用v4l2和framebuffer实现usb摄像头图像采集并显示
前言
很多天了,看了数不尽的论坛和各网站的帖子后,我把我遇到的问题都解决的差不多了,感觉应该是把摄像头跑起来了,但还是遇到了一些问题,似乎是图像处理方面的,我好像解决不了这个问题了,我好想有个人帮帮我。写这篇文章估计得花3~4小时,我真心希望哪位朋友能明白我的想法,能顺手帮帮我。
正文
一,我的思路
我想用一幅图来说明我所做的事情,如图1所示(图中uvcdriver标错了,应该是uvcvideo)。
图1
图1左侧是图像采集,右侧是图像显示。采集的帧速是30 帧/秒。
二,v4l2(video for linux two)
驱动摄像头的是uvcdriver,该驱动设计时采用了v4l系列的标准(该标准好像是linuxTV制定的,linuxTV的官网是http://linuxtv.org/),我的CentOS6.3(内核是linux-2.6.32.60)采用的是v4l2标准。一开始我编写应用程序的时候什么都不懂,见论坛上帖子怎么讲,我就怎么写,当中很多是参照v4l标准,我当时不知道,直接照抄,出了问题,改用v4l2标准后才解决了问题。v4l2 API的在/usr/include/linux/videodev2.h头文件中,很容易就找到了。
采集图像的实例程序网上很多,但最经典的还是linuxTV官网推出的capture.c,这里给出地址http://linuxtv.org/downloads/legacy/video4linux/API/V4L2_API/v4l2spec/capture.c这个程序写的很好,很值得研究。
我就是借鉴的这个程序,然后得到我的摄像头设备的信息,如图2(那个pixel_format应该用十六进制表示的,我没注意,十六进制的话应该是0x56595559,即YUYV的意思)所示。
图2
一插上摄像头,uvcvideo就直接把我的摄像头识别了。
v4l2我不想再多写了,基本上只要看了那个经典的capture.c就够了。
三,framebuffer
就目前我这水平,我还不想涉及到QT或者别的什么面向对象编程,我想简单一点,慢慢来。于是我直接选择了framebuffer,它的API在usr/include/linux/fb.h头文件中。刚开始用open函数打开/dev/fb0的时候根本就打不开,愣是要把grub设置一下,如图3所示。后面显示的时候要切记切换到命令行模式。
图3
关于那个vga=0x311以及一系列的frambuffer编程我是参照http://bbs.chinaunix.net/thread-2000076-1-1.html这个人的文章的,这里我复制一下他的一张表到下面,如表1所示。
- 4bit 8bit 15bit 16bit 24bit 32bit
- 640x400 x 0x300 x x x x
- 640x480 x 0x301 0x310 0x311 0x312 x
- 800x600 0x302 0x303 0x313 0x314 0x315 x
- 1024x768 x 0x305 0x316 0x317 0x318 x
- 1280x1024 x 0x307 0x319 0x31A 0x31B x
- 1600x1200 x 0x31C 0x31D 0x31E 0x31F x
表1
因为我采集视频的图像时640*480,然后是16bit的BPP,所以我选择了0x311
framebuffer编程很简单,比v4l2简单多了。我截个图来表达我用framebuffer API得到的我的显示屏的信息,如图4所示。
图4
四,v4l2+framebuffer
我把v4l和framebuffer集成到一块儿了。因为capture.c图像处理部分没有什么内容,所以,图像处理部分是我自己写的。我的摄像头采集的图像的像素编码是YUYV或者说是YUV422格式,每个像素是16bit。我做的事情就是把YUV422_16转换成RGB565_16,采集的图像尺寸是640*480的,显示屏也是640*480。
对于YUV422_16我想具体一点(因为当初觉得YUV格式很抽象,总是搞不懂)。然后看到一个表好像蛮形象的,我先把表画下来,如表2所示
- 像素:Y0U0V0 Y1U1V1 Y2U2V2 Y3U3V3 ...
- 采集:Y0U0V0 Y1 Y2U2V2 Y3 ...
- 存储:Y0U0Y1V0 Y2U2Y3V2
表2
Y0是一个字节,U0也是一个字节,V0也是一个字节,都是一个字节。
客观上每个像素是3个字节,但采集的时候却不是3个字节都采集,这样采集:第0个像素(Y0 U0 V0)采集了3个字节(Y0 U0 V0),第1个像素采集了1个字节(Y1),第2个像素采集了3个字节(Y2 U2 V2),第3个像素采集了1个字节(Y3)……第n个像素采集了3个字节(Yn Un Vn),第n+1个像素采集了1个字节(Yn+1)……。这种采集方式叫相邻两像素共用UV(不知道能不能从数学上证明如果每个像素3个字节都采集的话是不是就是冗余)。
怎么存储呢?好像是间隔存储。我记得好像有宏像素的概念,即2个像素占4个字节或者说4个字节的存储单元保存着2个像素的信息。比如Y0U0V1V0共需要一个字(4个字节),这个字的存储单元里保存着第0个像素和第1个像素的信息,第0个像素和第1个像素共享U0和V0。反正在后面的图像处理当中,我是用一个unsigned long *p的指针来处理一个宏像素的。当然了,这张表看不懂没关系,我当初就没看懂。
然后就是RGB了,我感觉RGB还是蛮形象的,尤其是RGB565_16,网上好多人研究这个,这里我就不多说了。
对于YUV和RGB之间的转换,我理解的程度也不深,我怕我的图像处理问题就是出在这个上面。
五,v4l2+framebuffer的组合效果
我看到我的摄像头采集出来的视频流了,因为担心YUV和RGB之间的转换时的数值处理出问题,我就只取了Y分量,我听说有黑白图像一说(其实YUV分量都提取的话,效果还是一样)。
1,提取YUV2分量代码如下:
- Y0=(*from & 0x000000FF)>>0;
- U0=(*from & 0x0000FF00)>>8; //colorful
- //U0=128; //white and black
- Y1=(*from & 0x00FF0000)>>16;
- V0=(*from & 0xFF000000)>>24; //colorful
- //V0=128; //white and blcak
注:from是unsigned long型的指针变量,指向YUV2缓存。
2,根据提取到的YUV分量,转换成RGB分量函数:
- static void YUV2RGB(unsigned char Y,unsigned char U,unsigned char V,
- unsigned char *R,unsigned char *G,unsigned char *B)
- {
- /*
- *R=Y+1.4075*(V-128);
- *G=Y-0.3455*(U-128)-0.7169*(V-128);
- *B=Y+1.779*(U-128);
- *R=Y+1.140*V;
- *G=Y-0.394*U-0.581*V;
- *B=Y+2.032*U;
- */
- *R=Y+(V-128)+((V-128)*103>>8);
- *G=Y-((U-128)*88>>8)-((V-128)*183>>8);
- *B=Y+(U-128)+((U-128)*198>>8);
- }
3,把RGB分量再编码成像素:
- *to = (R0&0x1F)<<11 | (G0&0x3F)<<5 |(B0&0x1F)<<0;
- *to |= ((R1&0x1F)<<11 | (G1&0x3F)<<5 |(B1&0x1F)<<0)<<16;
注:to是unsigned long型指针变量,指向RGB565输出缓存。
编译好程序后,我用ctrl+alt+F2切换到命令行模式看看效果,我先截图,如图5和图6所示
图5(我的v4l2+framebuffer)
图6(关掉台灯,我的v4l2+framebuffer)
我ctrl+alt+F1切换到图形界面,看看cheese的效果,如图7所示。
图7(cheese)
为什么cheese的效果会这么好(显示效果不流畅,但画面很美),为什么我的视频的图像会成为这个样子(显示效果很流畅,但画面很丑),我搞了好长时间都发现不了问题出在哪里。谁能帮帮我吗?
六,程序
我的程序就一个bluelover.c文件。
- /*
- * This program can be used and distributed without restrictions.
- */
- #include <stdio.h>
- #include <stdlib.h>
- #include <string.h>
- #include <fcntl.h> /* low-level i/o */
- #include <unistd.h>
- #include <errno.h>
- #include <assert.h>
- #include <sys/stat.h>
- #include <sys/types.h>
- #include <sys/time.h>
- #include <sys/mman.h>
- #include <sys/ioctl.h>
- #include <stdbool.h>
- #include <linux/videodev2.h>
- #include <linux/fb.h>
- #define CLEAR(x) memset(&(x), 0, sizeof(x))
- struct buffer {
- void *start;
- size_t length;
- };
- static char *dev_name1;
- static char *dev_name2;
- static int fd1 = -1;
- static int fd2 = -1;
- struct buffer *buffers;
- static unsigned int n_buffers;
- static char *fb_buffer;
- static unsigned long screensize;
- static char *yuv_buffer;
- static char *rgb_buffer;
- static int force_format=false;
- static int frame_count = 1000;
- 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 fh, int request, void *arg)
- {
- int r;
- do {
- r = ioctl(fh, request, arg);
- } while (-1 == r && EINTR == errno);
- return r;
- }
- /*
- static void process_image(const void *p, int size)
- {
- unsigned short *fb;
- unsigned short *rgb;
- unsigned long height = 480;
- if(size>screensize)
- size=screensize;
- //move
- memcpy(yuv_buffer,p,size);
- //proc
- memcpy(rgb_buffer,yuv_buffer,size);
- //move
- memcpy(fb_buffer,yuv_buffer,size);
- //move
- rgb=(unsigned short*)rgb_buffer;
- fb=(unsigned short*)fb_buffer;
- while(height--)
- {
- memcpy(fb,rgb,1280);
- fb+=640;
- rgb+=640;
- }
- fflush(stderr);
- fprintf(stderr, ".");
- fflush(stdout);
- }
- */
- static void YUV2RGB(unsigned char Y,unsigned char U,unsigned char V,
- unsigned char *R,unsigned char *G,unsigned char *B)
- /*static void YUV2RGB(int Y,int U,int V,
- int *R,int *G,int *B)*/
- {
- /*
- *R=Y+1.4075*(V-128);
- *G=Y-0.3455*(U-128)-0.7169*(V-128);
- *B=Y+1.779*(U-128);
- */
- *R=Y+(V-128)+((V-128)*103>>8);
- *G=Y-((U-128)*88>>8)-((V-128)*183>>8);
- *B=Y+(U-128)+((U-128)*198>>8);
- }
- static void process_image(const unsigned long *from, int size)
- {
- unsigned long *to =(unsigned long*)fb_buffer;
- unsigned char Y0;
- unsigned char U0;
- unsigned char Y1;
- unsigned char V0;
- unsigned char R0;
- unsigned char G0;
- unsigned char B0;
- unsigned char R1;
- unsigned char G1;
- unsigned char B1;
- size>>=2;
- while(size--)
- {
- Y0=(*from & 0x000000FF)>>0;
- U0=128; //white and black
- //U0=(*from & 0x0000FF00)>>8; //colorful
- Y1=(*from & 0x00FF0000)>>16;
- V0=128; //white and blcak
- //V0=(*from & 0xFF000000)>>24; //colorful
- YUV2RGB(Y0,U0,V0,&R0,&G0,&B0);
- YUV2RGB(Y1,U0,V0,&R1,&G1,&B1);
- *to = (R0&0x1F)<<11 | (G0&0x3F)<<5 |(B0&0x1F)<<0;
- *to |= ((R1&0x1F)<<11 | (G1&0x3F)<<5 |(B1&0x1F)<<0)<<16;
- from++;
- to++;
- }
- }
- static int read_frame(void)
- {
- struct v4l2_buffer buf;
- CLEAR(buf);
- buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- buf.memory = V4L2_MEMORY_MMAP;
- if (-1 == xioctl(fd1, VIDIOC_DQBUF, &buf))
- {
- switch (errno)
- {
- case EAGAIN:
- return 0;
- case EIO:
- default:
- errno_exit("VIDIOC_DQBUF");
- }
- }
- assert(buf.index < n_buffers);
- process_image(buffers[buf.index].start, buf.bytesused);
- if (-1 == xioctl(fd1, VIDIOC_QBUF, &buf))
- errno_exit("VIDIOC_QBUF");
- return 1;
- }
- static void mainloop(void)
- {
- unsigned int count;
- count = frame_count;
- while (count-- > 0) {
- for (;;) {
- fd_set fds;
- struct timeval tv;
- int r;
- FD_ZERO(&fds);
- FD_SET(fd1, &fds);
- /* Timeout. */
- tv.tv_sec = 2;
- tv.tv_usec = 0;
- r = select(fd1 + 1, &fds, NULL, NULL, &tv);
- if (-1 == r) {
- if (EINTR == errno)
- continue;
- errno_exit("select");
- }
- if (0 == r) {
- fprintf(stderr, "select timeout\n");
- exit(EXIT_FAILURE);
- }
- if (read_frame())
- break;
- /* EAGAIN - continue select loop. */
- }
- }
- }
- static void stop_capturing(void)
- {
- enum v4l2_buf_type type;
- type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- if (-1 == xioctl(fd1, VIDIOC_STREAMOFF, &type))
- errno_exit("VIDIOC_STREAMOFF");
- }
- static void start_capturing(void)
- {
- unsigned int i;
- enum v4l2_buf_type type;
- struct v4l2_buffer buf;
- for (i = 0; i < n_buffers; ++i)
- {
- CLEAR(buf);
- buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- buf.memory = V4L2_MEMORY_MMAP;
- buf.index = i;
- if (-1 == xioctl(fd1, VIDIOC_QBUF, &buf))
- errno_exit("VIDIOC_QBUF");
- }
- type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- if (-1 == xioctl(fd1, VIDIOC_STREAMON, &type))
- errno_exit("VIDIOC_STREAMON");
- }
- 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");
- if(-1 == munmap(fb_buffer,screensize))
- errno_exit("munmap");
- free(buffers);
- free(rgb_buffer);
- free(yuv_buffer);
- }
- static void init_mmap(void)
- {
- struct v4l2_requestbuffers req;
- struct v4l2_buffer buf;
- //VIDIOC_REQBUFS
- CLEAR(req);
- req.count = 4;
- req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- req.memory = V4L2_MEMORY_MMAP;
- if(-1 == xioctl(fd1, VIDIOC_REQBUFS, &req))
- {
- if (EINVAL == errno)
- {
- fprintf(stderr, "%s does not support ""memory mapping\n", dev_name1);
- exit(EXIT_FAILURE);
- }
- else
- errno_exit("VIDIOC_REQBUFS");
- }
- if(req.count < 2)
- {
- fprintf(stderr, "Insufficient buffer memory on %s\n",dev_name1);
- exit(EXIT_FAILURE);
- }
- //VIDIOC_QUERYBUF
- 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)
- {
- CLEAR(buf);
- buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- buf.memory = V4L2_MEMORY_MMAP;
- buf.index = n_buffers;
- if (-1 == xioctl(fd1, 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 */,
- fd1, buf.m.offset);
- if (MAP_FAILED == buffers[n_buffers].start)
- {
- errno_exit("mmap");
- }
- }//now n_buffers is 4
- //fbmmap
- fb_buffer=(char*)mmap(NULL,screensize,PROT_READ | PROT_WRITE,MAP_SHARED,fd2,0);
- if(MAP_FAILED == fb_buffer)
- {
- errno_exit("mmap");
- }
- //malloc the yuv_buffer
- yuv_buffer = (char*)malloc(screensize);
- if (!yuv_buffer)
- {
- fprintf(stderr, "Out of memory\n");
- exit(EXIT_FAILURE);
- }
- //malloc the rgb_buffer
- rgb_buffer = (char*)malloc(screensize);
- if (!rgb_buffer)
- {
- fprintf(stderr, "Out of memory\n");
- exit(EXIT_FAILURE);
- }
- }
- static void init_device(void)
- {
- struct v4l2_capability cap;
- struct v4l2_format fmt;
- struct fb_fix_screeninfo finfo;
- struct fb_var_screeninfo vinfo;
- CLEAR(cap);
- if (-1 == xioctl(fd1, VIDIOC_QUERYCAP, &cap))
- {
- if (EINVAL == errno)
- {
- fprintf(stderr, "%s is no V4L2 device\n",dev_name1);
- 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_name1);
- exit(EXIT_FAILURE);
- }
- if (!(cap.capabilities & V4L2_CAP_STREAMING))
- {
- fprintf(stderr, "%s does not support streaming i/o\n",dev_name1);
- exit(EXIT_FAILURE);
- }
- CLEAR(fmt);
- fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- if (force_format)
- {
- 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(fd1, VIDIOC_S_FMT, &fmt))
- errno_exit("VIDIOC_S_FMT");
- }
- else
- {
- if (-1 == xioctl(fd1, VIDIOC_G_FMT, &fmt))
- errno_exit("VIDIOC_G_FMT");
- }
- fprintf(stdout,"<------------camera infomation------------->\n");
- fprintf(stdout,"device driver=%s\n",cap.driver);
- fprintf(stdout,"device name=%s\n",cap.card);
- fprintf(stdout,"bus_infomation=%s\n",cap.bus_info);
- fprintf(stdout,"image_width=%d\n",fmt.fmt.pix.width);
- fprintf(stdout,"image_height=%d\n",fmt.fmt.pix.height);
- fprintf(stdout,"pixel_format=%d\n",fmt.fmt.pix.pixelformat);
- fprintf(stdout,"\n");
- CLEAR(finfo);
- if(-1 == xioctl(fd2,FBIOGET_FSCREENINFO,&finfo))
- errno_exit("FBIOGET_FSCREENINFO");
- CLEAR(vinfo);
- if(-1 == xioctl(fd2,FBIOGET_VSCREENINFO,&vinfo))
- errno_exit("FBIOGET_VSCREENINFO");
- screensize = vinfo.xres*vinfo.yres*vinfo.bits_per_pixel/8;
- fprintf(stdout,"<------------screen infomation------------->\n");
- fprintf(stdout,"id=%s\n",finfo.id);
- fprintf(stdout,"x=%d\n",vinfo.xres);
- fprintf(stdout,"y=%d\n",vinfo.yres);
- fprintf(stdout,"bpp=%d\n",vinfo.bits_per_pixel);
- fprintf(stdout,"redoffset=%d,redlength=%d,msb_right=%d\n",
- vinfo.red.offset,vinfo.red.length,vinfo.red.msb_right);
- fprintf(stdout,"greenoffset=%d,greenlength=%d,msb_right=%d\n",
- vinfo.green.offset,vinfo.green.length,vinfo.green.msb_right);
- fprintf(stdout,"blueoffset=%d,bluelength=%d,msb_right=%d\n",
- vinfo.blue.offset,vinfo.blue.length,vinfo.blue.msb_right);
- fprintf(stdout,"screensize=%d\n",screensize);
- init_mmap();
- }
- static void close_device(void)
- {
- if (-1 == close(fd1))
- errno_exit("close");
- fd1 = -1;
- if (-1 == close(fd2))
- errno_exit("close");
- fd2 = -1;
- }
- static void open_device(void)
- {
- fd1 = open(dev_name1, O_RDWR /* required */ | O_NONBLOCK, 0);
- if (-1 == fd1)
- {
- fprintf(stderr, "Cannot open '%s': %d, %s\n",dev_name1, errno, strerror(errno));
- exit(EXIT_FAILURE);
- }
- fd2 = open(dev_name2,O_RDWR,0);
- if(-1 == fd2)
- {
- fprintf(stderr, "Cannot open '%s': %d, %s\n",dev_name2, errno, strerror(errno));
- exit(EXIT_FAILURE);
- }
- }
- int main(int argc, char **argv)
- {
- dev_name1 = "/dev/video0";
- dev_name2 = "/dev/fb0";
- open_device();
- init_device();
- start_capturing();
- mainloop();
- stop_capturing();
- uninit_device();
- close_device();
- fprintf(stderr, "\n");
- return 0;
- }
后记
等解决了这个问题再写吧。
FROM: http://blog.csdn.net/ddddwant/article/details/8475211