USB Camera(C270) 支持MJPEG和YUYV格式的图像输出，这里采用YUYV(YUV422) 转化成 RGB32，然后在LCD显示出来
帧率设置成30时，分辨率设置成640X480， CPU占用 几乎达到100%
帧率设置成10时，分辨率设置成320X240， CPU占用 如下：
Mem: 11764K used, 501476K free, 0K shrd, 216K buff, 3272K cached
CPU: 19.1% usr 0.0% sys 0.0% nic 80.8% idle 0.0% io 0.0% irq 0.0% sirq
Load average: 0.67 0.42 0.20 1/35 871
PID PPID USER STAT VSZ %VSZ CPU %CPU COMMAND
870 831 0 S 3748 0.7 0 18.9 ./cam_preview
831 1 0 S 3036 0.5 0 0.0 -/bin/sh
871 831 0 R 3036 0.5 0 0.0 top
1 0 0 S 3032 0.5 0 0.0 {linuxrc} init
389 2 0 SW 0 0.0 0 0.0 [kworker/0:1]
6 2 0 SW 0 0.0 0 0.0 [kworker/u:0]
11 2 0 SW 0 0.0 0 0.0 [watchdog/0]
8 2 0 SW 0 0.0 0 0.0 [rcu_preempt]
284 2 0 SW 0 0.0 0 0.0 [khubd]
680 2 0 SW 0 0.0 0 0.0 [mmcqd/0]
2 0 0 SW 0 0.0 0 0.0 [kthreadd]
3 2 0 SW 0 0.0 0 0.0 [ksoftirqd/0]
5 2 0 SW< 0 0.0 0 0.0 [kworker/0:0H]
7 2 0 SW< 0 0.0 0 0.0 [kworker/u:0H]
9 2 0 SW 0 0.0 0 0.0 [rcu_bh]
10 2 0 SW 0 0.0 0 0.0 [rcu_sched]
12 2 0 SW< 0 0.0 0 0.0 [khelper]
13 2 0 SW 0 0.0 0 0.0 [kworker/u:1]
270 2 0 SW 0 0.0 0 0.0 [bdi-default]
272 2 0 SW< 0 0.0 0 0.0 [kblockd]Mem: 13916K used, 499324K free, 0K shrd, 212K buff, 3256K cached
CPU: 84.9% usr 0.2% sys 0.0% nic 14.8% idle 0.0% io 0.0% irq 0.0% sirq
Load average: 0.55 0.21 0.10 3/35 869
PID PPID USER STAT VSZ %VSZ CPU %CPU COMMAND
868 831 0 R 5540 1.0 0 85.0 ./cam_preview
831 1 0 S 3036 0.5 0 0.0 -/bin/sh
869 831 0 R 3036 0.5 0 0.0 top
1 0 0 S 3032 0.5 0 0.0 {linuxrc} init
389 2 0 SW 0 0.0 0 0.0 [kworker/0:1]
6 2 0 SW 0 0.0 0 0.0 [kworker/u:0]
11 2 0 SW 0 0.0 0 0.0 [watchdog/0]
8 2 0 RW 0 0.0 0 0.0 [rcu_preempt]
284 2 0 SW 0 0.0 0 0.0 [khubd]
680 2 0 SW 0 0.0 0 0.0 [mmcqd/0]
2 0 0 SW 0 0.0 0 0.0 [kthreadd]
3 2 0 SW 0 0.0 0 0.0 [ksoftirqd/0]
5 2 0 SW< 0 0.0 0 0.0 [kworker/0:0H]
7 2 0 SW< 0 0.0 0 0.0 [kworker/u:0H]
9 2 0 SW 0 0.0 0 0.0 [rcu_bh]
10 2 0 SW 0 0.0 0 0.0 [rcu_sched]
12 2 0 SW< 0 0.0 0 0.0 [khelper]
13 2 0 SW 0 0.0 0 0.0 [kworker/u:1]
270 2 0 SW 0 0.0 0 0.0 [bdi-default]
272 2 0 SW< 0 0.0 0 0.0 [kblockd]#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <time.h>
#include <sys/mman.h>
#include <assert.h>
#include <linux/videodev2.h>
#include <linux/fb.h>
//照相机延时等待
#define TimeOut 5
//拍照 个数
#define CapNum 10
//设置照片宽度 高度
#define CapWidth 320
#define CapHeight 240
//申请Buf个数
#define ReqButNum 4
//使用前置或者后置Camera 前置设0，后置设1
#define IsRearCamera 0
//设置帧率
#define FPS 10
//设置格式
#define PIXELFMT V4L2_PIX_FMT_YUYV
#define CapDelay 0*500*1000
#define CLEAR(x) memset(&(x), 0, sizeof(x))
typedef unsigned char BYTE;
typedef unsigned short WORD;
typedef unsigned int DWORD;
typedef long LONG;
typedef struct
{
void *start;
int length;
}BUFTYPE;
BUFTYPE *user_buf;
static int n_buffer = 0;
static struct fb_var_screeninfo vinfo;
static struct fb_fix_screeninfo finfo;
static int lcd_buf_size;
static char *fb_buf = NULL;
//打开摄像头设备
int open_camer_device()
{
int fd;
//非阻塞方式打开，如果打开错误，会立即返回
if((fd = open("/dev/video0",O_RDWR | O_NONBLOCK)) < 0)
{
perror("Fail to open");
exit(EXIT_FAILURE);
}
printf("open cam success %d\n",fd);
return fd;
}
//打开摄像头设备
int open_lcd_device()
{
int fd;
//非阻塞方式打开，如果打开错误，会立即返回
if((fd = open("/dev/fb0",O_RDWR | O_NONBLOCK)) < 0)
{
perror("Fail to open");
exit(EXIT_FAILURE);
}
printf("open lcd success %d\n",fd);
return fd;
}
//申请Camera Buf，并映射到用户空间，利用全局变量user_buf保存映射信息
int init_mmap(int lcd_fd, int cam_fd)
{
int i = 0;
int err;
int ret;
struct v4l2_control ctrl;
struct v4l2_requestbuffers reqbuf;
//mmap framebuffer
fb_buf = (char *)mmap(
NULL,
lcd_buf_size,
PROT_READ | PROT_WRITE,MAP_SHARED ,
lcd_fd,
0);
if(NULL == fb_buf)
{
perror("Fail to mmap fb_buf");
exit(EXIT_FAILURE);
}
bzero(&reqbuf,sizeof(reqbuf));
reqbuf.count = ReqButNum;
reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
reqbuf.memory = V4L2_MEMORY_MMAP;
printf("start VIDIOC_REQBUFS\n");
//申请视频缓冲区(这个缓冲区位于内核空间，需要通过mmap映射)
//这一步操作可能会修改reqbuf.count的值，修改为实际成功申请缓冲区个数
if(-1 == ioctl(cam_fd,VIDIOC_REQBUFS,&reqbuf))
{
perror("Fail to ioctl 'VIDIOC_REQBUFS'");
exit(EXIT_FAILURE);
}
n_buffer = reqbuf.count;
user_buf = calloc(reqbuf.count,sizeof(*user_buf));
if(user_buf == NULL){
fprintf(stderr,"Out of memory\n");
exit(EXIT_FAILURE);
}
//将内核缓冲区映射到用户进程空间
for(i = 0; i < reqbuf.count; i ++)
{
struct v4l2_buffer buf;
bzero(&buf,sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
//查询申请到内核缓冲区的信息
if(-1 == ioctl(cam_fd,VIDIOC_QUERYBUF,&buf))
{
perror("Fail to ioctl : VIDIOC_QUERYBUF");
exit(EXIT_FAILURE);
}
user_buf[i].length = buf.length;
user_buf[i].start =
mmap(
NULL,/*start anywhere*/
buf.length,
PROT_READ | PROT_WRITE,
MAP_SHARED,
cam_fd,buf.m.offset
);
if(MAP_FAILED == user_buf[i].start)
{
perror("Fail to mmap\n");
printf("%d\n",i);
exit(EXIT_FAILURE);
}
// printf("start:08%lx\n",user_buf[i].start);
}
return 0;
}
//初始化视频设备
int init_device(int lcd_fd, int cam_fd)
{
struct v4l2_fmtdesc fmt;
struct v4l2_capability cap;
struct v4l2_format stream_fmt;
struct v4l2_input input;
struct v4l2_control ctrl;
struct v4l2_streamparm stream;
int err;
int ret;
if(-1 == ioctl(lcd_fd,FBIOGET_FSCREENINFO,&finfo))
{
perror("Fail to ioctl:FBIOGET_FSCREENINFO\n");
exit(EXIT_FAILURE);
}
if (-1==ioctl(lcd_fd, FBIOGET_VSCREENINFO, &vinfo))
{
perror("Fail to ioctl:FBIOGET_VSCREENINFO\n");
exit(EXIT_FAILURE);
}
lcd_buf_size = vinfo.xres * vinfo.yres * vinfo.bits_per_pixel / 8;
printf("vinfo.xres:%d, vinfo.yres:%d, vinfo.bits_per_pixel:%d, lcd_buf_size:%d, finfo.line_length:%d\n",vinfo.xres, vinfo.yres, vinfo.bits_per_pixel, lcd_buf_size, finfo.line_length);
memset(&fmt,0,sizeof(fmt));
fmt.index = 0;
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
//枚举视频设置支持的格式
while((ret = ioctl(cam_fd,VIDIOC_ENUM_FMT,&fmt)) == 0)
{
fmt.index ++ ;
printf("{pixelformat = %c%c%c%c},description = '%s'\n",
fmt.pixelformat & 0xff,(fmt.pixelformat >> 8)&0xff,
(fmt.pixelformat >> 16) & 0xff,(fmt.pixelformat >> 24)&0xff,
fmt.description);
}
//查询视频设备支持的功能
ret = ioctl(cam_fd,VIDIOC_QUERYCAP,&cap);
if(ret < 0){
perror("FAIL to ioctl VIDIOC_QUERYCAP");
exit(EXIT_FAILURE);
}
if(!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
{
printf("The Current device is not a video capture device\n");
exit(EXIT_FAILURE);
}
if(!(cap.capabilities & V4L2_CAP_STREAMING))
{
printf("The Current device does not support streaming i/o\n");
exit(EXIT_FAILURE);
}
CLEAR(stream_fmt);
//设置摄像头采集数据格式，如设置采集数据的
//长,宽，图像格式(JPEG,YUYV,MJPEG等格式)
stream_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
stream_fmt.fmt.pix.width = CapWidth;
stream_fmt.fmt.pix.height = CapHeight;
stream_fmt.fmt.pix.pixelformat = PIXELFMT;
stream_fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
if(-1 == ioctl(cam_fd,VIDIOC_S_FMT,&stream_fmt))
{
printf("Can't set the fmt\n");
perror("Fail to ioctl\n");
exit(EXIT_FAILURE);
}
printf("VIDIOC_S_FMT successfully\n");
init_mmap(lcd_fd, cam_fd);
//通过S_PARM来设置FPS
/* fimc_v4l2_s_parm */
CLEAR(stream);
stream.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
stream.parm.capture.capturemode = 0;
stream.parm.capture.timeperframe.numerator = 1;
stream.parm.capture.timeperframe.denominator = FPS;
err = ioctl(cam_fd, VIDIOC_S_PARM, &stream);
if(err < 0)
printf("FimcV4l2 start: error %d, VIDIOC_S_PARM", err);
return 0;
}
int start_capturing(int cam_fd)
{
unsigned int i;
enum v4l2_buf_type type;
//将申请的内核缓冲区放入一个队列中
for(i = 0;i < n_buffer;i ++)
{
struct v4l2_buffer buf;
bzero(&buf,sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if(-1 == ioctl(cam_fd,VIDIOC_QBUF,&buf))
{
perror("Fail to ioctl 'VIDIOC_QBUF'");
exit(EXIT_FAILURE);
}
}
//开始采集数据
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(-1 == ioctl(cam_fd,VIDIOC_STREAMON,&type))
{
printf("i = %d.\n",i);
perror("Fail to ioctl 'VIDIOC_STREAMON'");
exit(EXIT_FAILURE);
}
return 0;
}
inline int clip(int value, int min, int max)
{
return (value > max ? max : value < min ? min : value);
}
//将采集好的数据放到文件中
int process_image(void *addr,int length)
{
unsigned char* in=(char*)addr;
int width=CapWidth;
int height=CapHeight;
int istride=CapWidth *2;
int x,y,j;
int y0,u,y1,v,r,g,b;
long location=0;
//printf("vinfo.xoffset:%d,vinfo.yoffset:%d\n",vinfo.xoffset,vinfo.yoffset);
for ( y = 0; y < height; ++y)
{
for (j = 0, x=0; j < width * 2 ; j += 4,x +=2)
{
location = (x+vinfo.xoffset) * (vinfo.bits_per_pixel/8) + (y+vinfo.yoffset) * finfo.line_length;
y0 = in[j];
u = in[j + 1] - 128;
y1 = in[j + 2];
v = in[j + 3] - 128;
r = (298 * y0 + 409 * v + 128) >> 8;
g = (298 * y0 - 100 * u - 208 * v + 128) >> 8;
b = (298 * y0 + 516 * u + 128) >> 8;
fb_buf[ location + 0] = clip(b, 0, 255);
fb_buf[ location + 1] = clip(g, 0, 255);
fb_buf[ location + 2] = clip(r, 0, 255);
fb_buf[ location + 3] = 255;
r = (298 * y1 + 409 * v + 128) >> 8;
g = (298 * y1 - 100 * u - 208 * v + 128) >> 8;
b = (298 * y1 + 516 * u + 128) >> 8;
fb_buf[ location + 4] = clip(b, 0, 255);
fb_buf[ location + 5] = clip(g, 0, 255);
fb_buf[ location + 6] = clip(r, 0, 255);
fb_buf[ location + 7] = 255;
} in +=istride; }
// usleep(500);
return 0;
}
int read_frame(int cam_fd)
{
struct v4l2_buffer buf;
unsigned int i;
bzero(&buf,sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
//从Camera buf中把数据拿出来
if(-1 == ioctl(cam_fd,VIDIOC_DQBUF,&buf))
{
perror("Fail to ioctl 'VIDIOC_DQBUF'");
exit(EXIT_FAILURE);
}
assert(buf.index < n_buffer);
process_image(user_buf[buf.index].start,user_buf[buf.index].length);
//把处理过的Buf 重新入队
if(-1 == ioctl(cam_fd,VIDIOC_QBUF,&buf))
{
perror("Fail to ioctl 'VIDIOC_QBUF'");
exit(EXIT_FAILURE);
}
return 1;
}
//利用select 进行超时处理
int mainloop(int cam_fd)
{
int count = 1;//CapNum;
clock_t startTime, finishTime;
double selectTime, frameTime;
while(count++ > 0)
{
for(;;)
{
fd_set fds;
struct timeval tv;
int r;
// startTime = clock();
FD_ZERO(&fds);
FD_SET(cam_fd,&fds);
/*Timeout*/
tv.tv_sec = TimeOut;
tv.tv_usec = 0;
r = select(cam_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(EXIT_FAILURE);
}
startTime = clock();
if(read_frame(cam_fd))
{
finishTime = clock();
// printf("delta:%dms\n", (finishTime - startTime)/1000);
break;
}
}
// usleep(CapDelay);
}
return 0;
}
void stop_capturing(int cam_fd)
{
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if(-1 == ioctl(cam_fd,VIDIOC_STREAMOFF,&type))
{
perror("Fail to ioctl 'VIDIOC_STREAMOFF'");
exit(EXIT_FAILURE);
}
return;
}
void uninit_camer_device()
{
unsigned int i;
for(i = 0;i < n_buffer;i ++)
{
if(-1 == munmap(user_buf[i].start, user_buf[i].length))
{
exit(EXIT_FAILURE);
}
}
if (-1 == munmap(fb_buf, lcd_buf_size))
{
perror(" Error: framebuffer device munmap() failed.\n");
exit (EXIT_FAILURE) ;
}
free(user_buf);
return;
}
void close_camer_device(int lcd_fd, int cam_fd)
{
if(-1 == close(lcd_fd))
{
perror("Fail to close lcd_fd");
exit(EXIT_FAILURE);
}
if(-1 == close(cam_fd))
{
perror("Fail to close cam_fd");
exit(EXIT_FAILURE);
}
return;
}
int main()
{
int lcd_fd;
int cam_fd;
lcd_fd = open_lcd_device();
cam_fd = open_camer_device();
init_device(lcd_fd, cam_fd);
// init_mmap(lcd_fd, cam_fd);
start_capturing(cam_fd);
mainloop(cam_fd);
stop_capturing(cam_fd);
uninit_camer_device();
close_camer_device(lcd_fd, cam_fd);
return 0;
}
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