V4L2视频采集与H264编码1—V4L2采集JPEG数据

    最近在做视频编码，经过一段时间的折腾，终于可以把V4L2采集到的图片数据编码成H264视频，并且成功将工程移植到了ARM开发板上。无奈开发板性能太低，每秒钟只能编码一帧数据，查看CPU已经跑到100%，计划换另外一种编码方式，先把遇到的问题和开发过程记录下来，做个备忘，也可以给大家一个参考。

   我的整个开发流程是：

    (1)通过V4L2采集摄像头数据，保存成图片

    (2)通过V4l2采集摄像头数据，保存成yuv视频

    (3)下载编译X264库，将该库移植到ARM开发板

    (4)通过V4L2采集摄像头YUV数据，调用X264库将数据编码成H264视频

    在整个开发过程中，不少代码是参考网上资料，自己也做了不少的优化处理。

    首先就是V4L2数据采集，确保linux的驱动和摄像头是可以正常工作的。V4L2编程的一般流程是：

    我一般是先在PC机上测试代码，代码没有问题之后再移植到ARM开发板上，这样可以保证应用层的代码没有没有问题，如果出问题，那就是开发板驱动的问题比较大。下面直接上代码。我在PC机上使用的是中星微的USB摄像头，在我的PC机上，它只支持JPEG格式。代码如下：

/*=============================================================================
#     FileName: v4l2.c
#         Desc: this program aim to get image from USB camera,
#               used the V4L2 interface.
#       Author: Licaibiao
#      Version: 
#   LastChange: 2016-12-10 
#      History:

=============================================================================*/
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <stdlib.h>
#include <linux/types.h>
#include <linux/videodev2.h>
#include <malloc.h>
#include <math.h>
#include <string.h>
#include <sys/mman.h>
#include <errno.h>
#include <assert.h>

#define FILE_VIDEO  "/dev/video0"
#define JPG "./out/image%d.jpg"

typedef struct{
    void *start;
	int length;
}BUFTYPE;

BUFTYPE *usr_buf;
static unsigned int n_buffer = 0;


/*set video capture ways(mmap)*/
int init_mmap(int fd)
{
	/*to request frame cache, contain requested counts*/
	struct v4l2_requestbuffers reqbufs;

	memset(&reqbufs, 0, sizeof(reqbufs));
	reqbufs.count = 1; 	 							/*the number of buffer*/
	reqbufs.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;    
	reqbufs.memory = V4L2_MEMORY_MMAP;				

	if(-1 == ioctl(fd,VIDIOC_REQBUFS,&reqbufs))
	{
		perror("Fail to ioctl 'VIDIOC_REQBUFS'");
		exit(EXIT_FAILURE);
	}
	
	n_buffer = reqbufs.count;
	printf("n_buffer = %d\n", n_buffer);
	//usr_buf = calloc(reqbufs.count, sizeof(usr_buf));
	usr_buf = calloc(reqbufs.count, sizeof(BUFTYPE));/*** (4) ***/
	if(usr_buf == NULL)
	{
		printf("Out of memory\n");
		exit(-1);
	}

	/*map kernel cache to user process*/
	for(n_buffer = 0; n_buffer < reqbufs.count; ++n_buffer)
	{
		//stand for a frame
		struct v4l2_buffer buf;
		memset(&buf, 0, sizeof(buf));
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = n_buffer;
		
		/*check the information of the kernel cache requested*/
		if(-1 == ioctl(fd,VIDIOC_QUERYBUF,&buf))
		{
			perror("Fail to ioctl : VIDIOC_QUERYBUF");
			exit(EXIT_FAILURE);
		}

		usr_buf[n_buffer].length = buf.length;
		usr_buf[n_buffer].start = (char *)mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_PRIVATE, fd,buf.m.offset);

		if(MAP_FAILED == usr_buf[n_buffer].start)
		{
			perror("Fail to mmap");
			exit(EXIT_FAILURE);
		}

	}

}

int open_camera(void)
{
	int fd;
	/*open video device with block */
	fd = open(FILE_VIDEO, O_RDONLY);
	if(fd < 0)
	{	
		fprintf(stderr, "%s open err \n", FILE_VIDEO);
		exit(EXIT_FAILURE);
	};
	return fd;
}

int init_camera(int fd)
{
	struct v4l2_capability 	cap;	/* decive fuction, such as video input */
	struct v4l2_format 		tv_fmt; /* frame format */  
	struct v4l2_fmtdesc 	fmtdesc;  	/* detail control value */
	struct v4l2_control 	ctrl;
	int ret;
	
			/*show all the support format*/
	memset(&fmtdesc, 0, sizeof(fmtdesc));
	fmtdesc.index = 0 ;                 /* the number to check */
	fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

	/* check video decive driver capability */
	if(ret=ioctl(fd, VIDIOC_QUERYCAP, &cap)<0)
	{
		fprintf(stderr, "fail to ioctl VIDEO_QUERYCAP \n");
		exit(EXIT_FAILURE);
	}
	
	/*judge wherher or not to be a video-get device*/
	if(!(cap.capabilities & V4L2_BUF_TYPE_VIDEO_CAPTURE))
	{
		fprintf(stderr, "The Current device is not a video capture device \n");
		exit(EXIT_FAILURE);
	}

	/*judge whether or not to supply the form of video stream*/
	if(!(cap.capabilities & V4L2_CAP_STREAMING))
	{
		printf("The Current device does not support streaming i/o\n");
		exit(EXIT_FAILURE);
	}
	
	printf("\ncamera driver name is : %s\n",cap.driver);
	printf("camera device name is : %s\n",cap.card);
	printf("camera bus information: %s\n",cap.bus_info);

		/*display the format device support*/
	while(ioctl(fd,VIDIOC_ENUM_FMT,&fmtdesc)!=-1)
	{	
		printf("\nsupport device %d.%s\n\n",fmtdesc.index+1,fmtdesc.description);
		fmtdesc.index++;
	}


	/*set the form of camera capture data*/
	tv_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;      /*v4l2_buf_typea,camera must use V4L2_BUF_TYPE_VIDEO_CAPTURE*/
	tv_fmt.fmt.pix.width = 640;
	tv_fmt.fmt.pix.height = 480;
	tv_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_JPEG;	/*V4L2_PIX_FMT_YYUV*/
	tv_fmt.fmt.pix.field = V4L2_FIELD_NONE;   		/*V4L2_FIELD_NONE*/
	if (ioctl(fd, VIDIOC_S_FMT, &tv_fmt)< 0) 
	{
		fprintf(stderr,"VIDIOC_S_FMT set err\n");
		exit(-1);
		close(fd);
	}

	init_mmap(fd);
}

int start_capture(int fd)
{
	unsigned int i;
	enum v4l2_buf_type type;
	
	/*place the kernel cache to a queue*/
	for(i = 0; i < n_buffer; i++)
	{
		struct v4l2_buffer buf;
		memset(&buf, 0, sizeof(buf));
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = i;

		if(-1 == ioctl(fd, VIDIOC_QBUF, &buf))
		{
			perror("Fail to ioctl 'VIDIOC_QBUF'");
			exit(EXIT_FAILURE);
		}
	}

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if(-1 == ioctl(fd, VIDIOC_STREAMON, &type))
	{
		printf("i=%d.\n", i);
		perror("VIDIOC_STREAMON");
		close(fd);
		exit(EXIT_FAILURE);
	}

	return 0;
}


int process_image(void *addr, int length)
{
	FILE *fp;

	static int num = 0;

	char image_name[20];
	sprintf(image_name, JPG, num++);
	if((fp = fopen(image_name, "w")) == NULL)
	{
		perror("Fail to fopen");
		exit(EXIT_FAILURE);
	}
	fwrite(addr, length, 1, fp);
	usleep(500);
	fclose(fp);
	return 0;
}

int read_frame(int fd)
{
	struct v4l2_buffer buf;
	unsigned int i;
	memset(&buf, 0, sizeof(buf));
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;
	//put cache from queue
	if(-1 == ioctl(fd, VIDIOC_DQBUF,&buf))
	{
		perror("Fail to ioctl 'VIDIOC_DQBUF'");
		exit(EXIT_FAILURE);
	}
	assert(buf.index < n_buffer);

	//read process space's data to a file
	process_image(usr_buf[buf.index].start, usr_buf[buf.index].length);
	if(-1 == ioctl(fd, VIDIOC_QBUF,&buf))
	{
		perror("Fail to ioctl 'VIDIOC_QBUF'");
		exit(EXIT_FAILURE);
	}
	return 1;
}


int mainloop(int fd)
{
	int count = 10;
	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;
				perror("Fail to select");
				exit(EXIT_FAILURE);
			}
			if(0 == r)
			{
				fprintf(stderr,"select Timeout\n");
				exit(-1);
			}

			if(read_frame(fd))
			break;
		}
	}
	return 0;
}

void stop_capture(int fd)
{
	enum v4l2_buf_type type;
	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if(-1 == ioctl(fd,VIDIOC_STREAMOFF,&type))
	{
		perror("Fail to ioctl 'VIDIOC_STREAMOFF'");
		exit(EXIT_FAILURE);
	}
}

void close_camera_device(int fd)
{
	unsigned int i;
	for(i = 0;i < n_buffer; i++)
	{
		if(-1 == munmap(usr_buf[i].start,usr_buf[i].length))
		{
			exit(-1);
		}
	}

	free(usr_buf);

	if(-1 == close(fd))
	{
		perror("Fail to close fd");
		exit(EXIT_FAILURE);
	}
}


void main(void)
{
	int fd;
	fd = open_camera();
	init_camera(fd);
	start_capture(fd);
	mainloop(fd);
	stop_capture(fd);
	close_camera_device(fd);
}

	if(usr_buf == NULL)
	{
		printf("Out of memory\n");
		exit(-1);
	}

	/*map kernel cache to user process*/
	for(n_buffer = 0; n_buffer < reqbufs.count; ++n_buffer)
	{
		//stand for a frame
		struct v4l2_buffer buf;
		memset(&buf, 0, sizeof(buf));
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = n_buffer;
		
		/*check the information of the kernel cache requested*/
		if(-1 == ioctl(fd,VIDIOC_QUERYBUF,&buf))
		{
			perror("Fail to ioctl : VIDIOC_QUERYBUF");
			exit(EXIT_FAILURE);
		}

		usr_buf[n_buffer].length = buf.length;
		usr_buf[n_buffer].start = (char *)mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_PRIVATE, fd,buf.m.offset);

		if(MAP_FAILED == usr_buf[n_buffer].start)
		{
			perror("Fail to mmap");
			exit(EXIT_FAILURE);
		}

	}

}

int open_camera(void)
{
	int fd;
	/*open video device with block */
	fd = open(FILE_VIDEO, O_RDONLY);
	if(fd < 0)
	{	
		fprintf(stderr, "%s open err \n", FILE_VIDEO);
		exit(EXIT_FAILURE);
	};
	return fd;
}

int init_camera(int fd)
{
	struct v4l2_capability 	cap;	/* decive fuction, such as video input */
	struct v4l2_format 		tv_fmt; /* frame format */  
	struct v4l2_fmtdesc 	fmtdesc;  	/* detail control value */
	struct v4l2_control 	ctrl;
	int ret;
	
			/*show all the support format*/
	memset(&fmtdesc, 0, sizeof(fmtdesc));
	fmtdesc.index = 0 ;                 /* the number to check */
	fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

	/* check video decive driver capability */
	if(ret=ioctl(fd, VIDIOC_QUERYCAP, &cap)<0)
	{
		fprintf(stderr, "fail to ioctl VIDEO_QUERYCAP \n");
		exit(EXIT_FAILURE);
	}
	
	/*judge wherher or not to be a video-get device*/
	if(!(cap.capabilities & V4L2_BUF_TYPE_VIDEO_CAPTURE))
	{
		fprintf(stderr, "The Current device is not a video capture device \n");
		exit(EXIT_FAILURE);
	}

	/*judge whether or not to supply the form of video stream*/
	if(!(cap.capabilities & V4L2_CAP_STREAMING))
	{
		printf("The Current device does not support streaming i/o\n");
		exit(EXIT_FAILURE);
	}
	
	printf("\ncamera driver name is : %s\n",cap.driver);
	printf("camera device name is : %s\n",cap.card);
	printf("camera bus information: %s\n",cap.bus_info);

		/*display the format device support*/
	while(ioctl(fd,VIDIOC_ENUM_FMT,&fmtdesc)!=-1)
	{	
		printf("\nsupport device %d.%s\n\n",fmtdesc.index+1,fmtdesc.description);
		fmtdesc.index++;
	}


	/*set the form of camera capture data*/
	tv_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;      /*v4l2_buf_typea,camera must use V4L2_BUF_TYPE_VIDEO_CAPTURE*/
	tv_fmt.fmt.pix.width = 640;
	tv_fmt.fmt.pix.height = 480;
	tv_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_JPEG;	/*V4L2_PIX_FMT_YYUV*/
	tv_fmt.fmt.pix.field = V4L2_FIELD_NONE;   		/*V4L2_FIELD_NONE*/
	if (ioctl(fd, VIDIOC_S_FMT, &tv_fmt)< 0) 
	{
		fprintf(stderr,"VIDIOC_S_FMT set err\n");
		exit(-1);
		close(fd);
	}

	init_mmap(fd);
}

int start_capture(int fd)
{
	unsigned int i;
	enum v4l2_buf_type type;
	
	/*place the kernel cache to a queue*/
	for(i = 0; i < n_buffer; i++)
	{
		struct v4l2_buffer buf;
		memset(&buf, 0, sizeof(buf));
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = i;

		if(-1 == ioctl(fd, VIDIOC_QBUF, &buf))
		{
			perror("Fail to ioctl 'VIDIOC_QBUF'");
			exit(EXIT_FAILURE);
		}
	}

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if(-1 == ioctl(fd, VIDIOC_STREAMON, &type))
	{
		printf("i=%d.\n", i);
		perror("VIDIOC_STREAMON");
		close(fd);
		exit(EXIT_FAILURE);
	}

	return 0;
}


int process_image(void *addr, int length)
{
	FILE *fp;

	static int num = 0;

	char image_name[20];
	sprintf(image_name, JPG, num++);
	if((fp = fopen(image_name, "w")) == NULL)
	{
		perror("Fail to fopen");
		exit(EXIT_FAILURE);
	}
	fwrite(addr, length, 1, fp);
	usleep(500);
	fclose(fp);
	return 0;
}

int read_frame(int fd)
{
	struct v4l2_buffer buf;
	unsigned int i;
	memset(&buf, 0, sizeof(buf));
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;
	//put cache from queue
	if(-1 == ioctl(fd, VIDIOC_DQBUF,&buf))
	{
		perror("Fail to ioctl 'VIDIOC_DQBUF'");
		exit(EXIT_FAILURE);
	}
	assert(buf.index < n_buffer);

	//read process space's data to a file
	process_image(usr_buf[buf.index].start, usr_buf[buf.index].length);
	if(-1 == ioctl(fd, VIDIOC_QBUF,&buf))
	{
		perror("Fail to ioctl 'VIDIOC_QBUF'");
		exit(EXIT_FAILURE);
	}
	return 1;
}


int mainloop(int fd)
{
	int count = 10;
	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;
				perror("Fail to select");
				exit(EXIT_FAILURE);
			}
			if(0 == r)
			{
				fprintf(stderr,"select Timeout\n");
				exit(-1);
			}

			if(read_frame(fd))
			break;
		}
	}
	return 0;
}

void stop_capture(int fd)
{
	enum v4l2_buf_type type;
	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if(-1 == ioctl(fd,VIDIOC_STREAMOFF,&type))
	{
		perror("Fail to ioctl 'VIDIOC_STREAMOFF'");
		exit(EXIT_FAILURE);
	}
}

void close_camera_device(int fd)
{
	unsigned int i;
	for(i = 0;i < n_buffer; i++)
	{
		if(-1 == munmap(usr_buf[i].start,usr_buf[i].length))
		{
			exit(-1);
		}
	}

	free(usr_buf);

	if(-1 == close(fd))
	{
		perror("Fail to close fd");
		exit(EXIT_FAILURE);
	}
}


void main(void)
{
	int fd;
	fd = open_camera();
	init_camera(fd);
	start_capture(fd);
	mainloop(fd);
	stop_capture(fd);
	close_camera_device(fd);
}

程序编译运行结果如下：

root@ubuntu:/home/share/v4l2_test# gcc v4l2.c -o v4l2_test
root@ubuntu:/home/share/v4l2_test# ./v4l2_test 

camera driver name is : gspca_zc3xx
camera device name is : PC Camera
camera bus information: usb-0000:02:00.0-2.1

support device 1.JPEG

n_buffer = 1
root@ubuntu:/home/share/v4l2_test# ls
out   v4l2.c  v4l2_test
root@ubuntu:/home/share/v4l2_test# cd out/
root@ubuntu:/home/share/v4l2_test/out# ls
image0.jpg  image1.jpg  image2.jpg  image3.jpg  image4.jpg  image5.jpg  image6.jpg  image7.jpg  image8.jpg  image9.jpg
root@ubuntu:/home/share/v4l2_test/out# 
root@ubuntu:/home/share/v4l2_test/out#

从运行的结果中我们可以看到摄像头的驱动名字是：gspca_zc3xx，摄像头产家起的名字是 ：PC Camera，总线是usb-0000:02:00.0-2.1，该摄像头支持的image 格式只有JPEG。这里需要注意：

    (1)在初始化摄像头函数init_camera 里面的tv_fmt.fmt.pix.pixelformat 参数一定是需要该摄像头所支持的。

    (2)变量 tv_fmt.fmt.pix.field 是摄像头field的设置，如果设置不正确会出现花屏的现象。field 理解可以参考kickxxx的：field理解

    (3)我这里采用了内存映射mmap, mmap的失败与camera的打开方式有关。我在PC机上，camera以阻塞方式打开，在内存映射的时候，mmap 的flag 参数需要填写MAP_PRIVATE，但是我在开发板上时，flag只能是MAP_SHARED，这个时候，我的camera只能是以O_NONBLOCK非阻塞方式打开，具体的原因有待研究。

    (4)上面的代码，如果reqbufs.count 的值设置大于1的话，编码的时候，编出来的图片有一些是空的，如果是设置为1就不会出现这个问题。这个有待研究。(该问题已经定位到，并且已更新上面的代码，详见一个sizeof引发的内存越界)

    最后，打开保存的图片就是个人的自拍照了，从师弟那拿的一个摄像头，不知道像素是多少，拍的照片噪点多多，清晰度差。

    本文参考文档：

    http://blog.csdn.net/zgyulongfei/article/details/7526249

    http://www.cnblogs.com/emouse/archive/2013/03/04/2943243.html