Fixed picture_sw object leak in ffmpeg backend with hardware codecs. #28283
Replacement for https://github.com/opencv/opencv/pull/28221
### Pull Request Readiness Checklist
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Fix frame seeking with negative DTS values in FFMPEG backend #27878
**Merge with extra**: https://github.com/opencv/opencv_extra/pull/1289
Fixes https://github.com/opencv/opencv/issues/27819
Fixes https://github.com/opencv/opencv/issues/23472
Accompanied by PR on https://github.com/opencv/opencv_extra/pull/1289
The FFmpeg backend fails to correctly seek in H.264 videos that contain negative DTS values in their initial frames. This is a valid encoding practice used by modern video encoders (such as DaVinci Resolve's current export) where B-frame reordering causes the first few frames to have negative DTS values.
When picture_pts is unavailable (AV_NOPTS_VALUE), the code falls back to using pkt_dts:
`picture_pts = packet_raw.pts != AV_NOPTS_VALUE_ ? packet_raw.pts : packet_raw.dts;`
If this DTS value is negative (which is legal per H.264 spec), it propagates through the frame number calculation:
`frame_number = dts_to_frame_number(picture_pts) - first_frame_number;`
This results in negative frame numbers, messing up seeking operations.
Solution implemented in this branch is a timestamp normalization similar to FFmpegs -avoid_negative_ts_make_zero flag:
- Calculate a global offset once on the first decoded frame by getting the minimum timestamp in either:
- Container start_time
- Stream start_time
- First observed timestamp (PTS, then DTS).
- Apply the offset consistently to all timestamps, shifting negative values to begin at 0 while keeping relative timing.
- Simplify timestamp converters to remove `start_time` subtractions since timestamps are pre-normalized.
This also includes a new test `videoio_ffmpeg.seek_with_negative_dts`
This test verifies that seeking behavior performs as expected on a file which has negative DTS values in the first frames.
A PR on opencv_extra accompanies this one with that testing file: https://github.com/opencv/opencv_extra/pull/1279
```
opencv_extra=ffmpeg-videoio-negative-dts-test-data
```
<cut/>
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videoio(ios): fix NSInvalidArgumentException in VideoWriter release #28173
Summary
Fixes a crash on iOS when calling `VideoWriter::release()` in OpenCV 4.12.0.
Issue
Fixes#28165
Detailed Description
This PR resolves a regression where an `NSInvalidArgumentException` was thrown with the message ` -[NSAutoreleasePool retain]: Cannot retain an autorelease pool`.
The crash was caused by the manual usage of `NSAutoreleasePool` in the `~CvVideoWriter_AVFoundation` destructor. The local pool variable was being captured by the completion handler block passed to `[mMovieWriter finishWritingWithCompletionHandler:]`. Since `NSAutoreleasePool` instances cannot be retained, capturing them in a block causes a crash.
Changes:
- Replaced manual `NSAutoreleasePool` allocation and draining with modern `@autoreleasepool` blocks in `CvVideoWriter_AVFoundation`.
- applied this modernization to the Constructor, Destructor, and `write` methods.
- Specifically in the destructor, an inner `@autoreleasepool` is now used inside the completion block, ensuring no pool object needs to be captured from the outer scope.
catch _com_error exceptions to suppress debugger flooding #28073Resolves: #27643
This PR fixes an issue where the Microsoft Media Foundation (MSMF) backend triggers repeated C++ exceptions (_com_error) during video capture. While these exceptions are often non-fatal "first-chance" exceptions, they cause the Visual Studio debugger to break execution repeatedly, making debugging difficulty and flooding the output window.
Changes
cap_msmf.cpp: Added try-catch blocks around critical COM interaction paths.
Updated SourceReaderCB::OnReadSample (Async callback) to catch _com_error.
Updated CvCapture_MSMF::grabFrame (Synchronous grab) to catch _com_error.
Added CV_LOG_WARNING to log the error message from the caught exception, ensuring that actual errors are still visible in the logs without crashing the application or halting the debugger.
Impact
Users debugging OpenCV applications on Windows with Visual Studio will no longer be interrupted by internal MSMF exceptions when using the default backend.
The application flow remains uninterrupted even if MSMF encounters transient internal errors.
fix: set default pixel format for Aravis cameras when unsupported format #28086Fixes#26523
This PR fixes an issue where Aravis VideoCapture returns empty frames when the camera's pixel format is not explicitly set via CAP_PROP_FOURCC.
Problem:
The Aravis backend's retrieveFrame() function only processes four specific pixel formats:
- ARV_PIXEL_FORMAT_MONO_8
- ARV_PIXEL_FORMAT_BAYER_GR_8
- ARV_PIXEL_FORMAT_MONO_12
- ARV_PIXEL_FORMAT_MONO_16
If the camera has a different pixel format configured (or the camera's default format is unsupported), retrieveFrame() returns false on line 333 and all frames appear empty. This happens even though:
- The camera opens successfully (isOpened() returns true)
- The camera is capturing data
- The user has set up autotrigger and auto-exposure correctly
Root Cause:
In open() at line 271, the code retrieves the camera's current pixel format with arv_camera_get_pixel_format(). But if this format doesn't match one of the four supported formats, there's no fallback, causing all subsequent frames to fail retrieval.
Solution:
Added a check after retrieving the camera's pixel format. If the format is not one of the four supported formats, the code now:
1. Sets pixelFormat to a sensible default (MONO_8)
2. Applies this format to the camera via arv_camera_set_pixel_format()
This ensures:
- Cameras work out-of-the-box without requiring explicit CAP_PROP_FOURCC setup
- Users can still override the format with CAP_PROP_FOURCC if needed
- Behavior matches user expectations from other camera backends (V4L2, MSMF, etc.)
The default of MONO_8 was chosen because it's the most universally supported format across USB3 Vision and GigE Vision cameras.
Changes:
modules/videoio/src/cap_aravis.cpp: Added pixel format validation and default setting (10 lines)
Testing:
With this fix:
- Cameras with unsupported default formats will automatically switch to MONO_8
- The sample code from the issue works without uncommenting the CAP_PROP_FOURCC line
- Users can still explicitly set their preferred format via CAP_PROP_FOURCC
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N/A - This requires specialized USB3 Vision / GigE Vision hardware not available in CI
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The fix maintains existing API behavior and makes the backend work as expected
Optimize audio buffer duration calculation in MSMF capture. Fixes#27969#28017
### Description
Cache the repeated calculation of `(bit_per_sample/8)*nChannels` in a local variable to avoid redundant computations in `grabFrame()` and `configureAudioFrame()` functions.
### Changes
- Added `bytesPerSample` local variable in both functions
- Replaced 6 repeated calculations with the cached variable
- Improves performance in frequently called audio processing code
Fixes#27969
Fixed pre-built ffmpeg diagnostics on Windows for ARM. #27977
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Add macOS support for Orbbec Gemini330 camera #27930
### Description of Changes
Adds macOS support for Orbbec Gemini330 in videoio by integrating OrbbecSDK v2. Completes the non-macOS work in [#27230](https://github.com/opencv/opencv/pull/27230).
#### Motivation
[#27230](https://github.com/opencv/opencv/pull/27230) skipped macOS. On macOS, UVC alone lacks required device controls; OrbbecSDK v2 provides them.
#### Key Change
- macOS: fetch/link OrbbecSDK v2.5.5 (replaces v1.9.4).
- videoio (macOS): switch OrbbecSDK API usage from v1 to v2.
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Open camera device by index through FFmpeg #27841
### Pull Request Readiness Checklist
resolves https://github.com/opencv/opencv/issues/26812
Example of explicit backend option (similar to `-f v4l2` from command line)
```
export OPENCV_FFMPEG_CAPTURE_OPTIONS="f;v4l2"
```
see https://trac.ffmpeg.org/wiki/Capture/Webcam for available options
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
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Patch to opencv_extra has the same branch name.
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Add OPENCV_FFMPEG_SKIP_LOG_CALLBACK to preserve custom FFmpeg logging #27864
OpenCV’s InternalFFMpegRegister overwrites av_log_set_callback, blocking custom FFmpeg log handlers in statically linked apps.
Add `OPENCV_FFMPEG_SKIP_LOG_CALLBACK` to let applications keep their own logging.
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Optimize FFmpeg VideoCapture with swscale threads option #27755
### Pull Request Readiness Checklist
resolves https://github.com/opencv/opencv/issues/21969
* Switch to `sws_scale_from` for `libswscale >= 6.4.100` (FFmpeg >= 5.0)
* Use new context init API with threads option (`libswscale >= 8.12.100`: https://github.com/FFmpeg/FFmpeg/commit/2a091d4f2ee1e367d05a6bbbe96b204257cbda87)
* Replicate `sws_getCachedContext` with threads option for `libswscale < 8.12.100`
1 hour mp4 video every frame reading
| HW | sws_scale | sws_scale_frame + 16 threads | sws_scale_frame + 24 threads (#cpus) |
|---|---|---|---|
| Intel Core i9-12900 CPU | 45.1 sec | 25.4 sec (x1.77) | 30 sec (x1.50) |
| NVIDIA GPU 4090 | 232 sec | 89.4 sec (x2.59) | 77 sec (x3.01) |
```
import time
import numpy as np
import os
import cv2 as cv
# os.environ["OPENCV_FFMPEG_CAPTURE_OPTIONS"] = "hwaccel;cuvid|video_codec;h264_cuvid|vsync;0"
start = time.time()
video = "test.mp4"
cap = cv.VideoCapture(video, cv.CAP_FFMPEG)
while True:
has_frame, frame = cap.read()
if not has_frame:
break
print(time.time() - start)
```
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
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[videoio][VideoWriter] Fix return code from CvVideoWriter_FFMPEG::writeFrame() when encapsulating encoded video #27737
Currently the return code from `CvVideoWriter_FFMPEG::writeFrame()` when `encode_video==true` (encapsulating raw encoded video) is wrong and results in the following warning implying it has been unsuccessful
> [ WARN:0@15.551] global cap_ffmpeg.cpp:198 write FFmpeg: Failed to write frame
### Pull Request Readiness Checklist
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libpng upgrade to 1.6.45 and cICP metadata support for PNG imwrite #27741
### Pull Request Readiness Checklist
resolves#24185
libpng docs: https://www.w3.org/TR/png-3/#cICP-chunk
similar code from ffmpeg: https://github.com/FFmpeg/FFmpeg/blob/a700f0f72d1f073e5adcfbb16f4633850b0ef51c/libavcodec/pngenc.c#L452-L456
So issue #24185 can be solved by replacing `cv.imwrite` in user's code to `cv.imwriteWithMetadata`:
```python
cv.imwriteWithMetadata("frame.png", frame, [cv.IMAGE_METADATA_CICP], np.array([[9, 18, 0, 1]], np.uint8))
```
```
$ exiftool /home/d.kurtaev/opencv_build/frames_pr/image_38.png
ExifTool Version Number : 12.76
File Name : image_38.png
Directory : /home/d.kurtaev/opencv_build/frames_pr
File Size : 3.8 MB
File Modification Date/Time : 2025:09:02 20:48:22+03:00
File Access Date/Time : 2025:09:02 20:48:22+03:00
File Inode Change Date/Time : 2025:09:02 20:48:22+03:00
File Permissions : -rw-r--r--
File Type : PNG
File Type Extension : png
MIME Type : image/png
Image Width : 1080
Image Height : 1920
Bit Depth : 8
Color Type : RGB
Compression : Deflate/Inflate
Filter : Adaptive
Interlace : Noninterlaced
Color Primaries : BT.2020, BT.2100
Transfer Characteristics : BT.2100 HLG, ARIB STD-B67
Matrix Coefficients : Identity matrix
Video Full Range Flag : 1
Image Size : 1080x1920
Megapixels : 2.1
```
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
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fix: FFmpeg 8.0 support #27746
### Pull Request Readiness Checklist
related comment: https://github.com/opencv/opencv/pull/27691#discussion_r2322695640
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This aligns with other virtual method declarations in cap_dshow.hpp
and silences compiler warnings (-Wsuggest-override) while improving
compile-time safety.
Add strict validation for encoding parameters #27621
Close https://github.com/opencv/opencv/issues/27557
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Add Raspberry Pi 4 and 5 V4L2 Stateless HEVC Hardware Acceleration with FFmpeg #27453
This PR enables V4L2 stateless HEVC hardware acceleration for Raspberry Pi 5 within OpenCV's videoio module. It leverages FFmpeg's drm acceleration ([FFmpeg API changes](https://github.com/FFmpeg/FFmpeg/blob/ee1f79b0fa4c82da9c19328b049b593c71611402/doc/APIchanges#L1529)), significantly improving HEVC decoding performance on RPi5 for robotics and embedded vision applications.
I have a working proof-of-concept with local benchmarks showing clear gains.
Checklist Status:
Ready: License, branch (4.x), FFmpeg reference, and (linked) related issue (#27452).
Seeking Guidance: Need help with formal C++ performance/accuracy tests, opencv_extra integration, and full documentation/examples.
As a Python developer, I welcome C++ best practice feedback and assistance with testing setup.
### Pull Request Readiness Checklist
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FIX: CvCapture_FFMPEG::setProperty(CAP_PROP_POS_*) followed by getProperty #27523
Partially fixes#23088 and #23472. This PR fixes `get(CAP_PROP_POS_MSEC)` calls after a `set(CAP_PROP_POS_*)` without calling `read` first.
Since `seek` calls `grabFrame` which already sets `picture_pts`, manually setting `picture_pts` anywhere else in the call stack should not be necessary (except for the special case of seeking to frame 0).
Minimal example from #23088
```cpp
for(int i = 0; i < 3; i++) cap.read(img);
printf("at: %f frames, %f msec\n", cap.get(CAP_PROP_POS_FRAMES), cap.get(CAP_PROP_POS_MSEC));
cap.set(CAP_PROP_POS_FRAMES, 3);
printf("at: %f frames, %f msec\n", cap.get(CAP_PROP_POS_FRAMES), cap.get(CAP_PROP_POS_MSEC));
```
Current
```txt
at: 3.000000 frames, 80.000000 msec
at: 3.000000 frames, 0.234375 msec
```
PR
```txt
at: 3.000000 frames, 80.000000 msec
at: 3.000000 frames, 80.000000 msec
```
It similarly helps with `CAP_PROP_POS_MSEC`:
Current
```txt
at: 3.000000 frames, 80.000000 msec
at: 2.000000 frames, 6.250000 msec
```
PR
```txt
at: 3.000000 frames, 80.000000 msec
at: 2.000000 frames, 40.000000 msec
```
Note the seek operation is still inconsistent between the `CAP_PROP_POS_*` options as mentioned by #23088, and VFR video seeking has issues discussed in #9053. For fixed-frame rate video, we could change 0.5 to 1 in `void CvCapture_FFMPEG::seek(double sec);` to align `CAP_PROP_POS_MSEC` with `CAP_PROP_POS_FRAMES`, but `CAP_POS_AVI_RATIO` and VFR video would still be broken.
### Pull Request Readiness Checklist
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In my configuration with bazel, when building the Java bindings,
it is not like building C++ and including videio/videoio.hpp
triggers:
error this is a compatibility header which should not be used inside the OpenCV library
Cover all seek directions in VideoCapture Java test #27421
### Pull Request Readiness Checklist
required for https://github.com/opencv/opencv/pull/27370
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fix#26276: cv::VideoWriter fails writing colorless images #27153
When writing grayscale images (`isColor=false`), `cv::VideoWriter` failed as FFmpeg backend requires input frames to be in a grayscale format. Unlike other backends, FFmpeg doesn't perform this conversion internally and expects the input to be pre-converted. To fix this, I inserted a check in the `CvVideoWriter_FFMPEG_proxy::write` to convert input frames to grayscale when the input has more than 1 channel. If this is true, then the input is converted to a gray image using `cv::cvtColor` (with `cv::COLOR_BGR2GRAY`).
Additionally, as suggested in the issue comments, I have correctly propagated the return value of `CvVideoWriter_FFMPEG::writeFrame` back to the `CvVideoWriter_FFMPEG_proxy::write`. This return value wasn't being used, and `writeFrame` was always returning false since the FFmeg's return code `AVERROR(EAGAIN)` was mistakenly being treated as an error. Now it's handled as a signal for additional input (current input was successfully written, and a new frame should be sent. [See FFmpeg documentation for `avcodec_receive_packet`](https://ffmpeg.org/doxygen/6.1/group__lavc__decoding.html)). A warning is displayed if `CvVideoWriter_FFMPEG::writeFrame` returns false. Alternatively, this could be propagated back up to the user, making cv::VideoWriter::write a boolean.
Finally, I added a test case to verify if the grayscale conversion is being done correctly.
Fixes#26276
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Fix typos #27338
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Java VideoCapture buffered stream constructor #27284
### Pull Request Readiness Checklist
resolves#26809
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videoio: add Orbbec Gemini 330 camera support #27230
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See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] The feature is well documented and sample code can be built with the project CMake
### Description of Changes
#### motivated：
- Orbbec has launched a new RGB-D camera — the Gemini 330. To fully leverage the capabilities of the Gemini 330, Orbbec simultaneously released version 2 of the open-source OrbbecSDK. This PR adapts the support for the Gemini 330 series cameras to better meet and respond to users’ application requirements.
#### change：
- Add support for the Orbbec Gemini330 camera.
- Fixed an issue with Femto Mega on Windows 10/11; for details, see [issue](https://github.com/opencv/opencv/pull/23237#issuecomment-2242347295).
- When enabling `HAVE_OBSENSOR_ORBBEC_SDK`, the build now fetches version 2 of the OrbbecSDK, and the sample API calls have been updated to the v2 format.
### Testing
| OS | Compiler | Camera | Result |
|:----------:|:---------------------------------------:|:-----------------:|:------:|
| Windows 11 | (VS2022) MSVC runtime library version 14.40 | Gemini 335/336L | Pass |
| Windows 11 | (VS2022) MSVC runtime library version 14.19 | Gemini 335/336L | Pass |
| Ubuntu22.04| GCC 11.4 | Gemini 335/336L | Pass |
| Ubuntu18.04| GCC 7.5 | Gemini 335/336L | Pass |
### Acknowledgements
Thank you to the OpenCV team for the continuous support and for creating such a robust open source project. I appreciate the valuable feedback from the community and reviewers, which has helped improve the quality of this contribution!
Some minor fixes#26992
### Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
videoio: print test params instead of indexes #26948
_videoio_ test names changed - use string instead of index.
E.g. `videoio_read.threads/0` is now `videoio_read.threads/h264_0_RAW`.
It allows to filter tests independently of the platform.
**Notes:**
- not all tests has been updated - only simpler ones and those which have varying parameters depending on platform
Zoom functionality for Android native camera capture #26837
### Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
Alexander Smorkalov
Alexander Smorkalov
raimbekovm
satyam yadav
Alex
ramukhsuya
Ghazi-raad
Anshu
sirudoi
Vincent Rabaud
Dmitry Kurtaev
Peter Rekdal Khan-Sunde
Dimitre
cudawarped
nina16448
Ansh Swaroop
Kumataro
Yan Wen
Sachin Shah
Alexander Alekhin
Francisco Mónica
omahs
Maksim Shabunin
Anshuprem
Rüdiger Ihle