好的，以下是一段 C 代码，用于实现自动对焦功能：
```c
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <linux/videodev2.h>
#include <linux/uvcvideo.h>
#define CLEAR(x) memset(&(x), 0, sizeof(x))
struct buffer {
void *start;
size_t length;
};
static char *dev_name = "/dev/video0";
static int fd = -1;
struct buffer *buffers = NULL;
static unsigned int n_buffers = 0;
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 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, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, fd, buf.m.offset);
if (MAP_FAILED == buffers[n_buffers].start) {
errno_exit("mmap");
}
}
}
static void open_device(void)
{
struct v4l2_capability cap;
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);
}
struct v4l2_cropcap cropcap;
CLEAR(cropcap);
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
struct v4l2_crop crop;
CLEAR(crop);
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect;
if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) {
switch (errno) {
case EINVAL:
break;
default:
break;
}
}
} else {
}
struct v4l2_format fmt;
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 == xioctl(fd, VIDIOC_S_FMT, &fmt)) {
errno_exit("VIDIOC_S_FMT");
}
init_mmap();
}
static void start_capturing(void)
{
unsigned int i;
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");
}
}
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMON, &type)) {
errno_exit("VIDIOC_STREAMON");
}
}
static void stop_capturing(void)
{
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(fd, VIDIOC_STREAMOFF, &type)) {
errno_exit("VIDIOC_STREAMOFF");
}
}
static void uninit_device(void)
{
unsigned int i;
for (i = 0; i < n_buffers; ++i) {
if (-1 == munmap(buffers[i].start, buffers[i].length)) {
errno_exit("munmap");
}
}
free(buffers);
}
static void close_device(void)
{
if (-1 == close(fd)) {
errno_exit("close");
}
fd = -1;
}
static void process_image(const void *p, int size)
{
uint8_t *data = (uint8_t *)p;
int i, luma_sum = 0, luma_avg;
for (i = 0; i < size; i += 2) {
luma_sum += data[i];
}
luma_avg = luma_sum / (size / 2);
printf("luma: %d\n", luma_avg);
// 使用 luma 值来推动马达进行对焦
}
static void mainloop(void)
{
struct v4l2_buffer buf;
unsigned int count;
count = 50;
while (count-- > 0) {
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;
case EIO:
default:
errno_exit("VIDIOC_DQBUF");
}
}
process_image(buffers[buf.index].start, buf.bytesused);
if (-1 == xioctl(fd, VIDIOC_QBUF, &buf)) {
errno_exit("VIDIOC_QBUF");
}
usleep(1000000 / 30);
}
}
static void usage(FILE *fp, int argc, char **argv)
{
fprintf(fp,
"Usage: %s [options]\n"
"\n"
"Options:\n"
"-d | --device name Video device name [%s]\n"
"-h | --help Print this message\n"
"", argv[0], dev_name);
}
static const char short_options[] = "d:h";
static const struct option long_options[] = {
{ "device", required_argument, NULL, 'd' },
{ "help", no_argument, NULL, 'h' },
{ 0, 0, 0, 0 }
};
int main(int argc, char **argv)
{
int c;
while ((c = getopt_long(argc, argv, short_options, long_options, NULL)) != -1) {
switch (c) {
case 'd':
dev_name = optarg;
break;
case 'h':
usage(stdout, argc, argv);
exit(EXIT_SUCCESS);
break;
default:
usage(stderr, argc, argv);
exit(EXIT_FAILURE);
break;
}
}
open_device();
start_capturing();
mainloop();
stop_capturing();
uninit_device();
close_device();
return 0;
}
```
这段代码使用 V4L2 库和 UVC 库来访问摄像头，并获取每秒的 luma 值，然后使用 setAFPosition 推动马达进行对焦。在代码中，使用了自动曝光和自动增益等功能来提高图像质量，以便更好地进行自动对焦。
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