From fac69ff02f36e45d49da832c6bf246167d1025a6 Mon Sep 17 00:00:00 2001
From: Nikita Kostovsky <nikita@kostovsky.me>
Date: Tue, 11 Nov 2025 14:55:09 +0100
Subject: works on radxa zero 3e, 420 fps

---
 src/camera/veyeimx287m.h | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'src/camera/veyeimx287m.h')

diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 37da5b0..e1eb76d 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <cstdint>
-
+#include <linux/videodev2.h>
 #include <queue>
 #include <thread>
 
@@ -57,17 +57,30 @@ private:
 private:
     int m_cam_fd{-1};
 
-    static constexpr uint8_t BUFFER_COUNT{8};
+    static constexpr uint8_t BUFFER_COUNT{16};
+    struct v4l2_plane planes[VIDEO_MAX_PLANES];
 
     std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
     std::array<Image, BUFFER_COUNT> m_images;
     std::array<std::mutex, BUFFER_COUNT> m_bufferMutexes;
     std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers;
 
+    struct buffer
+    {
+        unsigned int idx;
+        unsigned int padding[VIDEO_MAX_PLANES];
+        unsigned int size[VIDEO_MAX_PLANES];
+        void *mem[VIDEO_MAX_PLANES];
+    };
+    std::vector<buffer> buffers;
+
     // std::mutex m_queueMtx;
     std::mutex m_camMtx;
     std::queue<size_t> m_buffersQueue;
 
     std::jthread m_streamThread;
+    // std::jthread m_calcThreads[1];
     std::jthread m_calcThreads[4];
+
+    uint32_t processedCounter{0};
 };
-- 
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