源码-基于V4L2的UVC摄像头捕获并用framebuffer显示的示例程序

#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 <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>
#include <linux/fb.h>
#define CLEAR(x) memset (&(x), 0, sizeof (x))

struct buffer {
	void * start;
	size_t length;
};

static char * dev_name = NULL;
static int fd = -1;
struct buffer * buffers = NULL;
static unsigned int n_buffers = 0;
static int time_in_sec_capture=5;
static int fbfd = -1;
static struct fb_var_screeninfo vinfo;
static struct fb_fix_screeninfo finfo;
static char *fbp=NULL;
static long screensize=0;

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 fd,int request,void * arg)
{
	int r;
	do r = ioctl (fd, request, arg);
	while (-1 == r && EINTR == errno);
	return r;
}

inline int clip(int value, int min, int max) {
	return (value > max ? max : value < min ? min : value);
}

static void process_image (const void * p){


	//ConvertYUVToRGB32

	unsigned char* in=(char*)p;
	int width=640;
	int height=480;
	int istride=1280;
	int x,y,j;
	int y0,u,y1,v,r,g,b;
	long location=0;

	for ( y = 100; y < height + 100; ++y) {
		for (j = 0, x=100; 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;

			fbp[ location + 0] = clip(b, 0, 255);
			fbp[ location + 1] = clip(g, 0, 255);
			fbp[ location + 2] = clip(r, 0, 255);    
			fbp[ 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;

			fbp[ location + 4] = clip(b, 0, 255);
			fbp[ location + 5] = clip(g, 0, 255);
			fbp[ location + 6] = clip(r, 0, 255);    
			fbp[ location + 7] = 255;    
		}
		in +=istride;
	}

}

static int read_frame (void)
{
	struct v4l2_buffer buf;
	unsigned int i;

	CLEAR (buf);
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;

	if (-1 == xioctl (fd, VIDIOC_DQBUF, &buf)) {
		switch (errno) {
			case EAGAIN:
				return 0;
			case EIO:    



			default:
				errno_exit ("VIDIOC_DQBUF");
		}
	}

	assert (buf.index < n_buffers);
	assert (buf.field ==V4L2_FIELD_NONE);
	process_image (buffers[buf.index].start);
	if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
		errno_exit ("VIDIOC_QBUF");

	return 1;
}

static void run (void)
{
	unsigned int count;
	int frames;
	frames = 30 * time_in_sec_capture;

	while (frames-- > 0) {
		for (;;) {
			fd_set fds;
			struct timeval tv;
			int r;
			FD_ZERO (&fds);
			FD_SET (fd, &fds);


			tv.tv_sec = 2;
			tv.tv_usec = 0;

			r = select (fd + 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;

		}
	}
}

static void stop_capturing (void)
{
	enum v4l2_buf_type type;

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if (-1 == xioctl (fd, VIDIOC_STREAMOFF, &type))
		errno_exit ("VIDIOC_STREAMOFF");
}

static void start_capturing (void)
{
	unsigned int i;
	enum v4l2_buf_type type;

	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 == xioctl (fd, VIDIOC_QBUF, &buf))
			errno_exit ("VIDIOC_QBUF");
	}

	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

	if (-1 == xioctl (fd, 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(fbp, screensize)) {
		printf(" Error: framebuffer device munmap() failed.\n");
		exit (EXIT_FAILURE) ;
	}    
	free (buffers);
}


static void init_mmap (void)
{
	struct v4l2_requestbuffers req;


	//mmap framebuffer
	fbp = (char *)mmap(NULL,screensize,PROT_READ | PROT_WRITE,MAP_SHARED ,fbfd, 0);
	if ((int)fbp == -1) {
		printf("Error: failed to map framebuffer device to memory.\n");
		exit (EXIT_FAILURE) ;
	}
	memset(fbp, 0, screensize);
	CLEAR (req);

	req.count = 4;
	req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	req.memory = V4L2_MEMORY_MMAP;

	if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req)) {
		if (EINVAL == errno) {
			fprintf (stderr, "%s does not support memory mapping\n", dev_name);
			exit (EXIT_FAILURE);
		} else {
			errno_exit ("VIDIOC_REQBUFS");
		}
	}

	if (req.count < 4) {    //if (req.count < 2)
		fprintf (stderr, "Insufficient buffer memory on %s\n",dev_name);
		exit (EXIT_FAILURE);
	}

	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) {
		struct v4l2_buffer buf;

		CLEAR (buf);

		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = n_buffers;

		if (-1 == xioctl (fd, VIDIOC_QUERYBUF, &buf))
			errno_exit ("VIDIOC_QUERYBUF");

		buffers[n_buffers].length = buf.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)
{
	struct v4l2_capability cap;
	struct v4l2_cropcap cropcap;
	struct v4l2_crop crop;
	struct v4l2_format fmt;
	unsigned int min;


	// Get fixed screen information
	if (-1==xioctl(fbfd, FBIOGET_FSCREENINFO, &finfo)) {
		printf("Error reading fixed information.\n");
		exit (EXIT_FAILURE);
	}

	// Get variable screen information
	if (-1==xioctl(fbfd, FBIOGET_VSCREENINFO, &vinfo)) {
		printf("Error reading variable information.\n");
		exit (EXIT_FAILURE);
	}
	screensize = vinfo.xres * vinfo.yres * vinfo.bits_per_pixel / 8;


	if (-1 == xioctl (fd, VIDIOC_QUERYCAP, &cap)) {
		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);
	}

	if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
		fprintf (stderr, "%s does not support streaming i/o\n",dev_name);
		exit (EXIT_FAILURE);
	}



	CLEAR (cropcap);

	cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

	if (0 == xioctl (fd, VIDIOC_CROPCAP, &cropcap)) {
		crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		crop.c = cropcap.defrect;

		if (-1 == xioctl (fd, VIDIOC_S_CROP, &crop)) {
			switch (errno) {
				case EINVAL:    
					break;
				default:
					break;
			}
		}
	}else {     }

	CLEAR (fmt);

	fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	fmt.fmt.pix.width = 640;  
	fmt.fmt.pix.height = 480;
	fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
	fmt.fmt.pix.field = V4L2_FIELD_NONE;

	if (-1 == xioctl (fd, VIDIOC_S_FMT, &fmt))
		errno_exit ("VIDIOC_S_FMT");





	init_mmap ();

}

static void close_device (void)
{
	if (-1 == close (fd))
		errno_exit ("close");
	fd = -1;
	close(fbfd);
}

static void open_device (void)
{
	struct stat st;  

	if (-1 == stat (dev_name, &st)) {
		fprintf (stderr, "Cannot identify '%s': %d, %s\n",dev_name, errno, strerror (errno));
		exit (EXIT_FAILURE);
	}

	if (!S_ISCHR (st.st_mode)) {
		fprintf (stderr, "%s is no device\n", dev_name);
		exit (EXIT_FAILURE);
	}

	//open framebuffer
	fbfd = open("/dev/fb0", O_RDWR);
	if (fbfd==-1) {
		printf("Error: cannot open framebuffer device.\n");
		exit (EXIT_FAILURE);
	}

	//open camera
	fd = open (dev_name, O_RDWR| O_NONBLOCK, 0);

	if (-1 == fd) {
		fprintf (stderr, "Cannot open '%s': %d, %s\n",dev_name, errno, strerror (errno));
		exit (EXIT_FAILURE);
	}
}

static void usage (FILE * fp,int argc,char ** argv)
{
	fprintf (fp,
			"Usage: %s [options]\n\n"
			"Options:\n"
			"-d | --device name Video device name [/dev/video]\n"
			"-h | --help Print this message\n"
			"-t | --how long will display in seconds\n"
			"",
			argv[0]);
}

static const char short_options [] = "d:ht:";
static const struct option long_options [] = {
	{ "device", required_argument, NULL, 'd' },
	{ "help", no_argument, NULL, 'h' },
	{ "time", no_argument, NULL, 't' },
	{ 0, 0, 0, 0 }
};

int main (int argc,char ** argv)
{
	dev_name = "/dev/video0";

	for (;;)  
	{
		int index;
		int c;

		c = getopt_long (argc, argv,short_options, long_options,&index);
		if (-1 == c)
			break;

		switch (c) {
			case 0:
				break;

			case 'd':
				dev_name = optarg;
				break;

			case 'h':
				usage (stdout, argc, argv);
				exit (EXIT_SUCCESS);
			case 't':
				time_in_sec_capture = atoi(optarg);
				break;

			default:
				usage (stderr, argc, argv);
				exit (EXIT_FAILURE);
		}
	}

	open_device ();

	init_device ();

	start_capturing ();

	run ();

	stop_capturing ();

	uninit_device ();

	close_device ();

	exit (EXIT_SUCCESS);

	return 0;
}