arm板上最简单的使用v4l2使用USB摄像头捕获图像的例子

来源：互联网发布：iphone垃圾清理软件编辑：程序博客网时间：2024/06/08 20:06

首先我使用的linux系统是字符界面的，很想找一个最简单的USB摄像头程序进行摄像头测试。可是找了半天不是不能用就是太复杂，不方便测试也不方便入门学习。国外的要收费，国内的好不容易找到一个，还有BUG，又用不了。

找到了L4V2 api官方测试程序，弄了半天总算有点明白了。稍微做了改动。

这个程序是使用YUV格式保存，并且通过stdio输出，这样做的目的是方便重定向到下一个转换程序。但是对于着急需要测试和入门学习的人来说，就是隔靴搔痒了。

所以，我将程序稍微修改了一下。当只要求拍摄一幅图片时，就自动将其保存为bmp文件，这样就可以快速对摄像头进行测试。

这个程序没有库的依赖，是最最简单和轻量级的。

这里我的摄像头是video4，其实也可以单独指定。

v4l2grab.h

#ifndef __V4LGRAB_H__
#define __V4LGRAB_H__

#include <stdio.h>

#define FALSE 0
#define TRUE 1

typedef unsigned char BYTE;
typedef unsigned short WORD;
typedef unsigned long DWORD;

/**/
#pragma pack(push)
#pragma pack(2)
typedef struct tagBITMAPFILEHEADER{

WORD bfType; // the flag of bmp, value is "BM"
DWORD bfSize; // size BMP file ,unit is bytes
DWORD bfReserved; // 0
DWORD bfOffBits; // must be 54

}BITMAPFILEHEADER;

typedef struct tagBITMAPINFOHEADER{

DWORD biSize; // must be 0x28
DWORD biWidth; //
DWORD biHeight; //
WORD biPlanes; // must be 1
WORD biBitCount; //
DWORD biCompression; //
DWORD biSizeImage; //
DWORD biXPelsPerMeter; //
DWORD biYPelsPerMeter; //
DWORD biClrUsed; //
DWORD biClrImportant; //

}BITMAPINFOHEADER;

typedef struct tagRGBQUAD{

BYTE rgbBlue;
BYTE rgbGreen;
BYTE rgbRed;
BYTE rgbReserved;

}RGBQUAD;

#pragma pack(pop)
//if successful return 1,or else return 0
int openVideo();
int closeVideo();

#endif //__V4LGRAB_H___

----------------------.c代码分割线--------

/*
* V4L2 video capture example
*
* This program can be used and distributed without restrictions.
*
* This program is provided with the V4L2 API
* see http://linuxtv.org/docs.php for more information
* http://www.linuxtv.org/downloads/v4l-dvb-apis/capture-example.html
* modify by mayy02@163.com
*/

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>

#include <getopt.h> /* getopt_long() */

#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>

#include <linux/videodev2.h>
#include "v4l2grab.h"

#define CLEAR(x) memset(&(x), 0, sizeof(x))

enum io_method {
IO_METHOD_READ,
IO_METHOD_MMAP,
IO_METHOD_USERPTR,
};

struct buffer {
void *start;
size_t length;
};

static char *dev_name;
static enum io_method io = IO_METHOD_MMAP;
static int fd = -1;
struct buffer *buffers;
static unsigned int n_buffers;
static int out_buf;
static int force_format;
static int frame_count = 70;

static void errno_exit(const char *s)
{
fprintf(stderr, "%s error %d, %s\n", s, errno, strerror(errno));
exit(EXIT_FAILURE);
}

static int xioctl(int fh, int request, void *arg)
{
int r;

do {
r = ioctl(fh, request, arg);
} while (-1 == r && EINTR == errno);

return r;
}

int yuyv_2_rgb888(unsigned char *inp, int size, unsigned char *outp)
{

int i,j;
unsigned char y1,y2,u,v;
int r1,g1,b1,r2,g2,b2;

for(i=0;i<480;i++)
{
for(j=0;j<320;j++)
{
y1 = *( inp + (i*320+j)*4);
u = *( inp + (i*320+j)*4 + 1);
y2 = *( inp + (i*320+j)*4 + 2);
v = *( inp + (i*320+j)*4 + 3);

r1 = y1 + 1.042*(v-128);
g1 = y1 - 0.34414*(u-128) - 0.71414*(v-128);
b1 = y1 + 1.772*(u-128);

r2 = y2 + 1.042*(v-128);
g2 = y2 - 0.34414*(u-128) - 0.71414*(v-128);
b2 = y2 + 1.772*(u-128);

if(r1>255)
r1 = 255;
else if(r1<0)
r1 = 0;

if(b1>255)
b1 = 255;
else if(b1<0)
b1 = 0;

if(g1>255)
g1 = 255;
else if(g1<0)
g1 = 0;

if(r2>255)
r2 = 255;
else if(r2<0)
r2 = 0;

if(b2>255)
b2 = 255;
else if(b2<0)
b2 = 0;

if(g2>255)
g2 = 255;
else if(g2<0)
g2 = 0;

*(outp + ((480-1-i)*320+j)*6 ) = (unsigned char)b1;
*(outp + ((480-1-i)*320+j)*6 + 1) = (unsigned char)g1;
*(outp + ((480-1-i)*320+j)*6 + 2) = (unsigned char)r1;
*(outp + ((480-1-i)*320+j)*6 + 3) = (unsigned char)b2;
*(outp + ((480-1-i)*320+j)*6 + 4) = (unsigned char)g2;
*(outp + ((480-1-i)*320+j)*6 + 5) = (unsigned char)r2;

}
}
printf("change to RGB OK \n");

}

#define BMP "cam1.bmp"

#define IMAGEWIDTH 640
#define IMAGEHEIGHT 480
/* add by mayy : 640*480 */
void save_as_bmp(char *bufp, int size)
{

FILE * fp1,* fp2;

BITMAPFILEHEADER bf;
BITMAPINFOHEADER bi;
unsigned char output_buffer[IMAGEWIDTH*IMAGEHEIGHT*3];

fp1 = fopen(BMP, "wb");
if(!fp1){
printf("open "BMP"error\n");
return;
}

//Set BITMAPINFOHEADER
bi.biSize = 40;
bi.biWidth = IMAGEWIDTH;
bi.biHeight = IMAGEHEIGHT;
bi.biPlanes = 1;
bi.biBitCount = 24;
bi.biCompression = 0;
bi.biSizeImage = IMAGEWIDTH*IMAGEHEIGHT*3;
bi.biXPelsPerMeter = 0;
bi.biYPelsPerMeter = 0;
bi.biClrUsed = 0;
bi.biClrImportant = 0;

//Set BITMAPFILEHEADER
bf.bfType = 0x4d42;
bf.bfSize = 54 + bi.biSizeImage;
bf.bfReserved = 0;
bf.bfOffBits = 54;

// fwrite(buffers[0].start, 640*480*2, 1, fp2);
//printf("save "YUV"OK\n");

yuyv_2_rgb888(bufp, size,output_buffer);
fwrite(&bf, 14, 1, fp1);
fwrite(&bi, 40, 1, fp1);
fwrite(output_buffer, bi.biSizeImage, 1, fp1);
printf("save "BMP" OK\n");

fclose(fp1);
}

static void process_image(const void *p, int size)
{
if (out_buf)
fwrite(p, size, 1, stdout);
// save_as_bmp((char *)p, size);

fflush(stderr);
fprintf(stderr, ".");
fflush(stdout);
}

static int read_frame(void)
{
struct v4l2_buffer buf;
unsigned int i;

switch (io) {
case IO_METHOD_READ:
if (-1 == read(fd, buffers[0].start, buffers[0].length)) {
switch (errno) {
case EAGAIN:
return 0;

case EIO:
/* Could ignore EIO, see spec. */

/* fall through */

default:
errno_exit("read");
}
}

process_image(buffers[0].start, buffers[0].length);
break;

case IO_METHOD_MMAP:
CLEAR(buf);

buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;

if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;

case EIO:
/* Could ignore EIO, see spec. */

/* fall through */

default:
errno_exit("VIDIOC_DQBUF");
}
}

assert(buf.index < n_buffers);

process_image(buffers[buf.index].start, buf.bytesused);

if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;

case IO_METHOD_USERPTR:
CLEAR(buf);

buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;

if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) {
switch (errno) {
case EAGAIN:
return 0;

case EIO:
/* Could ignore EIO, see spec. */

/* fall through */

default:
errno_exit("VIDIOC_DQBUF");
}
}

for (i = 0; i < n_buffers; ++i)
if (buf.m.userptr == (unsigned long)buffers[i].start
&& buf.length == buffers[i].length)
break;

assert(i < n_buffers);

process_image((void *)buf.m.userptr, buf.bytesused);

if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
}

return 1;
}

static void mainloop(void)
{
unsigned int count;
int photo=0;

count = frame_count;

while (count-- > 0) {
for (;;) {
fd_set fds;
struct timeval tv;
int r;

FD_ZERO(&fds);
FD_SET(fd, &fds);

/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;

r = select(fd + 1, &fds, NULL, NULL, &tv);

if (-1 == r) {
if (EINTR == errno)
continue;
errno_exit("select");
}

if (0 == r) {
fprintf(stderr, "select timeout\n");
exit(EXIT_FAILURE);
}

if (read_frame())
break;
/* EAGAIN - continue select loop. */
}
}
if(frame_count == 1){
save_as_bmp(buffers[0].start, buffers[0].length);
}
}

static void stop_capturing(void)
{
enum v4l2_buf_type type;

switch (io) {
case IO_METHOD_READ:
/* Nothing to do. */
break;

case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMOFF, &type))
errno_exit("VIDIOC_STREAMOFF");
break;
}
}

static void start_capturing(void)
{
unsigned int i;
enum v4l2_buf_type type;

switch (io) {
case IO_METHOD_READ:
/* Nothing to do. */
break;

case IO_METHOD_MMAP:
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;

CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;

if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type))
errno_exit("VIDIOC_STREAMON");
break;

case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i) {
struct v4l2_buffer buf;

CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.index = i;
buf.m.userptr = (unsigned long)buffers[i].start;
buf.length = buffers[i].length;

if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type))
errno_exit("VIDIOC_STREAMON");
break;
}
}

static void uninit_device(void)
{
unsigned int i;

switch (io) {
case IO_METHOD_READ:
free(buffers[0].start);
break;

case IO_METHOD_MMAP:
for (i = 0; i < n_buffers; ++i)
if (-1 == munmap(buffers[i].start, buffers[i].length))
errno_exit("munmap");
break;

case IO_METHOD_USERPTR:
for (i = 0; i < n_buffers; ++i)
free(buffers[i].start);
break;
}

free(buffers);
}

static void init_read(unsigned int buffer_size)
{
buffers = calloc(1, sizeof(*buffers));

if (!buffers) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}

buffers[0].length = buffer_size;
buffers[0].start = malloc(buffer_size);

if (!buffers[0].start) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
}

static void init_mmap(void)
{
struct v4l2_requestbuffers req;

CLEAR(req);

req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;

if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf(stderr, "%s does not support "
"memory mapping\n", dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_REQBUFS");
}
}

if (req.count < 2) {
fprintf(stderr, "Insufficient buffer memory on %s\n",
dev_name);
exit(EXIT_FAILURE);
}

buffers = calloc(req.count, sizeof(*buffers));

if (!buffers) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}

for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
struct v4l2_buffer buf;

CLEAR(buf);

buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;

if (-1 == xioctl(fd, VIDIOC_QUERYBUF, &buf))
errno_exit("VIDIOC_QUERYBUF");

buffers[n_buffers].length = buf.length;
buffers[n_buffers].start =
mmap(NULL /* start anywhere */,
buf.length,
PROT_READ | PROT_WRITE /* required */,
MAP_SHARED /* recommended */,
fd, buf.m.offset);

if (MAP_FAILED == buffers[n_buffers].start)
errno_exit("mmap");
}
}

static void init_userp(unsigned int buffer_size)
{
struct v4l2_requestbuffers req;

CLEAR(req);

req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_USERPTR;

if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf(stderr, "%s does not support "
"user pointer i/o\n", dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_REQBUFS");
}
}

buffers = calloc(4, sizeof(*buffers));

if (!buffers) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}

for (n_buffers = 0; n_buffers < 4; ++n_buffers) {
buffers[n_buffers].length = buffer_size;
buffers[n_buffers].start = malloc(buffer_size);

if (!buffers[n_buffers].start) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
}
}

static void init_device(void)
{
struct v4l2_capability cap;
struct v4l2_cropcap cropcap;
struct v4l2_crop crop;
struct v4l2_format fmt;
unsigned int min;

if (-1 == xioctl(fd, VIDIOC_QUERYCAP, &cap)) {
if (EINVAL == errno) {
fprintf(stderr, "%s is no V4L2 device\n",
dev_name);
exit(EXIT_FAILURE);
} else {
errno_exit("VIDIOC_QUERYCAP");
}
}

if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
fprintf(stderr, "%s is no video capture device\n",
dev_name);
exit(EXIT_FAILURE);
}

switch (io) {
case IO_METHOD_READ:
if (!(cap.capabilities & V4L2_CAP_READWRITE)) {
fprintf(stderr, "%s does not support read i/o\n",
dev_name);
exit(EXIT_FAILURE);
}
break;

case IO_METHOD_MMAP:
case IO_METHOD_USERPTR:
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf(stderr, "%s does not support streaming i/o\n",
dev_name);
exit(EXIT_FAILURE);
}
break;
}

/* Select video input, video standard and tune here. */

CLEAR(cropcap);

cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */

if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
/* Cropping not supported. */
break;
default:
/* Errors ignored. */
break;
}
}
} else {
/* Errors ignored. */
}

CLEAR(fmt);

fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (force_format) {
fmt.fmt.pix.width = 640;
fmt.fmt.pix.height = 480;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;

if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))
errno_exit("VIDIOC_S_FMT");

/* Note VIDIOC_S_FMT may change width and height. */
} else {
/* Preserve original settings as set by v4l2-ctl for example */
if (-1 == xioctl(fd, VIDIOC_G_FMT, &fmt))
errno_exit("VIDIOC_G_FMT");
}

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

switch (io) {
case IO_METHOD_READ:
init_read(fmt.fmt.pix.sizeimage);
break;

case IO_METHOD_MMAP:
init_mmap();
break;

case IO_METHOD_USERPTR:
init_userp(fmt.fmt.pix.sizeimage);
break;
}
}

static void close_device(void)
{
if (-1 == close(fd))
errno_exit("close");

fd = -1;
}

static void open_device(void)
{
struct stat st;

if (-1 == stat(dev_name, &st)) {
fprintf(stderr, "Cannot identify '%s': %d, %s\n",
dev_name, errno, strerror(errno));
exit(EXIT_FAILURE);
}

if (!S_ISCHR(st.st_mode)) {
fprintf(stderr, "%s is no device\n", dev_name);
exit(EXIT_FAILURE);
}

fd = open(dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);

if (-1 == fd) {
fprintf(stderr, "Cannot open '%s': %d, %s\n",
dev_name, errno, strerror(errno));
exit(EXIT_FAILURE);
}
}
/*
cam1 -d /dev/video4 -r -o -f -c 1
*/
static void usage(FILE *fp, int argc, char **argv)
{
fprintf(fp,
"Usage: %s [options]\n\n"
"Version 1.3\n"
"Options:\n"
"-d | --device name Video device name [%s]\n"
"-h | --help Print this message\n"
"-m | --mmap Use memory mapped buffers [default]\n"
"-r | --read Use read() calls\n"
"-u | --userp Use application allocated buffers\n"
"-o | --output Outputs stream to stdout\n"
"-f | --format Force format to 640x480 YUYV\n"
"-c | --count Number of frames to grab [%i]\n"
"",
argv[0], dev_name, frame_count);
}

static const char short_options[] = "d:hmruofc:";

static const struct option
long_options[] = {
{ "device", required_argument, NULL, 'd' },
{ "help", no_argument, NULL, 'h' },
{ "mmap", no_argument, NULL, 'm' },
{ "read", no_argument, NULL, 'r' },
{ "userp", no_argument, NULL, 'u' },
{ "output", no_argument, NULL, 'o' },
{ "format", no_argument, NULL, 'f' },
{ "count", required_argument, NULL, 'c' },
{ 0, 0, 0, 0 }
};

int main(int argc, char **argv)
{
dev_name = "/dev/video4";

for (;;) {
int idx;
int c;

c = getopt_long(argc, argv,
short_options, long_options, &idx);

if (-1 == c)
break;

switch (c) {
case 0: /* getopt_long() flag */
break;

case 'd':
dev_name = optarg;
break;

case 'h':
usage(stdout, argc, argv);
exit(EXIT_SUCCESS);

case 'm':
io = IO_METHOD_MMAP;
break;

case 'r':
io = IO_METHOD_READ;
break;

case 'u':
io = IO_METHOD_USERPTR;
break;

case 'o':
out_buf++;
break;

case 'f':
force_format++;
break;

case 'c':
errno = 0;
frame_count = strtol(optarg, NULL, 0);
if (errno)
errno_exit(optarg);
break;

default:
usage(stderr, argc, argv);
exit(EXIT_FAILURE);
}
}

open_device();
init_device();
start_capturing();
mainloop();
stop_capturing();
uninit_device();
close_device();
fprintf(stderr, "\n");
return 0;
}

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