
      v4l2_data.fmt.fmt.pix.field = (v4l2_field)(extras & 0xff);

      if ( vidioctl(vid_fd, VIDIOC_S_FMT, &v4l2_data.fmt) < 0 ) {
        Warning("Failed to set V4L2 field to %d, falling back to auto", (extras & 0xff));
        v4l2_data.fmt.fmt.pix.field = V4L2_FIELD_ANY;
        if ( vidioctl(vid_fd, VIDIOC_S_FMT, &v4l2_data.fmt) < 0 ) {
          Fatal("Failed to set video format: %s", strerror(errno));
        }
      }
    } else {        
      if ( vidioctl(vid_fd, VIDIOC_S_FMT, &v4l2_data.fmt) < 0 ) {
        Fatal("Failed to set video format: %s", strerror(errno));
      }
    }

    /* Note VIDIOC_S_FMT may change width and height. */
    Debug(4,
        " v4l2_data.fmt.type = %08x\n"
        " v4l2_data.fmt.fmt.pix.width = %d\n"
        " v4l2_data.fmt.fmt.pix.height = %d\n"
        " v4l2_data.fmt.fmt.pix.pixelformat = %08x\n"
        " v4l2_data.fmt.fmt.pix.field = %08x\n"
        " v4l2_data.fmt.fmt.pix.bytesperline = %d\n"
        " v4l2_data.fmt.fmt.pix.sizeimage = %d\n"
        " v4l2_data.fmt.fmt.pix.colorspace = %08x\n"
        " v4l2_data.fmt.fmt.pix.priv = %08x\n"
        , v4l2_data.fmt.type
        , v4l2_data.fmt.fmt.pix.width
        , v4l2_data.fmt.fmt.pix.height
        , v4l2_data.fmt.fmt.pix.pixelformat
        , v4l2_data.fmt.fmt.pix.field
        , v4l2_data.fmt.fmt.pix.bytesperline
        , v4l2_data.fmt.fmt.pix.sizeimage
        , v4l2_data.fmt.fmt.pix.colorspace
        , v4l2_data.fmt.fmt.pix.priv
        );

    /* Buggy driver paranoia. */
    unsigned int min;
    min = v4l2_data.fmt.fmt.pix.width * 2;
    if ( v4l2_data.fmt.fmt.pix.bytesperline < min )
      v4l2_data.fmt.fmt.pix.bytesperline = min;
    min = v4l2_data.fmt.fmt.pix.bytesperline * v4l2_data.fmt.fmt.pix.height;
    if ( v4l2_data.fmt.fmt.pix.sizeimage < min )
      v4l2_data.fmt.fmt.pix.sizeimage = min;

    if ( palette == V4L2_PIX_FMT_JPEG || palette == V4L2_PIX_FMT_MJPEG ) {
      v4l2_jpegcompression jpeg_comp;
      if ( vidioctl(vid_fd, VIDIOC_G_JPEGCOMP, &jpeg_comp) < 0 ) {
        if ( errno == EINVAL ) {
          Debug(2, "JPEG compression options are not available");
        } else {
          Warning("Failed to get JPEG compression options: %s", strerror(errno));
        }
      } else {
        /* Set flags and quality. MJPEG should not have the huffman tables defined */
        if ( palette == V4L2_PIX_FMT_MJPEG ) {
          jpeg_comp.jpeg_markers |= V4L2_JPEG_MARKER_DQT | V4L2_JPEG_MARKER_DRI;
        } else {
          jpeg_comp.jpeg_markers |= V4L2_JPEG_MARKER_DQT | V4L2_JPEG_MARKER_DRI | V4L2_JPEG_MARKER_DHT;
        }
        jpeg_comp.quality = 85;

        /* Update the JPEG options */
        if ( vidioctl(vid_fd, VIDIOC_S_JPEGCOMP, &jpeg_comp) < 0 ) {
          Warning("Failed to set JPEG compression options: %s", strerror(errno));
        } else {
          if ( vidioctl(vid_fd, VIDIOC_G_JPEGCOMP, &jpeg_comp) < 0 ) {
            Debug(3,"Failed to get updated JPEG compression options: %s", strerror(errno));
          } else {
            Debug(4, "JPEG quality: %d",jpeg_comp.quality);
            Debug(4, "JPEG markers: %#x",jpeg_comp.jpeg_markers);
          }
        }
      }
    } // end if JPEG/MJPEG

    Debug(3, "Setting up request buffers");

    memset(&v4l2_data.reqbufs, 0, sizeof(v4l2_data.reqbufs));
    if ( channel_count > 1 ) {
      Debug(3, "Channel count is %d", channel_count);
      if ( v4l_multi_buffer ){
        v4l2_data.reqbufs.count = 2*channel_count;
      } else {
        v4l2_data.reqbufs.count = 1;
      }
    } else {
      v4l2_data.reqbufs.count = 8;
    }
    Debug(3, "Request buffers count is %d", v4l2_data.reqbufs.count);

    v4l2_data.reqbufs.type = v4l2_data.fmt.type;
    v4l2_data.reqbufs.memory = V4L2_MEMORY_MMAP;

    if ( vidioctl(vid_fd, VIDIOC_REQBUFS, &v4l2_data.reqbufs) < 0 ) {
      if ( errno == EINVAL ) {
        Fatal("Unable to initialise memory mapping, unsupported in device");
      } else {
        Fatal("Unable to initialise memory mapping: %s", strerror(errno));
      }
    }

    if ( v4l2_data.reqbufs.count < (v4l_multi_buffer?2:1) )
      Fatal("Insufficient buffer memory %d on video device", v4l2_data.reqbufs.count);

    Debug(3, "Setting up data buffers: Channels %d MultiBuffer %d Buffers: %d",
        channel_count, v4l_multi_buffer, v4l2_data.reqbufs.count);

    v4l2_data.buffers = new V4L2MappedBuffer[v4l2_data.reqbufs.count];
#if HAVE_LIBSWSCALE
    capturePictures = new AVFrame *[v4l2_data.reqbufs.count];
#endif // HAVE_LIBSWSCALE
    for ( unsigned int i = 0; i < v4l2_data.reqbufs.count; i++ ) {
      struct v4l2_buffer vid_buf;

      memset(&vid_buf, 0, sizeof(vid_buf));

      //vid_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
      vid_buf.type = v4l2_data.fmt.type;
      //vid_buf.memory = V4L2_MEMORY_MMAP;
      vid_buf.memory = v4l2_data.reqbufs.memory;
      vid_buf.index = i;

      if ( vidioctl(vid_fd, VIDIOC_QUERYBUF, &vid_buf) < 0 )
        Fatal("Unable to query video buffer: %s", strerror(errno));

      v4l2_data.buffers[i].length = vid_buf.length;
      v4l2_data.buffers[i].start = mmap(nullptr, vid_buf.length, PROT_READ|PROT_WRITE, MAP_SHARED, vid_fd, vid_buf.m.offset);

      if ( v4l2_data.buffers[i].start == MAP_FAILED )
        Fatal("Can't map video buffer %u (%u bytes) to memory: %s(%d)",
            i, vid_buf.length, strerror(errno), errno);

#if HAVE_LIBSWSCALE
#if LIBAVCODEC_VERSION_CHECK(55, 28, 1, 45, 101)
      capturePictures[i] = av_frame_alloc();
#else
      capturePictures[i] = avcodec_alloc_frame();
#endif
      if ( !capturePictures[i] )
        Fatal("Could not allocate picture");
#if LIBAVUTIL_VERSION_CHECK(54, 6, 0, 6, 0)
      av_image_fill_arrays(
          capturePictures[i]->data,
          capturePictures[i]->linesize,
          (uint8_t*)v4l2_data.buffers[i].start,
          capturePixFormat,
          v4l2_data.fmt.fmt.pix.width,
          v4l2_data.fmt.fmt.pix.height,
          1);
#else
      avpicture_fill(
          (AVPicture *)capturePictures[i],
          (uint8_t*)v4l2_data.buffers[i].start, capturePixFormat,
          v4l2_data.fmt.fmt.pix.width,
          v4l2_data.fmt.fmt.pix.height
          );
#endif
#endif // HAVE_LIBSWSCALE
    } // end foreach request buf

    Debug(3, "Configuring video source");

    if ( vidioctl(vid_fd, VIDIOC_S_INPUT, &channel) < 0 ) {
      Fatal("Failed to set camera source %d: %s", channel, strerror(errno));
    }

    struct v4l2_input input;
    v4l2_std_id stdId;

    memset(&input, 0, sizeof(input));
    input.index = channel;

    if ( vidioctl(vid_fd, VIDIOC_ENUMINPUT, &input) < 0 ) {
      Fatal("Failed to enumerate input %d: %s", channel, strerror(errno));
    }

    if ( (input.std != V4L2_STD_UNKNOWN) && ((input.std & standard) == V4L2_STD_UNKNOWN) ) {
      Fatal("Device does not support video standard %d", standard);
    }

    stdId = standard;
    if ( (input.std != V4L2_STD_UNKNOWN) && (vidioctl(vid_fd, VIDIOC_S_STD, &stdId) < 0) )   {
      Fatal("Failed to set video standard %d: %d %s", standard, errno, strerror(errno));
    }

    Contrast(contrast);
    Brightness(brightness);
    Hue(hue);
    Colour(colour);
  }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    Debug(3, "Configuring picture attributes");

    struct video_picture vid_pic;
    memset(&vid_pic, 0, sizeof(vid_pic));
    if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0 )
      Fatal("Failed to get picture attributes: %s", strerror(errno));

    Debug(4,
        "Old Palette:%d, depth:%d, brightness:%d, hue:%d, colour:%d, contrast:%d",
        vid_pic.palette,
        vid_pic.depth,
        vid_pic.brightness,
        vid_pic.hue,
        vid_pic.colour,
        vid_pic.contrast
        );

    switch (vid_pic.palette = palette) {
      case VIDEO_PALETTE_RGB32 :
          vid_pic.depth = 32;
          break;
      case VIDEO_PALETTE_RGB24 :
          vid_pic.depth = 24;
          break;
      case VIDEO_PALETTE_GREY :
          vid_pic.depth = 8;
          break;
      case VIDEO_PALETTE_RGB565 :
      case VIDEO_PALETTE_YUYV :
      case VIDEO_PALETTE_YUV422 :
      case VIDEO_PALETTE_YUV420P :
      case VIDEO_PALETTE_YUV422P :
      default:
          vid_pic.depth = 16;
          break;
    }

    if ( brightness >= 0 ) vid_pic.brightness = brightness;
    if ( hue >= 0 ) vid_pic.hue = hue;
    if ( colour >= 0 ) vid_pic.colour = colour;
    if ( contrast >= 0 ) vid_pic.contrast = contrast;

    if ( ioctl(vid_fd, VIDIOCSPICT, &vid_pic) < 0 ) {
      Error("Failed to set picture attributes: %s", strerror(errno));
      if ( config.strict_video_config )
        exit(-1);
    }

    Debug(3, "Configuring window attributes");

    struct video_window vid_win;
    memset(&vid_win, 0, sizeof(vid_win));
    if ( ioctl(vid_fd, VIDIOCGWIN, &vid_win) < 0 ) {
      Fatal("Failed to get window attributes: %s", strerror(errno));
    }
    Debug(4, "Old X:%d Y:%d W:%d H:%d",
        vid_win.x, vid_win.y, vid_win.width, vid_win.height);

    vid_win.x = 0;
    vid_win.y = 0;
    vid_win.width = width;
    vid_win.height = height;
    vid_win.flags &= ~VIDEO_WINDOW_INTERLACE;

    if ( ioctl(vid_fd, VIDIOCSWIN, &vid_win) < 0 ) {
      Error("Failed to set window attributes: %s", strerror(errno));
      if ( config.strict_video_config )
        exit(-1);
    }

    Info("vid_win.width = %08x, vid_win.height = %08x, vid_win.flags = %08x",
        vid_win.width, vid_win.height, vid_win.flags);

    Debug(3, "Setting up request buffers");
    if ( ioctl(vid_fd, VIDIOCGMBUF, &v4l1_data.frames) < 0 )
      Fatal("Failed to setup memory: %s", strerror(errno));
    if ( channel_count > 1 && !v4l_multi_buffer )
      v4l1_data.frames.frames = 1;
    v4l1_data.buffers = new video_mmap[v4l1_data.frames.frames];
    Debug(4, "vmb.frames = %d, vmb.size = %d",
        v4l1_data.frames.frames, v4l1_data.frames.size);

    Debug(3, "Setting up %d frame buffers", v4l1_data.frames.frames);

    v4l1_data.bufptr = (unsigned char *)mmap(0, v4l1_data.frames.size, PROT_READ|PROT_WRITE, MAP_SHARED, vid_fd, 0);
    if ( v4l1_data.bufptr == MAP_FAILED )
      Fatal("Could not mmap video: %s", strerror(errno));

#if HAVE_LIBSWSCALE
    capturePictures = new AVFrame *[v4l1_data.frames.frames];
    for ( int i = 0; i < v4l1_data.frames.frames; i++ ) {
      v4l1_data.buffers[i].frame = i;
      v4l1_data.buffers[i].width = width;
      v4l1_data.buffers[i].height = height;
      v4l1_data.buffers[i].format = palette;

#if LIBAVCODEC_VERSION_CHECK(55, 28, 1, 45, 101)
      capturePictures[i] = av_frame_alloc();
#else
      capturePictures[i] = avcodec_alloc_frame();
#endif
      if ( !capturePictures[i] )
        Fatal("Could not allocate picture");
#if LIBAVUTIL_VERSION_CHECK(54, 6, 0, 6, 0)
      av_image_fill_arrays(
          capturePictures[i]->data,
          capturePictures[i]->linesize,
          (unsigned char *)v4l1_data.bufptr+v4l1_data.frames.offsets[i],
          capturePixFormat, width, height, 1);
#else
      avpicture_fill(
          (AVPicture *)capturePictures[i],
          (unsigned char *)v4l1_data.bufptr+v4l1_data.frames.offsets[i],
          capturePixFormat, width, height );
#endif
    }
#endif // HAVE_LIBSWSCALE

    Debug(3, "Configuring video source");

    struct video_channel vid_src;
    memset(&vid_src, 0, sizeof(vid_src));
    vid_src.channel = channel;
    if ( ioctl(vid_fd, VIDIOCGCHAN, &vid_src) < 0 )
      Fatal("Failed to get camera source: %s", strerror(errno));

    Debug(4, "Old C:%d, F:%d, Fl:%x, T:%d",
        vid_src.channel, vid_src.norm, vid_src.flags, vid_src.type);

    vid_src.norm = standard;
    vid_src.flags = 0;
    vid_src.type = VIDEO_TYPE_CAMERA;
    if ( ioctl(vid_fd, VIDIOCSCHAN, &vid_src) < 0 ) {
      Error("Failed to set camera source %d: %s", channel, strerror(errno));
      if ( config.strict_video_config )
        exit(-1);
    }

    if ( ioctl(vid_fd, VIDIOCGWIN, &vid_win) < 0 )
      Fatal("Failed to get window data: %s", strerror(errno));

    Info("vid_win.width = %08x, vid_win.height = %08x, vid_win.flags = %08x",
        vid_win.width, vid_win.height, vid_win.flags);

    Debug(4, "New X:%d Y:%d W:%d H:%d",
        vid_win.x, vid_win.y, vid_win.width, vid_win.height);

    if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0 )
      Fatal("Failed to get window data: %s", strerror(errno));

    Debug(4,
        "New Palette:%d, depth:%d, brightness:%d, hue:%d, colour:%d, contrast:%d",
        vid_pic.palette,
        vid_pic.depth,
        vid_pic.brightness,
        vid_pic.hue,
        vid_pic.colour,
        vid_pic.contrast
        );
  } // end if v4l
#endif // ZM_HAS_V4L1
} // end LocalCamera::Initialize

void LocalCamera::Terminate() {
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    Debug(3, "Terminating video stream");
    //enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    // enum v4l2_buf_type type = v4l2_data.fmt.type;
    enum v4l2_buf_type type = (v4l2_buf_type)v4l2_data.fmt.type;
    if ( vidioctl(vid_fd, VIDIOC_STREAMOFF, &type) < 0 )
      Error("Failed to stop capture stream: %s", strerror(errno));

    Debug(3, "Unmapping video buffers");
    for ( unsigned int i = 0; i < v4l2_data.reqbufs.count; i++ ) {
#if HAVE_LIBSWSCALE
      /* Free capture pictures */
#if LIBAVCODEC_VERSION_CHECK(55, 28, 1, 45, 101)
      av_frame_free(&capturePictures[i]);
#else
      av_freep(&capturePictures[i]);
#endif
#endif
      if ( munmap(v4l2_data.buffers[i].start, v4l2_data.buffers[i].length) < 0 )
        Error("Failed to munmap buffer %d: %s", i, strerror(errno));
    }
  }
#endif // ZM_HAS_V4L2

#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
#if HAVE_LIBSWSCALE
    for ( int i=0; i < v4l1_data.frames.frames; i++ ) {
      /* Free capture pictures */
#if LIBAVCODEC_VERSION_CHECK(55, 28, 1, 45, 101)
      av_frame_free(&capturePictures[i]);
#else
      av_freep(&capturePictures[i]);
#endif
    }
#endif

    Debug(3, "Unmapping video buffers");
    if ( munmap((char*)v4l1_data.bufptr, v4l1_data.frames.size) < 0 )
      Error("Failed to munmap buffers: %s", strerror(errno));

    delete[] v4l1_data.buffers;
  }
#endif // ZM_HAS_V4L1

  close(vid_fd);
} // end Terminate

uint32_t LocalCamera::AutoSelectFormat(int p_colours) {
  /* Automatic format selection */
  uint32_t selected_palette = 0;
#if ZM_HAS_V4L2
  char fmt_desc[64][32];
  uint32_t fmt_fcc[64];
  v4l2_fmtdesc fmtinfo;
  unsigned int nIndex = 0;
  //int nRet = 0; // compiler say it isn't used
  int enum_fd;

  /* Open the device */
  if ( (enum_fd = open(device.c_str(), O_RDWR, 0)) < 0 ) {
    Error("Automatic format selection failed to open video device %s: %s",
        device.c_str(), strerror(errno));
    return selected_palette;
  }

  /* Enumerate available formats */
  memset(&fmtinfo, 0, sizeof(fmtinfo));
  fmtinfo.index = nIndex;
  fmtinfo.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  // FIXME This will crash if there are more than 64 formats.
  while ( vidioctl(enum_fd, VIDIOC_ENUM_FMT, &fmtinfo) >= 0 ) {
    if ( nIndex >= 64 ) {
      Error("More than 64 formats detected, can't handle that.");
      break;
    }
    /* Got a format. Copy it to the array */
    strcpy(fmt_desc[nIndex], (const char*)(fmtinfo.description));
    fmt_fcc[nIndex] = fmtinfo.pixelformat;
    
    Debug(3, "Got format: %s (0x%02hhx%02hhx%02hhx%02hhx) at index %d",
        fmt_desc[nIndex],
        (fmt_fcc[nIndex]>>24)&0xff,
        (fmt_fcc[nIndex]>>16)&0xff,
        (fmt_fcc[nIndex]>>8)&0xff,
        (fmt_fcc[nIndex])&0xff,
        nIndex);
    
    /* Proceed to the next index */
    memset(&fmtinfo, 0, sizeof(fmtinfo));
    fmtinfo.index = ++nIndex;
    fmtinfo.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
  }

  /* Select format */
  int nIndexUsed = -1;
  unsigned int n_preferedformats = 0;
  const uint32_t* preferedformats;
  if ( p_colours == ZM_COLOUR_RGB32 ) {
    /* 32bit */
    preferedformats = prefered_rgb32_formats;
    n_preferedformats = sizeof(prefered_rgb32_formats) / sizeof(uint32_t);
  } else if ( p_colours == ZM_COLOUR_GRAY8 ) {
    /* Grayscale */
    preferedformats = prefered_gray8_formats;
    n_preferedformats = sizeof(prefered_gray8_formats) / sizeof(uint32_t);
  } else {
    /* Assume 24bit */
    preferedformats = prefered_rgb24_formats;
    n_preferedformats = sizeof(prefered_rgb24_formats) / sizeof(uint32_t);
  }
  for ( unsigned int i=0; i < n_preferedformats && nIndexUsed < 0; i++ ) {
    for ( unsigned int j=0; j < nIndex; j++ ) {
      if ( preferedformats[i] == fmt_fcc[j] ) {
        Debug(6, "Choosing format: %s (0x%02hhx%02hhx%02hhx%02hhx) at index %u",
            fmt_desc[j],fmt_fcc[j]&0xff, (fmt_fcc[j]>>8)&0xff, (fmt_fcc[j]>>16)&0xff, (fmt_fcc[j]>>24)&0xff ,j);
        /* Found a format! */
        nIndexUsed = j;
        break;
      } else {
        Debug(6, "No match for format: %s (0x%02hhx%02hhx%02hhx%02hhx) at index %u",
            fmt_desc[j],fmt_fcc[j]&0xff, (fmt_fcc[j]>>8)&0xff, (fmt_fcc[j]>>16)&0xff, (fmt_fcc[j]>>24)&0xff ,j);
      }
    }
  }

  /* Have we found a match? */
  if ( nIndexUsed >= 0 ) {
    /* Found a match */
    selected_palette = fmt_fcc[nIndexUsed];
    strcpy(palette_desc,fmt_desc[nIndexUsed]);
  }

  /* Close the device */
  close(enum_fd);

#endif /* ZM_HAS_V4L2 */
  return selected_palette;
}


#define capString(test,prefix,yesString,noString,capability) \
  (test) ? (prefix yesString " " capability "\n") : (prefix noString " " capability "\n")

bool LocalCamera::GetCurrentSettings(const char *device, char *output, int version, bool verbose) {
  output[0] = 0;
  char *output_ptr = output;

  char queryDevice[PATH_MAX] = "";
  int devIndex = 0;
  do {
    if ( device ) {
      strncpy(queryDevice, device, sizeof(queryDevice)-1);
    } else {
      sprintf(queryDevice, "/dev/video%d", devIndex);
    }

    if ( (vid_fd = open(queryDevice, O_RDWR)) <= 0 ) {
      if ( device ) {
        Error("Failed to open video device %s: %s", queryDevice, strerror(errno));
        if ( verbose )
          output_ptr += sprintf(output_ptr, "Error, failed to open video device %s: %s\n",
              queryDevice, strerror(errno));
        else
          output_ptr += sprintf(output_ptr, "error%d\n", errno);
        return false;
      } else {
        return true;
      }
    }
    if ( verbose ) {
      output_ptr += sprintf(output_ptr, "Video Device: %s\n", queryDevice);
    } else {
      output_ptr += sprintf(output_ptr, "d:%s|", queryDevice);
    }

#if ZM_HAS_V4L2
    if ( version == 2 ) {
      struct v4l2_capability vid_cap;
      if ( vidioctl(vid_fd, VIDIOC_QUERYCAP, &vid_cap) < 0 ) {
        Error("Failed to query video device: %s", strerror(errno));
        if ( verbose ) {
          output_ptr += sprintf(output_ptr, "Error, failed to query video capabilities %s: %s\n",
              queryDevice, strerror(errno));
        } else {
          output_ptr += sprintf(output_ptr, "error%d\n", errno);
        }
        if ( device )
          return false;
      }

      if ( verbose ) {
        output_ptr += sprintf(output_ptr, "General Capabilities\n"
            "  Driver: %s\n"
            "  Card: %s\n"
            "  Bus: %s\n"
            "  Version: %u.%u.%u\n"
            "  Type: 0x%x\n%s%s%s%s%s%s%s%s%s%s%s%s%s%s",
            vid_cap.driver, vid_cap.card, vid_cap.bus_info,
            (vid_cap.version>>16)&0xff, (vid_cap.version>>8)&0xff, vid_cap.version&0xff,
            vid_cap.capabilities,
            capString(vid_cap.capabilities&V4L2_CAP_VIDEO_CAPTURE,         "    ", "Supports", "Does not support", "video capture (X)"),
            capString(vid_cap.capabilities&V4L2_CAP_VIDEO_OUTPUT,          "    ", "Supports", "Does not support", "video output"),
            capString(vid_cap.capabilities&V4L2_CAP_VIDEO_OVERLAY,         "    ", "Supports", "Does not support", "frame buffer overlay"),
            capString(vid_cap.capabilities&V4L2_CAP_VBI_CAPTURE,           "    ", "Supports", "Does not support", "VBI capture"),
            capString(vid_cap.capabilities&V4L2_CAP_VBI_OUTPUT,            "    ", "Supports", "Does not support", "VBI output"),
            capString(vid_cap.capabilities&V4L2_CAP_SLICED_VBI_CAPTURE,    "    ", "Supports", "Does not support", "sliced VBI capture"),
            capString(vid_cap.capabilities&V4L2_CAP_SLICED_VBI_OUTPUT,     "    ", "Supports", "Does not support", "sliced VBI output"),
#ifdef V4L2_CAP_VIDEO_OUTPUT_OVERLAY
            capString(vid_cap.capabilities&V4L2_CAP_VIDEO_OUTPUT_OVERLAY,  "    ", "Supports", "Does not support", "video output overlay"),
#else // V4L2_CAP_VIDEO_OUTPUT_OVERLAY
            "",
#endif // V4L2_CAP_VIDEO_OUTPUT_OVERLAY
            capString(vid_cap.capabilities&V4L2_CAP_TUNER,                 "    ", "Has", "Does not have", "tuner"),
            capString(vid_cap.capabilities&V4L2_CAP_AUDIO,                 "    ", "Has", "Does not have", "audio in and/or out"),
            capString(vid_cap.capabilities&V4L2_CAP_RADIO,                 "    ", "Has", "Does not have", "radio"),
            capString(vid_cap.capabilities&V4L2_CAP_READWRITE,             "    ", "Supports", "Does not support", "read/write i/o (X)"),
            capString(vid_cap.capabilities&V4L2_CAP_ASYNCIO,               "    ", "Supports", "Does not support", "async i/o"),
            capString(vid_cap.capabilities&V4L2_CAP_STREAMING,             "    ", "Supports", "Does not support", "streaming i/o (X)")
            );
      } else {
        output_ptr += sprintf(output_ptr, "D:%s|C:%s|B:%s|V:%u.%u.%u|T:0x%x|"
            , vid_cap.driver
            , vid_cap.card
            , vid_cap.bus_info
            , (vid_cap.version>>16)&0xff, (vid_cap.version>>8)&0xff, vid_cap.version&0xff
            , vid_cap.capabilities);
      }

      output_ptr += sprintf(output_ptr, verbose ? "    Standards:\n" : "S:");

      struct v4l2_standard standard;
      int standardIndex = 0;
      do {
        memset(&standard, 0, sizeof(standard));
        standard.index = standardIndex;

        if ( vidioctl(vid_fd, VIDIOC_ENUMSTD, &standard) < 0 ) {
          if ( errno == EINVAL || errno == ENODATA || errno == ENOTTY ) {
            Debug(6, "Done enumerating standard %d: %d %s", standard.index, errno, strerror(errno));
            standardIndex = -1;
            break;
          } else {
            Error("Failed to enumerate standard %d: %d %s", standard.index, errno, strerror(errno));
            if ( verbose )
              output_ptr += sprintf(output_ptr, "Error, failed to enumerate standard %d: %d %s\n", standard.index, errno, strerror(errno));
            else
              output_ptr += sprintf(output_ptr, "error%d\n", errno);
            // Why return? Why not continue trying other things?
            return false;
          }
        }
        output_ptr += sprintf(output_ptr, (verbose ? "      %s\n" : "%s/"), standard.name);
      } while ( standardIndex++ >= 0 );

      if ( !verbose && (*(output_ptr-1) == '/') )
        *(output_ptr-1) = '|';

      output_ptr += sprintf(output_ptr, verbose ? "  Formats:\n" : "F:");
      struct v4l2_fmtdesc format;
      int formatIndex = 0;
      do {
        memset(&format, 0, sizeof(format));
        format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        format.index = formatIndex;

        if ( vidioctl(vid_fd, VIDIOC_ENUM_FMT, &format) < 0 ) {
          if ( errno == EINVAL ) {
            formatIndex = -1;
            break;
          } else {
            Error("Failed to enumerate format %d: %s", format.index, strerror(errno));
            if ( verbose )
              output_ptr += sprintf(output_ptr, "Error, failed to enumerate format %d: %s\n", format.index, strerror(errno));
            else
              output_ptr += sprintf(output_ptr, "error%d\n", errno);
            return false;
          }
        }
        if ( verbose )
          output_ptr += sprintf(
              output_ptr,
              "  %s (0x%02hhx%02hhx%02hhx%02hhx)\n",
              format.description,
              (format.pixelformat>>24)&0xff,
              (format.pixelformat>>16)&0xff,
              (format.pixelformat>>8)&0xff,
              format.pixelformat&0xff);
        else
          output_ptr += sprintf(
              output_ptr,
              "0x%02hhx%02hhx%02hhx%02hhx/",
              (format.pixelformat>>24)&0xff,
              (format.pixelformat>>16)&0xff,
              (format.pixelformat>>8)&0xff,
              (format.pixelformat)&0xff);
      } while ( formatIndex++ >= 0 );

      if ( !verbose )
        *(output_ptr-1) = '|';
      else 
        output_ptr += sprintf(output_ptr, "Crop Capabilities\n");

      struct v4l2_cropcap cropcap;
      memset(&cropcap, 0, sizeof(cropcap));
      cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
      if ( vidioctl(vid_fd, VIDIOC_CROPCAP, &cropcap) < 0 ) {
        if ( errno != EINVAL ) {
          /* Failed querying crop capability, write error to the log and continue as if crop is not supported */
          Error("Failed to query crop capabilities: %s", strerror(errno));
        }

        if ( verbose ) {
          output_ptr += sprintf(output_ptr, "  Cropping is not supported\n");
        } else {
          /* Send fake crop bounds to not confuse things parsing this, such as monitor probe */
          output_ptr += sprintf(output_ptr, "B:%dx%d|", 0, 0);
        }
      } else {
        struct v4l2_crop crop;
        memset(&crop, 0, sizeof(crop));
        crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;  

        if ( vidioctl(vid_fd, VIDIOC_G_CROP, &crop) < 0 ) {
          if ( errno != EINVAL ) {
            /* Failed querying crop sizes, write error to the log and continue as if crop is not supported */
            Error("Failed to query crop: %s", strerror(errno));
          }

          if ( verbose ) {
            output_ptr += sprintf(output_ptr, "  Cropping is not supported\n");
          } else {
            /* Send fake crop bounds to not confuse things parsing this, such as monitor probe */
            output_ptr += sprintf(output_ptr, "B:%dx%d|",0,0); 
          }
        } else {
          /* Cropping supported */
          if ( verbose ) {
            output_ptr += sprintf(output_ptr,
                "  Bounds: %d x %d\n"
                "  Default: %d x %d\n"
                "  Current: %d x %d\n"
                , cropcap.bounds.width, cropcap.bounds.height
                , cropcap.defrect.width, cropcap.defrect.height
                , crop.c.width, crop.c.height);
          } else {
            output_ptr += sprintf(output_ptr, "B:%dx%d|", cropcap.bounds.width, cropcap.bounds.height);
          }
        }
      } /* Crop code */

      struct v4l2_input input;
      int inputIndex = 0;
      do {
        memset(&input, 0, sizeof(input));
        input.index = inputIndex;

        if ( vidioctl(vid_fd, VIDIOC_ENUMINPUT, &input) < 0 ) {
          if ( errno == EINVAL ) {
            break;
          } 
          Error("Failed to enumerate input %d: %s", input.index, strerror(errno));
          if ( verbose )
            output_ptr += sprintf(output_ptr, "Error, failed to enumerate input %d: %s\n", input.index, strerror(errno));
          else
            output_ptr += sprintf(output_ptr, "error%d\n", errno);
          return false;
        }
      } while ( inputIndex++ >= 0 );

      output_ptr += sprintf(output_ptr, verbose?"Inputs: %d\n":"I:%d|", inputIndex);

      inputIndex = 0;
      do {
        memset(&input, 0, sizeof(input));
        input.index = inputIndex;

        if ( vidioctl(vid_fd, VIDIOC_ENUMINPUT, &input) < 0 ) {
          if ( errno == EINVAL ) {
            inputIndex = -1;
            break;
          }
          Error("Failed to enumerate input %d: %s", input.index, strerror(errno));
          if ( verbose )
            output_ptr += sprintf(output_ptr, "Error, failed to enumerate input %d: %s\n", input.index, strerror(errno));
          else
            output_ptr += sprintf(output_ptr, "error%d\n", errno);
          return false;
        }

        if ( vidioctl(vid_fd, VIDIOC_S_INPUT, &input.index) < 0 ) {
          Error("Failed to set video input %d: %s", input.index, strerror(errno));
          if ( verbose )
            output_ptr += sprintf(output_ptr, "Error, failed to switch to input %d: %s\n", input.index, strerror(errno));
          else
            output_ptr += sprintf(output_ptr, "error%d\n", errno);
          return false;
        }

        if ( verbose ) {
          output_ptr += sprintf( output,
              "  Input %d\n"
              "    Name: %s\n"
              "    Type: %s\n"
              "    Audioset: %08x\n"
              "    Standards: 0x%llx\n"
              , input.index
              , input.name
              , input.type==V4L2_INPUT_TYPE_TUNER?"Tuner":(input.type==V4L2_INPUT_TYPE_CAMERA?"Camera":"Unknown")
              , input.audioset
              , input.std );
        } else {
          output_ptr += sprintf( output_ptr, "i%d:%s|i%dT:%s|i%dS:%llx|"
              , input.index, input.name
              , input.index, input.type==V4L2_INPUT_TYPE_TUNER?"Tuner":(input.type==V4L2_INPUT_TYPE_CAMERA?"Camera":"Unknown")
              , input.index, input.std);
        }

        if ( verbose ) {
          output_ptr += sprintf( output_ptr, "    %s    %s    %s    %s"
              , capString(input.status&V4L2_IN_ST_NO_POWER, "Power ", "off", "on", " (X)")
              , capString(input.status&V4L2_IN_ST_NO_SIGNAL, "Signal ", "not detected", "detected", " (X)")
              , capString(input.status&V4L2_IN_ST_NO_COLOR, "Colour Signal ", "not detected", "detected", "")
              , capString(input.status&V4L2_IN_ST_NO_H_LOCK, "Horizontal Lock ", "not detected", "detected", ""));
        } else {
          output_ptr += sprintf( output_ptr, "i%dSP:%d|i%dSS:%d|i%dSC:%d|i%dHP:%d|"
              , input.index, (input.status&V4L2_IN_ST_NO_POWER)?0:1
              , input.index, (input.status&V4L2_IN_ST_NO_SIGNAL)?0:1
              , input.index, (input.status&V4L2_IN_ST_NO_COLOR)?0:1
              , input.index, (input.status&V4L2_IN_ST_NO_H_LOCK)?0:1 );
        }
      } while ( inputIndex++ >= 0 );
      if ( !verbose )
        *(output_ptr-1) = '\n';
    }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
    if ( version == 1 ) {
      struct video_capability vid_cap;
      memset(&vid_cap, 0, sizeof(video_capability));
      if ( ioctl(vid_fd, VIDIOCGCAP, &vid_cap) < 0 ) {
        Error("Failed to get video capabilities: %s", strerror(errno));
        if ( verbose )
          output_ptr += sprintf(output_ptr,
              "Error, failed to get video capabilities %s: %s\n",
              queryDevice, strerror(errno));
        else
          output_ptr += sprintf(output_ptr, "error%d\n", errno);
        return false;
      }
      if ( verbose ) {
        output_ptr += sprintf( output_ptr, "Video Capabilities\n" 
            "  Name: %s\n"
            "  Type: %d\n%s%s%s%s%s%s%s%s%s%s%s%s%s%s"
            "  Video Channels: %d\n"
            "  Audio Channels: %d\n"
            "  Maximum Width: %d\n"
            "  Maximum Height: %d\n"
            "  Minimum Width: %d\n"
            "  Minimum Height: %d\n",
            vid_cap.name,
            vid_cap.type,
            (vid_cap.type&VID_TYPE_CAPTURE)?"    Can capture\n":"",
            (vid_cap.type&VID_TYPE_TUNER)?"    Can tune\n":"",
            (vid_cap.type&VID_TYPE_TELETEXT)?"    Does teletext\n":"",
            (vid_cap.type&VID_TYPE_OVERLAY)?"    Overlay onto frame buffer\n":"",
            (vid_cap.type&VID_TYPE_CHROMAKEY)?"    Overlay by chromakey\n":"",
            (vid_cap.type&VID_TYPE_CLIPPING)?"    Can clip\n":"",
            (vid_cap.type&VID_TYPE_FRAMERAM)?"    Uses the frame buffer memory\n":"",
            (vid_cap.type&VID_TYPE_SCALES)?"    Scalable\n":"",
            (vid_cap.type&VID_TYPE_MONOCHROME)?"    Monochrome only\n":"",
            (vid_cap.type&VID_TYPE_SUBCAPTURE)?"    Can capture subareas of the image\n":"",
            (vid_cap.type&VID_TYPE_MPEG_DECODER)?"    Can decode MPEG streams\n":"",
            (vid_cap.type&VID_TYPE_MPEG_ENCODER)?"    Can encode MPEG streams\n":"",
            (vid_cap.type&VID_TYPE_MJPEG_DECODER)?"    Can decode MJPEG streams\n":"",
            (vid_cap.type&VID_TYPE_MJPEG_ENCODER)?"    Can encode MJPEG streams\n":"",
            vid_cap.channels,
            vid_cap.audios,
            vid_cap.maxwidth,
            vid_cap.maxheight,
            vid_cap.minwidth,
            vid_cap.minheight );
      } else {
        output_ptr += sprintf(output_ptr, "N:%s|T:%d|nC:%d|nA:%d|mxW:%d|mxH:%d|mnW:%d|mnH:%d|"
            , vid_cap.name
            , vid_cap.type
            , vid_cap.channels
            , vid_cap.audios
            , vid_cap.maxwidth
            , vid_cap.maxheight
            , vid_cap.minwidth
            , vid_cap.minheight);
      }

      struct video_window vid_win;
      memset(&vid_win, 0, sizeof(video_window));
      if ( ioctl(vid_fd, VIDIOCGWIN, &vid_win) < 0 ) {
        Error("Failed to get window attributes: %s", strerror(errno));
        if ( verbose )
          output_ptr += sprintf(output_ptr, "Error, failed to get window attributes: %s\n", strerror(errno));
        else
          output_ptr += sprintf(output_ptr, "error%d\n", errno);
        return false;
      }
      if ( verbose ) {
        output_ptr += sprintf(output_ptr,
            "Window Attributes\n"
            "  X Offset: %d\n"
            "  Y Offset: %d\n"
            "  Width: %d\n"
            "  Height: %d\n"
            , vid_win.x
            , vid_win.y
            , vid_win.width
            , vid_win.height );
      } else {
        output_ptr += sprintf(output_ptr, "X:%d|Y:%d|W:%d|H:%d|",
         vid_win.height, vid_win.x, vid_win.y, vid_win.width);
      }

      struct video_picture vid_pic;
      memset(&vid_pic, 0, sizeof(video_picture));
      if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0 ) {
        Error("Failed to get picture attributes: %s", strerror(errno));
        if ( verbose )
          output_ptr += sprintf(output_ptr, "Error, failed to get picture attributes: %s\n", strerror(errno));
        else
          output_ptr += sprintf(output_ptr, "error%d\n", errno);
        return false;
      }
      if ( verbose ) {
        output_ptr += sprintf(output_ptr,
            "Picture Attributes\n" 
            "  Palette: %d - %s\n"
            "  Colour Depth: %d\n"
            "  Brightness: %d\n"
            "  Hue: %d\n"
            "  Colour :%d\n"
            "  Contrast: %d\n"
            "  Whiteness: %d\n"
            , vid_pic.palette, 
            vid_pic.palette==VIDEO_PALETTE_GREY?"Linear greyscale":(
              vid_pic.palette==VIDEO_PALETTE_HI240?"High 240 cube (BT848)":(
                vid_pic.palette==VIDEO_PALETTE_RGB565?"565 16 bit RGB":(
                  vid_pic.palette==VIDEO_PALETTE_RGB24?"24bit RGB":(
                    vid_pic.palette==VIDEO_PALETTE_RGB32?"32bit RGB":(
                      vid_pic.palette==VIDEO_PALETTE_RGB555?"555 15bit RGB":(
                        vid_pic.palette==VIDEO_PALETTE_YUV422?"YUV422 capture":(
                          vid_pic.palette==VIDEO_PALETTE_YUYV?"YUYV":(
                            vid_pic.palette==VIDEO_PALETTE_UYVY?"UVYV":(
                              vid_pic.palette==VIDEO_PALETTE_YUV420?"YUV420":(
                                vid_pic.palette==VIDEO_PALETTE_YUV411?"YUV411 capture":(
                                  vid_pic.palette==VIDEO_PALETTE_RAW?"RAW capture (BT848)":(
                                    vid_pic.palette==VIDEO_PALETTE_YUYV?"YUYV":(
                                      vid_pic.palette==VIDEO_PALETTE_YUV422?"YUV422":(
                                        vid_pic.palette==VIDEO_PALETTE_YUV422P?"YUV 4:2:2 Planar":(
                                          vid_pic.palette==VIDEO_PALETTE_YUV411P?"YUV 4:1:1 Planar":(
                                            vid_pic.palette==VIDEO_PALETTE_YUV420P?"YUV 4:2:0 Planar":(
                                              vid_pic.palette==VIDEO_PALETTE_YUV410P?"YUV 4:1:0 Planar":"Unknown"
                                              ))))))))))))))))),
            vid_pic.depth,
            vid_pic.brightness,
            vid_pic.hue,
            vid_pic.colour,
            vid_pic.contrast,
            vid_pic.whiteness
        );
      } else {
        output_ptr += sprintf(output_ptr, "P:%d|D:%d|B:%d|h:%d|Cl:%d|Cn:%d|w:%d|",
            vid_pic.palette,
            vid_pic.depth,
            vid_pic.brightness,
            vid_pic.hue,
            vid_pic.colour,
            vid_pic.contrast,
            vid_pic.whiteness
            );
      }

      for ( int chan = 0; chan < vid_cap.channels; chan++ ) {
        struct video_channel vid_src;
        memset(&vid_src, 0, sizeof(video_channel));
        vid_src.channel = chan;
        if ( ioctl(vid_fd, VIDIOCGCHAN, &vid_src) < 0 ) {
          Error("Failed to get channel %d attributes: %s", chan, strerror(errno));
          if ( verbose )
            output_ptr += sprintf(output_ptr, "Error, failed to get channel %d attributes: %s\n", chan, strerror(errno));
          else
            output_ptr += sprintf(output_ptr, "error%d\n", errno);
          return false;
        }
        if ( verbose ) {
          output_ptr += sprintf(output_ptr,
              "Channel %d Attributes\n"
              "  Name: %s\n"
              "  Channel: %d\n"
              "  Flags: %d\n%s%s"
          "  Type: %d - %s\n"
          "  Format: %d - %s\n"
              , chan 
              , vid_src.name
              , vid_src.channel
              , vid_src.flags
              , (vid_src.flags&VIDEO_VC_TUNER)?"    Channel has a tuner\n":""
              , (vid_src.flags&VIDEO_VC_AUDIO)?"    Channel has audio\n":""
              , vid_src.type,
              vid_src.type==VIDEO_TYPE_TV?"TV":(
                vid_src.type==VIDEO_TYPE_CAMERA?"Camera":"Unknown"
                )
            , vid_src.norm,
              vid_src.norm==VIDEO_MODE_PAL?"PAL":(
                vid_src.norm==VIDEO_MODE_NTSC?"NTSC":(
                  vid_src.norm==VIDEO_MODE_SECAM?"SECAM":(
                    vid_src.norm==VIDEO_MODE_AUTO?"AUTO":"Unknown"
                    ))));
        } else {
          output_ptr += sprintf(output_ptr, "n%d:%s|C%d:%d|Fl%d:%x|T%d:%d|F%d:%d%s|"
              , chan, vid_src.name
              , chan, vid_src.channel
              , chan, vid_src.flags 
              , chan, vid_src.type 
              , chan, vid_src.norm, chan==(vid_cap.channels-1)?"":","
              );
        }
      }
      if ( !verbose )
        *output_ptr = '\n';
    }
#endif // ZM_HAS_V4L1
    close(vid_fd);
    if ( device )
      break;
  } while ( ++devIndex < 32 );
  return true;
}

int LocalCamera::Brightness( int p_brightness ) {
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    struct v4l2_control vid_control;

    memset(&vid_control, 0, sizeof(vid_control));
    vid_control.id = V4L2_CID_BRIGHTNESS;

    if ( vidioctl(vid_fd, VIDIOC_G_CTRL, &vid_control) < 0 ) {
      if ( errno != EINVAL ) {
        Error("Unable to query brightness: %s", strerror(errno));
      } else {
        Warning("Brightness control is not supported");
      }
          //Info( "Brightness 1 %d", vid_control.value );
    } else if ( p_brightness >= 0 ) {
      vid_control.value = p_brightness;

      //Info( "Brightness 2 %d", vid_control.value );
      /* The driver may clamp the value or return ERANGE, ignored here */
      if ( vidioctl(vid_fd, VIDIOC_S_CTRL, &vid_control) ) {
        if ( errno != ERANGE ) {
          Error("Unable to set brightness: %s", strerror(errno));
        } else {
          Warning("Given brightness value (%d) may be out-of-range", p_brightness);
        }
      }
      //Info( "Brightness 3 %d", vid_control.value );
    }
    return vid_control.value;
  }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    struct video_picture vid_pic;
    memset(&vid_pic, 0, sizeof(video_picture));
    if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0 ) {
      Error("Failed to get picture attributes: %s", strerror(errno));
      return -1;
    }

    if ( p_brightness >= 0 ) {
      vid_pic.brightness = p_brightness;
      if ( ioctl(vid_fd, VIDIOCSPICT, &vid_pic) < 0 ) {
        Error("Failed to set picture attributes: %s", strerror(errno));
        return -1;
      }
    }
    return vid_pic.brightness;
  }
#endif // ZM_HAS_V4L1
  return -1;
}

int LocalCamera::Hue( int p_hue ) {
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    struct v4l2_control vid_control;

    memset( &vid_control, 0, sizeof(vid_control) );
    vid_control.id = V4L2_CID_HUE;

    if ( vidioctl(vid_fd, VIDIOC_G_CTRL, &vid_control) < 0 ) {
      if ( errno != EINVAL )
        Error("Unable to query hue: %s", strerror(errno))
      else
        Warning("Hue control is not supported")
    } else if ( p_hue >= 0 ) {
      vid_control.value = p_hue;

      /* The driver may clamp the value or return ERANGE, ignored here */
      if ( vidioctl(vid_fd, VIDIOC_S_CTRL, &vid_control) < 0 ) {
        if ( errno != ERANGE ) {
          Error("Unable to set hue: %s", strerror(errno));
        } else {
          Warning("Given hue value (%d) may be out-of-range", p_hue);
        }
      }
    }
    return vid_control.value;
  }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    struct video_picture vid_pic;
    memset(&vid_pic, 0, sizeof(video_picture));
    if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0 ) {
      Error("Failed to get picture attributes: %s", strerror(errno));
      return -1;
    }

    if ( p_hue >= 0 ) {
      vid_pic.hue = p_hue;
      if ( ioctl(vid_fd, VIDIOCSPICT, &vid_pic) < 0 ) {
        Error("Failed to set picture attributes: %s", strerror(errno));
        return -1;
      }
    }
    return vid_pic.hue;
  }
#endif // ZM_HAS_V4L1
  return -1;
}

int LocalCamera::Colour( int p_colour ) {
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    struct v4l2_control vid_control;

    memset(&vid_control, 0, sizeof(vid_control));
    vid_control.id = V4L2_CID_SATURATION;

    if ( vidioctl(vid_fd, VIDIOC_G_CTRL, &vid_control) < 0 ) {
      if ( errno != EINVAL ) {
        Error("Unable to query saturation: %s", strerror(errno));
      } else {
        Warning("Saturation control is not supported");
      }
    } else if ( p_colour >= 0 ) {
      vid_control.value = p_colour;

      /* The driver may clamp the value or return ERANGE, ignored here */
      if ( vidioctl(vid_fd, VIDIOC_S_CTRL, &vid_control) < 0 ) {
        if ( errno != ERANGE ) {
          Error("Unable to set saturation: %s", strerror(errno));
        } else {
          Warning("Given saturation value (%d) may be out-of-range", p_colour);
        }
      }
    }
    return vid_control.value;
  }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    struct video_picture vid_pic;
    memset(&vid_pic, 0, sizeof(video_picture));
    if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0) {
      Error("Failed to get picture attributes: %s", strerror(errno));
      return -1;
    }

    if ( p_colour >= 0 ) {
      vid_pic.colour = p_colour;
      if ( ioctl(vid_fd, VIDIOCSPICT, &vid_pic) < 0 ) {
        Error("Failed to set picture attributes: %s", strerror(errno));
        return -1;
      }
    }
    return vid_pic.colour;
  }
#endif // ZM_HAS_V4L1
  return -1;
}

int LocalCamera::Contrast( int p_contrast ) {
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    struct v4l2_control vid_control;

    memset(&vid_control, 0, sizeof(vid_control));
    vid_control.id = V4L2_CID_CONTRAST;

    if ( vidioctl(vid_fd, VIDIOC_G_CTRL, &vid_control) < 0 ) {
      if ( errno != EINVAL ) {
        Error("Unable to query contrast: %s", strerror(errno));
      } else {
        Warning("Contrast control is not supported");
      }
    } else if ( p_contrast >= 0 ) {
      vid_control.value = p_contrast;

      /* The driver may clamp the value or return ERANGE, ignored here */
      if ( vidioctl(vid_fd, VIDIOC_S_CTRL, &vid_control) ) {
        if ( errno != ERANGE ) {
          Error("Unable to set contrast: %s", strerror(errno));
        } else {
          Warning("Given contrast value (%d) may be out-of-range", p_contrast);
        }
      }
    }
    return vid_control.value;
  }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    struct video_picture vid_pic;
    memset(&vid_pic, 0, sizeof(video_picture));
    if ( ioctl(vid_fd, VIDIOCGPICT, &vid_pic) < 0 ) {
      Error("Failed to get picture attributes: %s", strerror(errno));
      return -1;
    }

    if ( p_contrast >= 0 ) {
      vid_pic.contrast = p_contrast;
      if ( ioctl(vid_fd, VIDIOCSPICT, &vid_pic) < 0 ) {
        Error("Failed to set picture attributes: %s", strerror(errno));
        return -1;
      }
    }
    return vid_pic.contrast;
  }
#endif // ZM_HAS_V4L1
  return -1;
}

int LocalCamera::PrimeCapture() {
  Initialise();

  Debug(2, "Priming capture");
#if ZM_HAS_V4L2
  if ( v4l_version == 2 ) {
    Debug(3, "Queueing buffers");
    for ( unsigned int frame = 0; frame < v4l2_data.reqbufs.count; frame++ ) {
      struct v4l2_buffer vid_buf;

      memset(&vid_buf, 0, sizeof(vid_buf));

      vid_buf.type = v4l2_data.fmt.type;
      vid_buf.memory = v4l2_data.reqbufs.memory;
      vid_buf.index = frame;

      if ( vidioctl(vid_fd, VIDIOC_QBUF, &vid_buf) < 0 )
        Fatal("Failed to queue buffer %d: %s", frame, strerror(errno));
    }
    v4l2_data.bufptr = nullptr;

    Debug(3, "Starting video stream");
    //enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    //enum v4l2_buf_type type = v4l2_data.fmt.type;
    enum v4l2_buf_type type = (v4l2_buf_type)v4l2_data.fmt.type;
    if ( vidioctl(vid_fd, VIDIOC_STREAMON, &type) < 0 )
      Fatal("Failed to start capture stream: %s", strerror(errno));
  }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
  if ( v4l_version == 1 ) {
    for ( int frame = 0; frame < v4l1_data.frames.frames; frame++ ) {
      Debug(3, "Queueing frame %d", frame);
      if ( ioctl(vid_fd, VIDIOCMCAPTURE, &v4l1_data.buffers[frame]) < 0 ) {
        Error("Capture failure for frame %d: %s", frame, strerror(errno));
        return -1;
      }
    }
  }
#endif // ZM_HAS_V4L1

  return 0;
} // end LocalCamera::PrimeCapture

int LocalCamera::PreCapture() {
  //Debug(5, "Pre-capturing");
  return 0;
}

int LocalCamera::Capture(Image &image) {
  Debug(3, "Capturing");
  static uint8_t* buffer = nullptr;
  int buffer_bytesused = 0;
  int capture_frame = -1;

  int captures_per_frame = 1;
  if ( channel_count > 1 )
    captures_per_frame = v4l_captures_per_frame;
  if ( captures_per_frame <= 0 ) {
    captures_per_frame = 1;
    Warning("Invalid Captures Per Frame setting: %d", captures_per_frame);
  } 

  // Do the capture, unless we are the second or subsequent camera on a channel, in which case just reuse the buffer
  if ( channel_prime ) {
#if ZM_HAS_V4L2
    if ( v4l_version == 2 ) {
      static struct v4l2_buffer vid_buf;

      memset(&vid_buf, 0, sizeof(vid_buf));

      vid_buf.type = v4l2_data.fmt.type;
      //vid_buf.memory = V4L2_MEMORY_MMAP;
      vid_buf.memory = v4l2_data.reqbufs.memory;

      Debug(3, "Capturing %d frames", captures_per_frame);
      while ( captures_per_frame ) {
        if ( vidioctl(vid_fd, VIDIOC_DQBUF, &vid_buf) < 0 ) {
          if ( errno == EIO ) {
            Warning("Capture failure, possible signal loss?: %s", strerror(errno));
          } else {
            Error("Unable to capture frame %d: %s", vid_buf.index, strerror(errno));
          }
          return -1;
        }

        v4l2_data.bufptr = &vid_buf;
        capture_frame = v4l2_data.bufptr->index;
        bytes += vid_buf.bytesused;

        if ( --captures_per_frame ) {
          if ( vidioctl(vid_fd, VIDIOC_QBUF, &vid_buf) < 0 ) {
            Error("Unable to requeue buffer %d: %s", vid_buf.index, strerror(errno));
            return -1;
          }
        }
      } // while captures_per_frame

      Debug(3, "Captured frame %d/%d from channel %d", capture_frame, v4l2_data.bufptr->sequence, channel);

      buffer = (unsigned char *)v4l2_data.buffers[v4l2_data.bufptr->index].start;
      buffer_bytesused = v4l2_data.bufptr->bytesused;
      bytes += buffer_bytesused;

      if ( (v4l2_data.fmt.fmt.pix.width * v4l2_data.fmt.fmt.pix.height) !=  (width * height) ) {
        Fatal("Captured image dimensions differ: V4L2: %dx%d monitor: %dx%d",
            v4l2_data.fmt.fmt.pix.width,v4l2_data.fmt.fmt.pix.height,width,height);
      }
    } // end if v4l2
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
    if ( v4l_version == 1 ) {
      Debug(3, "Capturing %d frames", captures_per_frame);
      while ( captures_per_frame ) {
        Debug(3, "Syncing frame %d", v4l1_data.active_frame);
        if ( ioctl(vid_fd, VIDIOCSYNC, &v4l1_data.active_frame) < 0 ) {
          Error("Sync failure for frame %d buffer %d: %s",
              v4l1_data.active_frame, captures_per_frame, strerror(errno) );
          return -1;
        }
        captures_per_frame--;
        if ( captures_per_frame ) {
          Debug(3, "Capturing frame %d", v4l1_data.active_frame);
          if ( ioctl(vid_fd, VIDIOCMCAPTURE, &v4l1_data.buffers[v4l1_data.active_frame]) < 0 ) {
            Error("Capture failure for buffer %d (%d): %s",
                v4l1_data.active_frame, captures_per_frame, strerror(errno));
            return -1;
          }
        }
      }
      capture_frame = v4l1_data.active_frame;
      Debug(3, "Captured %d for channel %d", capture_frame, channel);

      buffer = v4l1_data.bufptr+v4l1_data.frames.offsets[capture_frame];
    }
#endif // ZM_HAS_V4L1
  } /* prime capture */    

  if ( conversion_type != 0 ) {

    Debug(3, "Performing format conversion");

    /* Request a writeable buffer of the target image */
    uint8_t* directbuffer = image.WriteBuffer(width, height, colours, subpixelorder);
    if ( directbuffer == nullptr ) {
      Error("Failed requesting writeable buffer for the captured image.");
      return -1;
    }
#if HAVE_LIBSWSCALE
    if ( conversion_type == 1 ) {

      Debug(9, "Calling sws_scale to perform the conversion");
      /* Use swscale to convert the image directly into the shared memory */
#if LIBAVUTIL_VERSION_CHECK(54, 6, 0, 6, 0)
      av_image_fill_arrays(tmpPicture->data,
          tmpPicture->linesize, directbuffer,
          imagePixFormat, width, height, 1);
#else
      avpicture_fill( (AVPicture *)tmpPicture, directbuffer,
          imagePixFormat, width, height );
#endif
      sws_scale( imgConversionContext,
          capturePictures[capture_frame]->data,
          capturePictures[capture_frame]->linesize,
          0,
          height,
          tmpPicture->data,
          tmpPicture->linesize );
    }
#endif  
    if ( conversion_type == 2 ) {
      Debug(9, "Calling the conversion function");
      /* Call the image conversion function and convert directly into the shared memory */
      (*conversion_fptr)(buffer, directbuffer, pixels);
    } else if ( conversion_type == 3 ) {
      Debug(9, "Decoding the JPEG image");
      /* JPEG decoding */
      image.DecodeJpeg(buffer, buffer_bytesused, colours, subpixelorder);
    }

  } else {
    Debug(3, "No format conversion performed. Assigning the image");

    /* No conversion was performed, the image is in the V4L buffers and needs to be copied into the shared memory */
    image.Assign( width, height, colours, subpixelorder, buffer, imagesize);
  }

  return 1;
} // end int LocalCamera::Capture()

int LocalCamera::PostCapture() {
  Debug(4, "Post-capturing");
  // Requeue the buffer unless we need to switch or are a duplicate camera on a channel
  if ( channel_count > 1 || channel_prime ) {
#if ZM_HAS_V4L2
    if ( v4l_version == 2 ) {
      if ( channel_count > 1 ) {
        int next_channel = (channel_index+1)%channel_count;
        Debug(3, "Switching video source to %d", channels[next_channel]);
        if ( vidioctl(vid_fd, VIDIOC_S_INPUT, &channels[next_channel]) < 0 ) {
          Error("Failed to set camera source %d: %s", channels[next_channel], strerror(errno));
          return -1;
        }

        v4l2_std_id stdId = standards[next_channel];
        if ( vidioctl( vid_fd, VIDIOC_S_STD, &stdId ) < 0 ) {
          Error("Failed to set video format %d: %s", standards[next_channel], strerror(errno));
          return -1;
        }
      }
      if ( v4l2_data.bufptr ) {
        Debug(3, "Requeueing buffer %d", v4l2_data.bufptr->index);
        if ( vidioctl(vid_fd, VIDIOC_QBUF, v4l2_data.bufptr) < 0 ) {
          Error("Unable to requeue buffer %d: %s", v4l2_data.bufptr->index, strerror(errno));
          return -1;
        }
      } else {
        Error("Unable to requeue buffer due to not v4l2_data")
      }
    }
#endif // ZM_HAS_V4L2
#if ZM_HAS_V4L1
    if ( v4l_version == 1 ) {
      if ( channel_count > 1 ) {
        Debug(3, "Switching video source");
        int next_channel = (channel_index+1)%channel_count;
        struct video_channel vid_src;
        memset(&vid_src, 0, sizeof(vid_src));
        vid_src.channel = channel;
        if ( ioctl(vid_fd, VIDIOCGCHAN, &vid_src) < 0 ) {
          Error("Failed to get camera source %d: %s", channel, strerror(errno));
          return -1;
        }

        vid_src.channel = channels[next_channel];
        vid_src.norm = standards[next_channel];
        vid_src.flags = 0;
        vid_src.type = VIDEO_TYPE_CAMERA;
        if ( ioctl(vid_fd, VIDIOCSCHAN, &vid_src) < 0 ) {
          Error("Failed to set camera source %d: %s", channel, strerror(errno));
          return -1;
        }
      }
      Debug(3, "Requeueing frame %d", v4l1_data.active_frame);
      if ( ioctl(vid_fd, VIDIOCMCAPTURE, &v4l1_data.buffers[v4l1_data.active_frame]) < 0 ) {
        Error("Capture failure for frame %d: %s", v4l1_data.active_frame, strerror(errno));
        return -1;
      }
      v4l1_data.active_frame = (v4l1_data.active_frame+1)%v4l1_data.frames.frames;
    }
#endif // ZM_HAS_V4L1
  }
  return 0;
}

#endif // ZM_HAS_V4L