V4L2

Measure actual frame rate

Set video format, and start streaming to /dev/null

v4l2-ctl --device /dev/video1 -p 30
v4l2-ctl --device /dev/video1 --set-fmt-video=width=1920,height=1080,pixelformat=H264

Start capturing and calculating

v4l2-ctl --device /dev/video1 --stream-mmap=3 --stream-count=1000 --stream-to=/dev/null

Output from last command

<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.04 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.03 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< 30.00 fps

Get supported video formats

/dev/video1 supports h.264 video stream

v4l2-ctl --device /dev/video1 --list-formats
ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'H264' (compressed)
        Name        : H.264

/dev/video0 support MJPG and YUYV streams

v4l2-ctl --device /dev/video0 --list-formats
ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'MJPG' (compressed)
        Name        : Motion-JPEG

        Index       : 1
        Type        : Video Capture
        Pixel Format: 'YUYV'
        Name        : YUYV 4:2:2

Get UVC control list

v4l2-ctl -d /dev/video0 --list-ctrls
                     brightness 0x00980900 (int)    : min=-64 max=64 step=1 default=0 value=0
                       contrast 0x00980901 (int)    : min=0 max=64 step=1 default=32 value=32
                     saturation 0x00980902 (int)    : min=0 max=128 step=1 default=64 value=64
                            hue 0x00980903 (int)    : min=-40 max=40 step=1 default=0 value=0
 white_balance_temperature_auto 0x0098090c (bool)   : default=1 value=1
                          gamma 0x00980910 (int)    : min=72 max=500 step=1 default=100 value=100
                           gain 0x00980913 (int)    : min=0 max=63 step=1 default=0 value=0
           power_line_frequency 0x00980918 (menu)   : min=0 max=2 default=1 value=1
      white_balance_temperature 0x0098091a (int)    : min=2800 max=10000 step=1 default=4600 value=4600 flags=inactive
                      sharpness 0x0098091b (int)    : min=0 max=6 step=1 default=3 value=3
         backlight_compensation 0x0098091c (int)    : min=0 max=2 step=1 default=1 value=1
                  exposure_auto 0x009a0901 (menu)   : min=0 max=3 default=3 value=3
              exposure_absolute 0x009a0902 (int)    : min=1 max=10000 step=1 default=156 value=156 flags=inactive
         exposure_auto_priority 0x009a0903 (bool)   : default=0 value=0

Get supported video formats

v4l2-ctl -d /dev/video0 --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'MJPG' (compressed)
        Name        : Motion-JPEG
                Size: Discrete 1920x1080
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 1280x1024
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 720x576
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 720x480
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 640x480
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 1920x1080
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)

        Index       : 1
        Type        : Video Capture
        Pixel Format: 'YUYV'
        Name        : YUYV 4:2:2
                Size: Discrete 1920x1080
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1280x1024
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 800x600
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 720x576
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 720x480
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 640x480
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1920x1080
                        Interval: Discrete 0.200s (5.000 fps)