V4L2下 mmap 多帧采集
one_capture_v4l2.c
#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>
#define CLEAR(x) memset (&(x), 0, sizeof (x))
struct buffer {
void * start;
size_t length;
};
static char * dev_name = "/dev/video12";
static int fd = -1;
struct buffer * buffers = NULL;
FILE *file_fd;
static unsigned long file_length;
//static unsigned char *file_name;
int main (int argc,char ** argv)
{
struct v4l2_capability cap;
struct v4l2_format fmt;
char fourcc[5] = {0, 0, 0, 0, 0};
file_fd = fopen("test.yuv", "wb");
fd = open (dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);
int ff = ioctl (fd, VIDIOC_QUERYCAP, &cap);
if(ff < 0)
printf("failture VIDIOC_QUERYCAP\n");
printf("\n****Capability informations****\n");
printf("driver: %s\n", cap.driver);
if (cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)
printf("Capture capability is supported\n");
if (cap.capabilities & V4L2_CAP_STREAMING)
printf("Streaming capability is supported\n");
CLEAR (fmt);
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 720;
fmt.fmt.pix.height = 288;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV422P; //视频数据存储类型//V4L2_PIX_FMT_JPEG;//V4L2_PIX_FMT_YVU420;//V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
ff = ioctl (fd, VIDIOC_S_FMT, &fmt); //设置图像格式
if (ff < 0)
printf("failture VIDIOC_S_FMT\n");
memmove(fourcc, &fmt.fmt.pix.pixelformat, 4);
printf("Goint to capture frames %d x %d format: %4s framesize: %d\n",
fmt.fmt.pix.width,
fmt.fmt.pix.height,
fourcc,
fmt.fmt.pix.sizeimage);
file_length = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height; //计算图片大小
buffers = calloc (1, sizeof (*buffers));
if (!buffers) {
perror("Can't allocate buffer!\n");
return 1;
}
buffers[0].length = file_length;
buffers[0].start = malloc (file_length);
for (;;) //这一段涉及到异步IO
{
fd_set fds;
struct timeval tv; //timeval结构的指针，用于决定select等待I/o的最长时间。如果为空将一直等待
int r;
FD_ZERO (&fds); //将指定的文件描述符集清空
FD_SET (fd, &fds); //在文件描述符集合中增加一个新的文件描述符
/* Timeout. */
tv.tv_sec = 2;
tv.tv_usec = 0;
/*readset writeset exceptset指定我们要让内核测试读、写和异常条件的描述字。
如果对某一个的条件不感兴趣，就可以把它设为NULL。
如果三个指针都为NULL，我们就有了一个比sleep()函数更为精确的定时器
(sleep()以秒为最小单位，这个以微妙为单位)。
int select (int maxfdp1, fd_set *readset, fd_set *writeset,
fd_set *exceptset,
const struct timeval * timeout); */
r = select (fd + 1, &fds, NULL, NULL, &tv); //判断是否可读（即摄像头是否准备好），tv是定时
if (-1 == r) {
if (EINTR == errno)
continue;
printf ("select");
}
/*
if (0 == r) {
fprintf (stderr, "select timeout\n");
exit (EXIT_FAILURE);
}
*/
if (read (fd, buffers[0].start, buffers[0].length))//如果可读，执行read()函数，并跳出循环
break;
}
fwrite(buffers[0].start, buffers[0].length, 1, file_fd);
free (buffers[0].start);
close (fd);
fclose (file_fd);
exit (EXIT_SUCCESS);
return 0;
}
mainloop.c
#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>
#define CLEAR(x) memset(&(x),0,sizeof(x))
//定义一个缓存结构体
struct buffer
{
void* start; //空指针
size_t length; //长度大小
};
#define CAPTURE_FILE "frame.yuv"
#define COMB_FILE "frame1.yuv"
#define f_count 10 //连续采集帧数
#define fwidth 720
#define fheight 288
static char* dev_name = "/dev/video12"; //设备名
static int fd = -1; //文件序列
static struct buffer* buffers = NULL; //缓存对象
static unsigned int n_buffers = 0; //缓存数
static void errno_exit(const char* s) //错误输出
{
fprintf(stderr,"%s error %d, %s\n",s,errno,strerror(errno));
exit(EXIT_FAILURE);
}
static void process_image(void) //处理获取图像
{
// fputc('!',stdout);
//fflush(stdout);
struct v4l2_buffer buf;
CLEAR(buf);
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if(-1 == ioctl(fd, VIDIOC_QUERYBUF, &buf))
errno_exit("VIDIOC_QUERYBUF");
size_t flength = buf.length; //设置映射方式为mmap
printf("flength %d\n", flength);
int f ;
FILE *fp = fopen(CAPTURE_FILE, "r");
if (fp < 0) {
printf("open frame data file failed\n");
exit(EXIT_FAILURE);
}
FILE *fp1 = fopen(COMB_FILE, "w");
if (fp1 < 0) {
printf("open frame1 data file failed\n");
exit(EXIT_FAILURE);
}
void *tmp = calloc(1, flength);
fseek(fp, flength, SEEK_CUR);
fread(tmp, flength, 1, fp);
fwrite(tmp, flength, 1, fp1);
/*
for(f = 0; f < fheight; f++) {
fread(tmp, fwidth, 1, fp);
fwrite(tmp, fwidth, 1, fp1);
fseek(fp, flength - fwidth, SEEK_CUR);
fread(tmp, fwidth, 1, fp);
fwrite(tmp, fwidth, 1, fp1);
fseek(fp, -flength, SEEK_CUR);
}
for(f = 0; f < fheight * 2; f++) {
fread(tmp, fwidth/2, 1, fp);
fwrite(tmp, fwidth/2, 1, fp1);
fseek(fp, (flength - fwidth)/2, SEEK_CUR);
fread(tmp, fwidth/2, 1, fp);
fwrite(tmp, fwidth/2, 1, fp1);
fseek(fp, -flength, SEEK_CUR);
}
*/
fclose(fp);
fclose(fp1);
//fwrite(p,length, 1, fp);
//perror("fwrite error");
//fclose(fp);
printf("Combination one frame saved in %s\n", COMB_FILE);
}
static int read_frame(FILE *fp) //读取数据帧，用的都是mmap
{
struct v4l2_buffer buf;
unsigned int i;
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
if(-1 == ioctl(fd, VIDIOC_DQBUF, &buf)) //读取
errno_exit("VIDIOC_DQBUF");
//fwrite(buffers[buf.index].start, buf.length, 1, fp);
printf("buf->length %d\n", buf.length);
fwrite(buffers[buf.index].start, buffers[buf.index].length, 1, fp);
if(-1 == ioctl(fd, VIDIOC_QBUF, &buf)) //放回缓存
errno_exit("VIDIOC_QBUF");
return 1;
}
static void mainloop(void)
{
unsigned int count;
count = f_count;
FILE *fp = fopen(CAPTURE_FILE, "w");
if (fp < 0) {
printf("open frame data file failed\n");
exit(EXIT_FAILURE);
}
while(count-- > 0) {
/*for (;;) { //这一段涉及到异步IO
fd_set fds;
struct timeval tv;
int r;
FD_ZERO (&fds);//将指定的?件描述符集清空
FD_SET (fd, &fds);//在文件描述符集合中增鍔????个新的文件描述符
// Timeout.
tv.tv_sec = 2;
tv.tv_usec = 0;
r = select (fd + 1, &fds, NULL, NULL, &tv);//判断是否可读（即摄像头是否准备好），tv是定时
if (-1 == r) {
if (EINTR == errno)
continue;
printf ("select err\n");
}
if (0 == r) {
fprintf (stderr, "select timeout\n");
exit (EXIT_FAILURE);
}
if (read_frame (fp)) //如果可读，执行read_frame ()函数，并跳出循环
break;
}*/
read_frame(fp);
//printf("Capture count %s\n", count);
}
fclose(fp);
printf("Capture all frames saved in %s\n", CAPTURE_FILE);
}
static void stop_capturing(void) //停止捕获帧
{
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(-1 == ioctl(fd, VIDIOC_STREAMOFF, &type)) //关闭视频流
errno_exit("VIDIOC_STREAMOFF");
printf("\nStreamOff success!\n");
}
static void start_capturing(void) //开始捕获帧
{
unsigned int i;
enum v4l2_buf_type type;
/*将申请到的帧缓冲全部入队列，以便存放采集到的数据*/
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)) //放入缓存
errno_exit("VIDIOC_QBUF");
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(-1 == ioctl(fd, VIDIOC_STREAMON, &type)) //打开视频流
errno_exit("VIDIOC_STREAMON");
else printf("StreamOn success!\n");
}
static void uninit_device(void) //释放存储空间
{
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 init_mmap(void) //初始化读取方式
{
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)) { //分配内存
if(EINVAL == errno) {
fprintf(stderr,"%s does not support memory mapping\n",dev_name);
exit(EXIT_FAILURE);
} else
errno_exit("VIDIOC_REQBUFS");
}
buffers = calloc(req.count, sizeof(*buffers)); //分配缓存
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 == ioctl(fd, VIDIOC_QUERYBUF, &buf))
errno_exit("VIDIOC_QUERYBUF");
buffers[n_buffers].length = buf.length; //设置映射方式为mmap
printf("buf.length %d", buffers[n_buffers].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 init_device(void) //初始化设备
{
struct v4l2_capability cap;
struct v4l2_format fmt;
unsigned int min;
if(-1 == ioctl(fd, VIDIOC_QUERYCAP, &cap)) { //获取摄像头参数
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);
} else
printf("Capture capability is supported\n");
if(!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf(stderr,"%s does not support streaming i/o\n",dev_name);
exit(EXIT_FAILURE);
} else
printf("Streaming capability is supported\n");
//
CLEAR(fmt); //设置帧格式
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 720;
fmt.fmt.pix.height = 288;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV422P; //V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if(-1 == ioctl(fd, VIDIOC_S_FMT, &fmt))
errno_exit("VIDIOC_S_FMT");
else
printf("Set frame format successful!\n");
init_mmap();
}
static void close_device(void) //关闭设备
{
if(-1 == close(fd))
errno_exit("close");
fd = -1;
printf("Close the device successful!\n");
}
static void open_device(void) //打开设备
{
fd = open(dev_name, O_RDWR | O_NONBLOCK, 0);
if(-1 == fd) {
fprintf(stderr,"Cannot open %s\n",dev_name);
exit(EXIT_FAILURE);
}
printf("Open the %s successful\n",dev_name);
}
int main(int argc,char* argv[])
{
//dev_name = "/dev/video12";
open_device();
init_device();
start_capturing();
mainloop();
stop_capturing();
process_image();
uninit_device();
close_device();
exit(EXIT_SUCCESS);
return 0;
}
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