Tegra(ubuntu)调用摄像头V4L2，并用YUV转RGB

首先检查摄像头是否可用，按步骤装好luvcview并测试

地址：http://developer.t-firefly.com/thread-957-1-1.html

一般的摄像头支持JPEG和YUV，有专门函数测试是否支持RGB的。如果支持就能省去YUV到RGB的步骤了。

然后新建capture_mmap.c

#include "captrue_mmap.h"

static int WIDTH = 640;

static int HEIGHT = 360;

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);

    }

}

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);

    }

    if  (!(cap.capabilities & V4L2_CAP_STREAMING))

   {
 

            fprintf(stderr, "%s does not support streaming i/o\n" , dev_name);

            exit(EXIT_FAILURE);

    }

    //not all capture support crop!!!!!!!

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

    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; /* reset to default */

#else

        crop.c.left = cropcap.defrect.left;

        crop.c.top = cropcap.defrect.top;

        crop.c.width = 480;

        crop.c.height = 320;

#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:

                /* Cropping not supported. */

                break ;

            default :

                /* Errors ignored. */

                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  {
 

        /* Errors ignored. */

        printf("!! has