终于实现了在Micro2440+Linux2.6.29环境下通过NFS文件系统实现USB摄像头图像采集。在此,做一个总结,以备后续参考。
实验条件:RedHat9.0(内核版本2.4.18),Micro2440开发板,Linux2.6.29(arm9),ANC (Vimicro Corp.) USB PC摄像头,GCC,SDL-1.2.14.tar,servfox-R1_1_3[1].tar,spcaview-20061208[1].tar。
一、升级Redhat9.0内核
由于Readhat9.0内核版本是2.4,很多内核驱动未包含其中,尤其是USB万能摄像头GSPCA和UVC。
二、配置编译Micro2440上运行内核
重新编译Micro2440上运行的内核,配置V4L和USB驱动。选择linux-2.6.29中的config-mini2440为参考,执行:cp config-mini2440 .config;然后make menuconfig ARCH=arm CROSS_COMPILE=arm-linux-;出现相应的图形化配置窗口。
如果需要在Linux操作系统中使用USB摄像头进行视频数据采集,则必须在进行内核配置时,应检查Linux 内核中是否已经添加了对Video4Linux驱动和对USB摄像头驱动模块的支持。
利用Linux内核配置make menuconfig命令对Video4Linux支持驱动进行配置,选中多媒体设备选项“Multimedia device->”(如图15-1所示)按回车,进入多媒体设备配置界面。在多媒体配置界面中,选中“Video For Linux”,就可以使内核实现对Video4Linux驱动的支持,为视频采集设备提供编程接口。
配置好内核对Video4Linux驱动后,返回内核配置主界面,选中USB支持选项(如图15-3 所示)“USB support—>” 按回车,进入USB支持配置界面
配置完成后,执行make uImage ARCH=arm CROSS_COMPILE=arm-linux-。完成后,uImage就生成在arch/arm/boot/中。通过uboot下载uImage到内存中,启动内核,实现NFS起文件系统。
三、安装SDL-1.2.14
因为在redhat9.0中显示视频图像,调用spcaview(后面介绍)需要有SDL库的支持,否则会报错。所以,将SDL-1.2.14.tar下载传送到系统中,解压后执行.configure;make;make install。完成SDL库的安装。
四、servfox-R1_1_3工具
下载Servfox-R1_1_3解压进入其目录,将其中的Makefile.arm修改为Makefile,并修改Makefile里面的CC为arm -linux -gcc,因为默认的是加载的动态库,因此还需要修改Makefile中的SERVFLAGS为SERVFLAGS= -O2 –DLINUX $(WARNINGS) –static,其中-static是我们添加的内容,make之后生成servfox。
五、 spcaview,redhat9.0下的视频显示工具
下载spcaview源码包解压,进入解压后的目录,make后会报错,一般需要安装SDL库,去网上下载后安装SDL库,在PC 机上安装SDL库:
解压:tar xvf SDL-1.2.13.tar.tar
配置:./configure
编译:make
安装:make install
进入spcaview解压目录修改Makefile中的修改Makefile中的SDLLIBS =$(shell sdl-config --libs) 和 SDLFLAGS = $(shell sdl-config --cflags),这两句主要是指定了SDL库的库路径和编译选项。Make之后生成spcaview,在客户端运行spcaview –w 服务器ip:服务器端口号。就可以采集图像了,
[root@jxboylj spcaview-20061208]# ./spcaview -g -w 10.103.4.211:7070
Spcaview version: 1.1.7 date: 06:11:2006 (C) mxhaard@magic.fr
using Server 10.103.4.211 Port 7070
六、测试
将新编译的内核加载到ARM上,通过NFS文件系统运行servfox :
# ./servfox -d /dev/video0 -g -s 640x480 -w 7070
servfox version: 1.1.3 date: 11:12:2005 (C) mxhaard@magic.fr
wrong spca5xx device
Waiting .... for connection. CTrl_c to stop !!!!
Got connection from 10.103.4.216
在redhat9.0中执行spcaview:
[root@jxboylj spcaview-20061208]# ./spcaview -g -w 10.103.4.211:7070
Spcaview version: 1.1.7 date: 06:11:2006 (C) mxhaard@magic.fr
using Server 10.103.4.211 Port 7070
此时,视频能在redhat9.0窗口中显示,如图所示。
七、总结
在实现图像采集的过程中,碰到很多问题,尝试过很多方法,走了很多弯路,虽然很多碰壁,但也有不少收获。
编译内核:尝试编译高版本的内核,或者编译新内核的时候,最好选择和现有的配置文件相近的系统的配置文件作为参考。在原有基础上增加一些模块,编译,然后试验。如果一次性增加模块过多,容易造成编译错误等问题。
编译工具:在编译某些插件的时候,如:servfox、spcaview等,经常会报一些文件未定义、库不存在等错误,一般是由于系统缺少相应的库文件,需要下载安装,如SDL,或者由于系统本身版本不匹配,库文件安装位置不符造成。熟练运用goole、百度进行搜索,找到问题解决方法。同时,很多工具、库、插件等在开源社区网站都有稳定版本下载,使用这些网站提供的版本可靠性更好。
重点难点:makefile、kconfig等文件的书写,kit工具使用等。
附录:视频采集源代码分析(看代码采用Lucida Console或者Consolas等宽字体较好,0和o区别明显,不易混淆)
/*
* V4L2 video capture example
*
* This program can be used and distributed without restrictions.
*/
#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 <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> /* for videodev2.h */
#include <linux/videodev2.h>
#define CLEAR(x) memset (&(x), 0, sizeof (x))
typedef enum {
IO_METHOD_READ,
IO_METHOD_MMAP,
IO_METHOD_USERPTR,
} io_method; //一共有三种视频采集方式:使用read、write方式;内存映射方式和用户指针模式
struct buffer {
void * start;
size_t length;
}; // 定义缓冲区
static char * dev_name = NULL; // 设备名称,可根据设备名打开设备
static io_method io = IO_METHOD_MMAP;// 视频采集方式,内存映射方式
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static void errno_exit (const char *s)// 错误退出,并打印错误信息
{
fprintf (stderr, "%s error %d, %s\n",s, errno, strerror (errno));
exit (EXIT_FAILURE);
}
static intxioctl (int fd,int request,void *arg)// 根据参数对设备进行控制
{
int r;
do r = ioctl (fd, request, arg);
while (-1 == r && EINTR == errno);
return r;
}
static void process_image (const void * p)// 图像处理
{
fputc ('.', stdout);
fflush (stdout);// 刷新输出缓冲
}
static int read_frame (void)// 对图像帧进行读取
{
struct v4l2_buffer buf;//这是视频接口V4L2中相关文件定义的,在videodev2.h中
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);
break;
case IO_METHOD_MMAP://采用内存映射的方式
CLEAR (buf);//对缓冲区清零
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if (-1 == ioctl (fd, VIDIOC_DQBUF, &buf)) {
//VIDIOC_DQBUF控制参数作用是申请视频缓冲区
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);
if (-1 == ioctl (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 == ioctl (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);
if (-1 == ioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
break;
}
return 1;
}
static void mainloop (void)//循环采集
{
unsigned int count;
count = 100;
while (count-- > 0) {
for (;;) {
fd_set fds;
struct timeval tv;//时间结构体
int r;
FD_ZERO (&fds);//清零
FD_SET (fd, &fds);
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select (fd + 1, &fds, NULL, NULL, &tv);//等待一帧图像采集完成,超时定为2秒
if (-1 == r) {
if (EINTR == errno)
continue;
errno_exit ("select");
}
if (0 == r) {
fprintf (stderr, "select timeout\n");
exit (EXIT_FAILURE);
}
if (read_frame ())//读取一帧图像
break;
/* EAGAIN - continue select loop. */
}
}
}
static void stop_capturing (void)//终止采集
{
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 == ioctl (fd, VIDIOC_STREAMOFF, &type))
errno_exit ("VIDIOC_STREAMOFF");
break;
}
}
static void start_capturing (void)//开始采集
{
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 == ioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == ioctl (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 == ioctl (fd, VIDIOC_QBUF, &buf))
errno_exit ("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == ioctl (fd, VIDIOC_STREAMON, &type))
errno_exit ("VIDIOC_STREAMON");
break;
}
}
static void uninit_device (void)//卸载设备
{
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)//初始化读取
{
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)//初始化内存映射
{
struct v4l2_requestbuffers req;
CLEAR (req);
req.count = 4;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (-1 == ioctl (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; //代表驱动中的一帧
CLEAR (buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = n_buffers;
if (-1 == ioctl (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;
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 == ioctl (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 (/* boundary */ page_size,
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 == ioctl (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 == ioctl (fd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */
if (-1 == ioctl (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;
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 == ioctl (fd, VIDIOC_S_FMT, &fmt))
errno_exit ("VIDIOC_S_FMT");
/* Note VIDIOC_S_FMT may change width and height. */
/* 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);
}
}
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/video]\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 }
};
int main (int argc,char ** argv)
{
dev_name = "/dev/video0";
for (;;) {
int index;
int c;
//参数解析
c = getopt_long (argc, argv,
short_options, long_options,
&index);
if (-1 == c)
break;
switch (c) {
case 0: /* getopt_long() flag */
break;
case 'd':
dev_name = optarg;//option中的参数
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);
}
}
open_device ();
init_device ();
start_capturing ();
mainloop ();
stop_capturing ();
uninit_device ();
close_device ();
exit (EXIT_SUCCESS);
return 0;
}