摄像头采集,framebuffer显示
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <getopt.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <malloc.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <asm/types.h>
#include <linux/videodev2.h>
#include <linux/fb.h>
#define CLEAR(x) memset (&(x), 0, sizeof (x))
typedef enum {
IO_METHOD_READ, IO_METHOD_MMAP, IO_METHOD_USERPTR,
} io_method;
struct buffer {
void * start;
size_t length;//buffer's length is different from cap_image_size
};
static char *fbp; // framebuffer mmap
static char * dev_name = NULL;
static io_method io = IO_METHOD_MMAP;//IO_METHOD_READ;//IO_METHOD_MMAP;
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static FILE * outf = 0;
static unsigned int cap_image_size = 0;//to keep the real image size!!
//////////////////////////////////////////
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 fd, int request, void * arg) {
int r;
do
r = ioctl(fd, request, arg);
while (-1 == r && EINTR == errno);
return r;
}
static void yuyv2rgb(char *src, int sizeimage)
{
int Y0,U,V,Y1;
int R,G,B;
int Ry,Gu,Bv;
int i;
// printf("yuyv2rgb \n");
for(i = 0; i < sizeimage; i++)
{
Y0 = src[i];
U = src[i+1];
Y1 = src[i+2];
V = src[i+3];
// R = (int)(Y0 + 1.140*V);
// G = (int)(Y0 - 0.394*U - 0.581*V);
// B = (int)(Y0 + 2.032*U);
// Ry = (int)(1159*(V-128));
// Gu = (int)(0 - 380*(U-128)+ 813*(V-128));
// Bv = (int)(2018*(U-128));
// R = (int)(1164*(Y0-16) + Ry)/1000;
// G = (int)(1164*(Y0-16) - Gu)/1000;
// B = (int)(1164*(Y0-16) + Bv)/1000;
R = Y0 + (1.370705 * (V-128));
G = Y0 - (0.698001 * (V-128)) - (0.337633 * (U-128));
B = Y0 + (1.732446 * (U-128));
// src[i] = 0xff;
// src[i+1] = R;
// src[i+2] = G;
// src[i+3] = B;
if(R < 0) R = 0;
if(G < 0) G = 0;
if(B < 0) B = 0;
src[i+3] = 0xff;
src[i+2] = R;
src[i+1] = G;
src[i+0] = B;
i+=3;
}
// printf("yuyv2rgb\n");
}
static void process_image(void * p, int len)
{
int i;
// static char[115200] Outbuff ;
// printf("process_image %d \n", len);
yuyv2rgb(p, len);
// printf("process_image \n");
for(i = 0; i < len/4; i++)
{
((unsigned long *)fbp)[i*2] = ((unsigned long *)p)[i];
((unsigned long *)fbp)[i*2+1] = ((unsigned long *)fbp)[i*2];
}
}
static int read_frame(void) {
struct v4l2_buffer buf;
unsigned int i;
// printf("read_frame %d\n", buffers[0].length);
switch (io) {
case IO_METHOD_READ:
printf("IO_METHOD_READ \n");
if (-1 == read(fd, buffers[0].start, buffers[0].length)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
default:
errno_exit("read");
}
}
// printf("length = %d\r", buffers[0].length);
// process_image(buffers[0].start, buffers[0].length);
printf("image_size = %d,\t IO_METHOD_READ buffer.length=%d\r",
cap_image_size, buffers[0].length);
process_image(buffers[0].start, cap_image_size);
break;
case IO_METHOD_MMAP:
// printf("IO_METHOD_MMAP \n");
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:
default:
errno_exit("VIDIOC_DQBUF");
}
}
// printf("IO_METHOD_MMAP \n");
assert(buf.index < n_buffers);
// printf("length = %d\r", buffers[buf.index].length);
// process_image(buffers[buf.index].start, buffers[buf.index].length);
// printf("IO_METHOD_MMAP \n");
// printf("image_size = %d,\t IO_METHOD_MMAP buffer.length=%d\r",
// cap_image_size, buffers[0].length);
// printf("IO_METHOD_MMAP \n");
process_image(buffers[0].start, cap_image_size);
// printf("IO_METHOD_MMAP \n");
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
case IO_METHOD_USERPTR:
printf("IO_METHOD_USERPTR \n");
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:
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);
// printf("length = %d\r", buffers[i].length);
// process_image((void *) buf.m.userptr, buffers[i].length);
printf("image_size = %d,\t IO_METHOD_USERPTR buffer.length=%d\r",
cap_image_size, buffers[0].length);
process_image(buffers[0].start, cap_image_size);
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
}
return 1;
}
static void mainloop(void) {
unsigned int count;
count = 100;
printf("mainloop\n");
while (count-- > 0) {
for (;;) {
fd_set fds;
struct timeval tv;
int r;
FD_ZERO(&fds);
FD_SET(fd, &fds);
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;
}
}
}
static void stop_capturing(void) {
enum v4l2_buf_type type;
switch (io) {
case IO_METHOD_READ:
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;
printf("start_capturing\n");
switch (io) {
case IO_METHOD_READ:
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)
{
printf("init_read\n");
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)
{
printf("init_mmap\n");
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 , buf.length,
PROT_READ | PROT_WRITE ,
MAP_SHARED , fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start)
errno_exit("mmap");
}
printf("init_mmap\n");
}
static void init_userp(unsigned int buffer_size) {
struct v4l2_requestbuffers req;
unsigned int page_size;
page_size = getpagesize();
buffer_size = (buffer_size + page_size - 1) & ~(page_size - 1);
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 = memalign(page_size,
buffer_size);
if (!buffers[n_buffers].start) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
}
}
static void init_device(struct fb_var_screeninfo *vinfo)
{
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;
}
//////not all capture support crop!!!!!!!
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
CLEAR (cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
#ifndef CROP_BY_JACK
crop.c = cropcap.defrect;
#else
crop.c.left = cropcap.defrect.left;
crop.c.top = cropcap.defrect.top;
crop.c.width = 352;
crop.c.height = 288;
io
#endif
printf("----->has ability to crop!!\n");
printf("cropcap.defrect = (%d, %d, %d, %d)\n", cropcap.defrect.left,
cropcap.defrect.top, cropcap.defrect.width,
cropcap.defrect.height);
if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
break;
default:
break;
}
printf("-----!!but crop to (%d, %d, %d, %d) Failed!!\n",
crop.c.left, crop.c.top, crop.c.width, crop.c.height);
} else {
printf("----->sussess crop to (%d, %d, %d, %d)\n", crop.c.left,
crop.c.top, crop.c.width, crop.c.height);
}
} else {
printf("!! has no ability to crop!!\n");
}
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("\n");
////////////crop finished!
//////////set the format
CLEAR (fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = vinfo->xres;
fmt.fmt.pix.height = vinfo->yres;
printf("%d %d \n", vinfo->xres, vinfo->yres);
//V4L2_PIX_FMT_YVU420, V4L2_PIX_FMT_YUV420 — Planar formats with 1/2 horizontal and vertical chroma resolution, also known as YUV 4:2:0
//V4L2_PIX_FMT_YUYV — Packed format with 1/2 horizontal chroma resolution, also known as YUV 4:2:2
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;//V4L2_PIX_FMT_YUV420;//V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
{
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("=====will set fmt to (%d, %d)--", fmt.fmt.pix.width,
fmt.fmt.pix.height);
if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_YUYV) {
printf("V4L2_PIX_FMT_YUYV\n");
} else if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_YUV420) {
printf("V4L2_PIX_FMT_YUV420\n");
} else if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_NV12) {
printf("V4L2_PIX_FMT_NV12\n");
}
}
if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))
errno_exit("VIDIOC_S_FMT");
{
printf("=====after set fmt\n");
printf(" fmt.fmt.pix.width = %d\n", fmt.fmt.pix.width);
printf(" fmt.fmt.pix.height = %d\n", fmt.fmt.pix.height);
printf(" fmt.fmt.pix.sizeimage = %d\n", fmt.fmt.pix.sizeimage);
cap_image_size = fmt.fmt.pix.sizeimage;
printf(" fmt.fmt.pix.bytesperline = %d\n", fmt.fmt.pix.bytesperline);
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("\n");
}
cap_image_size = fmt.fmt.pix.sizeimage;
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
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;
printf("After Buggy driver paranoia\n");
printf(" >>fmt.fmt.pix.sizeimage = %d\n", fmt.fmt.pix.sizeimage);
printf(" >>fmt.fmt.pix.bytesperline = %d\n", fmt.fmt.pix.bytesperline);
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("\n");
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;
}
printf("init_device\n");
}
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 | O_NONBLOCK, 0);
if (-1 == fd) {
fprintf(stderr, "Cannot open '%s': %d, %s\n", dev_name, errno,
strerror(errno));
exit(EXIT_FAILURE);
}
}
static void usage(FILE * fp, int argc, char ** argv) {
fprintf(fp, "Usage: %s [options]\n\n"
"Options:\n"
"-d | --device name Video device name [/dev/video0]\n"
"-h | --help Print this message\n"
"-m | --mmap Use memory mapped buffers\n"
"-r | --read Use read() calls\n"
"-u | --userp Use application allocated buffers\n"
"", argv[0]);
}
static const char short_options[] = "d:hmru";
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' }, { 0, 0, 0, 0 } };
static void init_fb(struct fb_var_screeninfo *vinfo)
{
int fbfd = 0;
unsigned long screensize = 0;
// Open the file for reading and writing
fbfd = open("/dev/fb0", O_RDWR);
if (!fbfd) {
printf("Error: cannot open framebuffer device.\n");
exit(1);
}
printf("The framebuffer device was opened successfully.\n");
// Get variable screen information
if (ioctl(fbfd, FBIOGET_VSCREENINFO, vinfo)) {
printf("Error reading variable information.\n");
exit(1);
}
printf("%dx%d, %dbpp\n", vinfo->xres, vinfo->yres, vinfo->bits_per_pixel);
// if (vinfo.bits_per_pixel != 16) {
// printf("Error: not supported bits_per_pixel, it only supports 16 bit color\n");
// exit(1);
// }
// Figure out the size of the screen in bytes
screensize = vinfo->xres * vinfo->yres * 4;
printf("screensize %d\n", screensize);
// Map the device to memory
fbp = (char *)mmap(0, screensize, PROT_READ | PROT_WRITE, MAP_SHARED,
fbfd, 0);
if ((int)fbp == -1) {
printf("Error: failed to map framebuffer device to memory.\n");
exit(4);
}
printf("The framebuffer device was mapped to memory successfully.\n");
}
int main(int argc, char ** argv)
{
struct fb_var_screeninfo vinfo;
dev_name = "/dev/video0";
outf = fopen("out.yuv", "wb");
for (;;) {
int index;
int c;
c = getopt_long(argc, argv, short_options, long_options, &index);
if (-1 == c)
break;
switch (c) {
case 0:
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;
default:
usage(stderr, argc, argv);
exit(EXIT_FAILURE);
}
}
io = IO_METHOD_MMAP;
open_device();
init_fb(&vinfo);
init_device(&vinfo);
start_capturing();
mainloop();
printf("\n");
stop_capturing();
fclose(outf);
uninit_device();
close_device();
exit(EXIT_SUCCESS);
return 0;
}
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <getopt.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <malloc.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <asm/types.h>
#include <linux/videodev2.h>
#include <linux/fb.h>
#define CLEAR(x) memset (&(x), 0, sizeof (x))
typedef enum {
IO_METHOD_READ, IO_METHOD_MMAP, IO_METHOD_USERPTR,
} io_method;
struct buffer {
void * start;
size_t length;//buffer's length is different from cap_image_size
};
static char *fbp; // framebuffer mmap
static char * dev_name = NULL;
static io_method io = IO_METHOD_MMAP;//IO_METHOD_READ;//IO_METHOD_MMAP;
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static FILE * outf = 0;
static unsigned int cap_image_size = 0;//to keep the real image size!!
//////////////////////////////////////////
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 fd, int request, void * arg) {
int r;
do
r = ioctl(fd, request, arg);
while (-1 == r && EINTR == errno);
return r;
}
static void yuyv2rgb(char *src, int sizeimage)
{
int Y0,U,V,Y1;
int R,G,B;
int Ry,Gu,Bv;
int i;
// printf("yuyv2rgb \n");
for(i = 0; i < sizeimage; i++)
{
Y0 = src[i];
U = src[i+1];
Y1 = src[i+2];
V = src[i+3];
// R = (int)(Y0 + 1.140*V);
// G = (int)(Y0 - 0.394*U - 0.581*V);
// B = (int)(Y0 + 2.032*U);
// Ry = (int)(1159*(V-128));
// Gu = (int)(0 - 380*(U-128)+ 813*(V-128));
// Bv = (int)(2018*(U-128));
// R = (int)(1164*(Y0-16) + Ry)/1000;
// G = (int)(1164*(Y0-16) - Gu)/1000;
// B = (int)(1164*(Y0-16) + Bv)/1000;
R = Y0 + (1.370705 * (V-128));
G = Y0 - (0.698001 * (V-128)) - (0.337633 * (U-128));
B = Y0 + (1.732446 * (U-128));
// src[i] = 0xff;
// src[i+1] = R;
// src[i+2] = G;
// src[i+3] = B;
if(R < 0) R = 0;
if(G < 0) G = 0;
if(B < 0) B = 0;
src[i+3] = 0xff;
src[i+2] = R;
src[i+1] = G;
src[i+0] = B;
i+=3;
}
// printf("yuyv2rgb\n");
}
static void process_image(void * p, int len)
{
int i;
// static char[115200] Outbuff ;
// printf("process_image %d \n", len);
yuyv2rgb(p, len);
// printf("process_image \n");
for(i = 0; i < len/4; i++)
{
((unsigned long *)fbp)[i*2] = ((unsigned long *)p)[i];
((unsigned long *)fbp)[i*2+1] = ((unsigned long *)fbp)[i*2];
}
}
static int read_frame(void) {
struct v4l2_buffer buf;
unsigned int i;
// printf("read_frame %d\n", buffers[0].length);
switch (io) {
case IO_METHOD_READ:
printf("IO_METHOD_READ \n");
if (-1 == read(fd, buffers[0].start, buffers[0].length)) {
switch (errno) {
case EAGAIN:
return 0;
case EIO:
default:
errno_exit("read");
}
}
// printf("length = %d\r", buffers[0].length);
// process_image(buffers[0].start, buffers[0].length);
printf("image_size = %d,\t IO_METHOD_READ buffer.length=%d\r",
cap_image_size, buffers[0].length);
process_image(buffers[0].start, cap_image_size);
break;
case IO_METHOD_MMAP:
// printf("IO_METHOD_MMAP \n");
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:
default:
errno_exit("VIDIOC_DQBUF");
}
}
// printf("IO_METHOD_MMAP \n");
assert(buf.index < n_buffers);
// printf("length = %d\r", buffers[buf.index].length);
// process_image(buffers[buf.index].start, buffers[buf.index].length);
// printf("IO_METHOD_MMAP \n");
// printf("image_size = %d,\t IO_METHOD_MMAP buffer.length=%d\r",
// cap_image_size, buffers[0].length);
// printf("IO_METHOD_MMAP \n");
process_image(buffers[0].start, cap_image_size);
// printf("IO_METHOD_MMAP \n");
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
case IO_METHOD_USERPTR:
printf("IO_METHOD_USERPTR \n");
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:
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);
// printf("length = %d\r", buffers[i].length);
// process_image((void *) buf.m.userptr, buffers[i].length);
printf("image_size = %d,\t IO_METHOD_USERPTR buffer.length=%d\r",
cap_image_size, buffers[0].length);
process_image(buffers[0].start, cap_image_size);
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
errno_exit("VIDIOC_QBUF");
break;
}
return 1;
}
static void mainloop(void) {
unsigned int count;
count = 100;
printf("mainloop\n");
while (count-- > 0) {
for (;;) {
fd_set fds;
struct timeval tv;
int r;
FD_ZERO(&fds);
FD_SET(fd, &fds);
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;
}
}
}
static void stop_capturing(void) {
enum v4l2_buf_type type;
switch (io) {
case IO_METHOD_READ:
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;
printf("start_capturing\n");
switch (io) {
case IO_METHOD_READ:
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)
{
printf("init_read\n");
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)
{
printf("init_mmap\n");
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 , buf.length,
PROT_READ | PROT_WRITE ,
MAP_SHARED , fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start)
errno_exit("mmap");
}
printf("init_mmap\n");
}
static void init_userp(unsigned int buffer_size) {
struct v4l2_requestbuffers req;
unsigned int page_size;
page_size = getpagesize();
buffer_size = (buffer_size + page_size - 1) & ~(page_size - 1);
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 = memalign(page_size,
buffer_size);
if (!buffers[n_buffers].start) {
fprintf(stderr, "Out of memory\n");
exit(EXIT_FAILURE);
}
}
}
static void init_device(struct fb_var_screeninfo *vinfo)
{
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;
}
//////not all capture support crop!!!!!!!
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
CLEAR (cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
#ifndef CROP_BY_JACK
crop.c = cropcap.defrect;
#else
crop.c.left = cropcap.defrect.left;
crop.c.top = cropcap.defrect.top;
crop.c.width = 352;
crop.c.height = 288;
io
#endif
printf("----->has ability to crop!!\n");
printf("cropcap.defrect = (%d, %d, %d, %d)\n", cropcap.defrect.left,
cropcap.defrect.top, cropcap.defrect.width,
cropcap.defrect.height);
if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
break;
default:
break;
}
printf("-----!!but crop to (%d, %d, %d, %d) Failed!!\n",
crop.c.left, crop.c.top, crop.c.width, crop.c.height);
} else {
printf("----->sussess crop to (%d, %d, %d, %d)\n", crop.c.left,
crop.c.top, crop.c.width, crop.c.height);
}
} else {
printf("!! has no ability to crop!!\n");
}
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("\n");
////////////crop finished!
//////////set the format
CLEAR (fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = vinfo->xres;
fmt.fmt.pix.height = vinfo->yres;
printf("%d %d \n", vinfo->xres, vinfo->yres);
//V4L2_PIX_FMT_YVU420, V4L2_PIX_FMT_YUV420 — Planar formats with 1/2 horizontal and vertical chroma resolution, also known as YUV 4:2:0
//V4L2_PIX_FMT_YUYV — Packed format with 1/2 horizontal chroma resolution, also known as YUV 4:2:2
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;//V4L2_PIX_FMT_YUV420;//V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
{
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("=====will set fmt to (%d, %d)--", fmt.fmt.pix.width,
fmt.fmt.pix.height);
if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_YUYV) {
printf("V4L2_PIX_FMT_YUYV\n");
} else if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_YUV420) {
printf("V4L2_PIX_FMT_YUV420\n");
} else if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_NV12) {
printf("V4L2_PIX_FMT_NV12\n");
}
}
if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))
errno_exit("VIDIOC_S_FMT");
{
printf("=====after set fmt\n");
printf(" fmt.fmt.pix.width = %d\n", fmt.fmt.pix.width);
printf(" fmt.fmt.pix.height = %d\n", fmt.fmt.pix.height);
printf(" fmt.fmt.pix.sizeimage = %d\n", fmt.fmt.pix.sizeimage);
cap_image_size = fmt.fmt.pix.sizeimage;
printf(" fmt.fmt.pix.bytesperline = %d\n", fmt.fmt.pix.bytesperline);
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("\n");
}
cap_image_size = fmt.fmt.pix.sizeimage;
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
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;
printf("After Buggy driver paranoia\n");
printf(" >>fmt.fmt.pix.sizeimage = %d\n", fmt.fmt.pix.sizeimage);
printf(" >>fmt.fmt.pix.bytesperline = %d\n", fmt.fmt.pix.bytesperline);
printf("-#-#-#-#-#-#-#-#-#-#-#-#-#-\n");
printf("\n");
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;
}
printf("init_device\n");
}
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 | O_NONBLOCK, 0);
if (-1 == fd) {
fprintf(stderr, "Cannot open '%s': %d, %s\n", dev_name, errno,
strerror(errno));
exit(EXIT_FAILURE);
}
}
static void usage(FILE * fp, int argc, char ** argv) {
fprintf(fp, "Usage: %s [options]\n\n"
"Options:\n"
"-d | --device name Video device name [/dev/video0]\n"
"-h | --help Print this message\n"
"-m | --mmap Use memory mapped buffers\n"
"-r | --read Use read() calls\n"
"-u | --userp Use application allocated buffers\n"
"", argv[0]);
}
static const char short_options[] = "d:hmru";
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' }, { 0, 0, 0, 0 } };
static void init_fb(struct fb_var_screeninfo *vinfo)
{
int fbfd = 0;
unsigned long screensize = 0;
// Open the file for reading and writing
fbfd = open("/dev/fb0", O_RDWR);
if (!fbfd) {
printf("Error: cannot open framebuffer device.\n");
exit(1);
}
printf("The framebuffer device was opened successfully.\n");
// Get variable screen information
if (ioctl(fbfd, FBIOGET_VSCREENINFO, vinfo)) {
printf("Error reading variable information.\n");
exit(1);
}
printf("%dx%d, %dbpp\n", vinfo->xres, vinfo->yres, vinfo->bits_per_pixel);
// if (vinfo.bits_per_pixel != 16) {
// printf("Error: not supported bits_per_pixel, it only supports 16 bit color\n");
// exit(1);
// }
// Figure out the size of the screen in bytes
screensize = vinfo->xres * vinfo->yres * 4;
printf("screensize %d\n", screensize);
// Map the device to memory
fbp = (char *)mmap(0, screensize, PROT_READ | PROT_WRITE, MAP_SHARED,
fbfd, 0);
if ((int)fbp == -1) {
printf("Error: failed to map framebuffer device to memory.\n");
exit(4);
}
printf("The framebuffer device was mapped to memory successfully.\n");
}
int main(int argc, char ** argv)
{
struct fb_var_screeninfo vinfo;
dev_name = "/dev/video0";
outf = fopen("out.yuv", "wb");
for (;;) {
int index;
int c;
c = getopt_long(argc, argv, short_options, long_options, &index);
if (-1 == c)
break;
switch (c) {
case 0:
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;
default:
usage(stderr, argc, argv);
exit(EXIT_FAILURE);
}
}
io = IO_METHOD_MMAP;
open_device();
init_fb(&vinfo);
init_device(&vinfo);
start_capturing();
mainloop();
printf("\n");
stop_capturing();
fclose(outf);
uninit_device();
close_device();
exit(EXIT_SUCCESS);
return 0;
}
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