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diff --git a/modules/camera/buffer_decoder.cpp b/modules/camera/buffer_decoder.cpp
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+/**************************************************************************/
+/* buffer_decoder.cpp */
+/**************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/**************************************************************************/
+
+#include "buffer_decoder.h"
+
+#include "servers/camera/camera_feed.h"
+
+#include <linux/videodev2.h>
+
+BufferDecoder::BufferDecoder(CameraFeed *p_camera_feed) {
+ camera_feed = p_camera_feed;
+ width = camera_feed->get_format().width;
+ height = camera_feed->get_format().height;
+ image.instantiate();
+}
+
+AbstractYuyvBufferDecoder::AbstractYuyvBufferDecoder(CameraFeed *p_camera_feed) :
+ BufferDecoder(p_camera_feed) {
+ switch (camera_feed->get_format().pixel_format) {
+ case V4L2_PIX_FMT_YYUV:
+ component_indexes = new int[4]{ 0, 1, 2, 3 };
+ break;
+ case V4L2_PIX_FMT_YVYU:
+ component_indexes = new int[4]{ 0, 2, 3, 1 };
+ break;
+ case V4L2_PIX_FMT_UYVY:
+ component_indexes = new int[4]{ 1, 3, 0, 2 };
+ break;
+ case V4L2_PIX_FMT_VYUY:
+ component_indexes = new int[4]{ 1, 3, 2, 0 };
+ break;
+ default:
+ component_indexes = new int[4]{ 0, 2, 1, 3 };
+ }
+}
+
+AbstractYuyvBufferDecoder::~AbstractYuyvBufferDecoder() {
+ delete[] component_indexes;
+}
+
+SeparateYuyvBufferDecoder::SeparateYuyvBufferDecoder(CameraFeed *p_camera_feed) :
+ AbstractYuyvBufferDecoder(p_camera_feed) {
+ y_image_data.resize(width * height);
+ cbcr_image_data.resize(width * height);
+ y_image.instantiate();
+ cbcr_image.instantiate();
+}
+
+void SeparateYuyvBufferDecoder::decode(StreamingBuffer p_buffer) {
+ uint8_t *y_dst = (uint8_t *)y_image_data.ptrw();
+ uint8_t *uv_dst = (uint8_t *)cbcr_image_data.ptrw();
+ uint8_t *src = (uint8_t *)p_buffer.start;
+ uint8_t *y0_src = src + component_indexes[0];
+ uint8_t *y1_src = src + component_indexes[1];
+ uint8_t *u_src = src + component_indexes[2];
+ uint8_t *v_src = src + component_indexes[3];
+
+ for (int i = 0; i < width * height; i += 2) {
+ *y_dst++ = *y0_src;
+ *y_dst++ = *y1_src;
+ *uv_dst++ = *u_src;
+ *uv_dst++ = *v_src;
+
+ y0_src += 4;
+ y1_src += 4;
+ u_src += 4;
+ v_src += 4;
+ }
+
+ if (y_image.is_valid()) {
+ y_image->set_data(width, height, false, Image::FORMAT_L8, y_image_data);
+ } else {
+ y_image.instantiate(width, height, false, Image::FORMAT_RGB8, y_image_data);
+ }
+ if (cbcr_image.is_valid()) {
+ cbcr_image->set_data(width, height, false, Image::FORMAT_L8, cbcr_image_data);
+ } else {
+ cbcr_image.instantiate(width, height, false, Image::FORMAT_RGB8, cbcr_image_data);
+ }
+
+ camera_feed->set_YCbCr_imgs(y_image, cbcr_image);
+}
+
+YuyvToGrayscaleBufferDecoder::YuyvToGrayscaleBufferDecoder(CameraFeed *p_camera_feed) :
+ AbstractYuyvBufferDecoder(p_camera_feed) {
+ image_data.resize(width * height);
+}
+
+void YuyvToGrayscaleBufferDecoder::decode(StreamingBuffer p_buffer) {
+ uint8_t *dst = (uint8_t *)image_data.ptrw();
+ uint8_t *src = (uint8_t *)p_buffer.start;
+ uint8_t *y0_src = src + component_indexes[0];
+ uint8_t *y1_src = src + component_indexes[1];
+
+ for (int i = 0; i < width * height; i += 2) {
+ *dst++ = *y0_src;
+ *dst++ = *y1_src;
+
+ y0_src += 4;
+ y1_src += 4;
+ }
+
+ if (image.is_valid()) {
+ image->set_data(width, height, false, Image::FORMAT_L8, image_data);
+ } else {
+ image.instantiate(width, height, false, Image::FORMAT_RGB8, image_data);
+ }
+
+ camera_feed->set_RGB_img(image);
+}
+
+YuyvToRgbBufferDecoder::YuyvToRgbBufferDecoder(CameraFeed *p_camera_feed) :
+ AbstractYuyvBufferDecoder(p_camera_feed) {
+ image_data.resize(width * height * 3);
+}
+
+void YuyvToRgbBufferDecoder::decode(StreamingBuffer p_buffer) {
+ uint8_t *src = (uint8_t *)p_buffer.start;
+ uint8_t *y0_src = src + component_indexes[0];
+ uint8_t *y1_src = src + component_indexes[1];
+ uint8_t *u_src = src + component_indexes[2];
+ uint8_t *v_src = src + component_indexes[3];
+ uint8_t *dst = (uint8_t *)image_data.ptrw();
+
+ for (int i = 0; i < width * height; i += 2) {
+ int u = *u_src;
+ int v = *v_src;
+ int u1 = (((u - 128) << 7) + (u - 128)) >> 6;
+ int rg = (((u - 128) << 1) + (u - 128) + ((v - 128) << 2) + ((v - 128) << 1)) >> 3;
+ int v1 = (((v - 128) << 1) + (v - 128)) >> 1;
+
+ *dst++ = CLAMP(*y0_src + v1, 0, 255);
+ *dst++ = CLAMP(*y0_src - rg, 0, 255);
+ *dst++ = CLAMP(*y0_src + u1, 0, 255);
+
+ *dst++ = CLAMP(*y1_src + v1, 0, 255);
+ *dst++ = CLAMP(*y1_src - rg, 0, 255);
+ *dst++ = CLAMP(*y1_src + u1, 0, 255);
+
+ y0_src += 4;
+ y1_src += 4;
+ u_src += 4;
+ v_src += 4;
+ }
+
+ if (image.is_valid()) {
+ image->set_data(width, height, false, Image::FORMAT_RGB8, image_data);
+ } else {
+ image.instantiate(width, height, false, Image::FORMAT_RGB8, image_data);
+ }
+
+ camera_feed->set_RGB_img(image);
+}
+
+CopyBufferDecoder::CopyBufferDecoder(CameraFeed *p_camera_feed, bool p_rgba) :
+ BufferDecoder(p_camera_feed) {
+ rgba = p_rgba;
+ image_data.resize(width * height * (rgba ? 4 : 2));
+}
+
+void CopyBufferDecoder::decode(StreamingBuffer p_buffer) {
+ uint8_t *dst = (uint8_t *)image_data.ptrw();
+ memcpy(dst, p_buffer.start, p_buffer.length);
+
+ if (image.is_valid()) {
+ image->set_data(width, height, false, rgba ? Image::FORMAT_RGBA8 : Image::FORMAT_LA8, image_data);
+ } else {
+ image.instantiate(width, height, false, rgba ? Image::FORMAT_RGBA8 : Image::FORMAT_LA8, image_data);
+ }
+
+ camera_feed->set_RGB_img(image);
+}
+
+JpegBufferDecoder::JpegBufferDecoder(CameraFeed *p_camera_feed) :
+ BufferDecoder(p_camera_feed) {
+}
+
+void JpegBufferDecoder::decode(StreamingBuffer p_buffer) {
+ image_data.resize(p_buffer.length);
+ uint8_t *dst = (uint8_t *)image_data.ptrw();
+ memcpy(dst, p_buffer.start, p_buffer.length);
+ if (image->load_jpg_from_buffer(image_data) == OK) {
+ camera_feed->set_RGB_img(image);
+ }
+}