1.采坑备忘:虚拟机ubuntu系统中,在接入YUYV摄像头后,使用V4L2框架无法调用,后来各种尝试发现,需要在虚拟机的设置中,将USB控制器--USB兼容性修改为USB 3.1。
2.在linux命令终端,可以使用的v4l2命令:
安装:
apt-get install v4l-utils
使用:
v4l2-ctl --all
v4l2-ctl -d /dev/video0 --list-formats-ext
附上一段能用的代码,针对YUYV 4:2:2格式
/*=============================================================================
# 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.yuv" //"./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_SHARED, 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;
struct v4l2_input inp;
/*open video device with block */
fd = open(FILE_VIDEO, O_RDWR);
if (fd < 0)
{
fprintf(stderr, "%s open err \n", FILE_VIDEO);
exit(EXIT_FAILURE);
};
inp.index = 1;
if (-1 == ioctl(fd, VIDIOC_S_INPUT, &inp))
{
fprintf(stderr, "VIDIOC_S_INPUT \n");
}
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_YUYV; /*V4L2_PIX_FMT_YYUV*/
// tv_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG; /*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 = 5;
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);
}