Linux通过vidpid找到摄像头对应的索引

准备条件

1. 安装udev: sudo apt-get install libudev-dev
2. 项目引入头文件:#include <libudev.h>
3. 项目添加:cmake添加udev库 libudev.so

代码实现

//get vidpid->index 
int GetCameraId(int &id,std::string vid,std::string pid)
{
    struct udev *udev = NULL;
    struct udev_enumerate *udev_enumerate = NULL;
    struct udev_list_entry *list_entry = NULL;
    int count = 0;

    udev = udev_new(); 
    if (udev == NULL)
    {
        loge("udev null");
        return -1;
    } 

    udev_enumerate = udev_enumerate_new(udev);  
    if(udev_enumerate == NULL)
    {
        loge("udev_enumerate null");
        udev_unref(udev);
        return -1;
    }
        
    udev_enumerate_add_match_subsystem(udev_enumerate, "video4linux");
    udev_enumerate_scan_devices(udev_enumerate);

    udev_list_entry_foreach(list_entry, udev_enumerate_get_list_entry(udev_enumerate)) 
    {
        struct udev_device *device = NULL;
        device = udev_device_new_from_syspath(udev_enumerate_get_udev(udev_enumerate), 
                udev_list_entry_get_name(list_entry)); 
        const char* buff=udev_device_get_property_value(device, "ID_MODEL_ID");
        if(device != NULL)
        {       

            if((udev_device_get_property_value(device, "ID_VENDOR_ID") != NULL) && 
                (udev_device_get_property_value(device, "ID_MODEL_ID") != NULL) &&
                (vid == std::string(udev_device_get_property_value(device, "ID_VENDOR_ID"))) &&
                (pid == std::string(udev_device_get_property_value(device, "ID_MODEL_ID")))) 
              {
                //LOG(sw_MS, "device: '%s' (%s) (/dev/video%s) %s:%s\n",
                //udev_device_get_syspath(device),
                //udev_device_get_subsystem(device),
                //udev_device_get_sysnum(device),
                //udev_device_get_property_value(device, "ID_VENDOR_ID"), // 查询设备信息 udevadm info --query=all --name=/dev/video0
                //udev_device_get_property_value(device, "ID_MODEL_ID"));
                //sprintf(PathName, "/dev/video%s", udev_device_get_sysnum(device));
                id = atoi(udev_device_get_sysnum(device));
                count++;  
                logd("canemra id:{},count:{}",id,count);
                break;
              }            
              udev_device_unref(device);        
        }
        else
        {
            loge(" device null!!");
            udev_enumerate_unref(udev_enumerate);
            udev_unref(udev);
            return -1;
        }
         
    }

    if(count == 0)
    {
        loge(" device count error!!");
        udev_enumerate_unref(udev_enumerate);
        udev_unref(udev);
        return -2;
    }

    udev_enumerate_unref(udev_enumerate);
    udev_unref(udev);
    return 0;
}

opencv打开摄像头

** 根据vidpid获取到的索引打开摄像头**

   cv::VideoCapture rgb_cap;
    cv::VideoCapture ir_cap;
    std::string rgb_strIndex="/dev/video"+std::to_string(g.rgb_index);
    logi("rgb path:{}",rgb_strIndex);
    std::string ir_strIndex="/dev/video"+std::to_string(g.ir_index);
    logi("ir path:{}",ir_strIndex);
    //rgb
    rgb_cap.open(rgb_strIndex);