（二）.v4l2 ：先讲应用层操作的顺序

工作流程：

打开设备--> 检查和设备设备属性-->设置帧格式-->设置一种输入输出的方法（缓冲区管理)-->循环获取数据-->关闭设备

1. 打开视频设备

fd = open("/dev/video0",O_RDWR);

2.查询视频设备能力  VIDIOC_QUERYCAP

    ioctl_ops(fd,VIDIOC_QUERYCAP,&cap);
	if(!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)){
		perror("this is not cap");
		return -1;
	}

struct v4l2_capability cap;
struct v4l2_capability {
	__u8	driver[16];   驱动名词
	__u8	card[32];   设备名字
	__u8	bus_info[32];  设备在系统中的位置
	__u32   version;  驱动版本号
	__u32	capabilities;  设置支持的操作
	__u32	device_caps;  
	__u32	reserved[3];
};

/* Values for 'capabilities' field */
#define V4L2_CAP_VIDEO_CAPTURE		0x00000001  /* Is a video capture device */
#define V4L2_CAP_VIDEO_OUTPUT		0x00000002  /* Is a video output device */
#define V4L2_CAP_VIDEO_OVERLAY		0x00000004  /* Can do video overlay */
#define V4L2_CAP_VBI_CAPTURE		0x00000010  /* Is a raw VBI capture device */
#define V4L2_CAP_VBI_OUTPUT		0x00000020  /* Is a raw VBI output device */
#define V4L2_CAP_SLICED_VBI_CAPTURE	0x00000040  /* Is a sliced VBI capture device */
#define V4L2_CAP_SLICED_VBI_OUTPUT	0x00000080  /* Is a sliced VBI output device */
#define V4L2_CAP_RDS_CAPTURE		0x00000100  /* RDS data capture */
#define V4L2_CAP_VIDEO_OUTPUT_OVERLAY	0x00000200  /* Can do video output overlay */
#define V4L2_CAP_HW_FREQ_SEEK		0x00000400  /* Can do hardware frequency seek  */
#define V4L2_CAP_RDS_OUTPUT		0x00000800  /* Is an RDS encoder */

一般我们需要的是 V4L2_CAP_VIDEO_CAPTURE

调用底层  例如：
static int vidioc_querycap(struct file *file, void  *priv,
					struct v4l2_capability *cap)
{
	struct vivid_dev *dev = video_drvdata(file);

	strcpy(cap->driver, "vivid");
	strcpy(cap->card, "vivid");
	snprintf(cap->bus_info, sizeof(cap->bus_info),
			"platform:%s", dev->v4l2_dev.name);

	cap->capabilities = dev->vid_cap_caps | dev->vid_out_caps |
		dev->vbi_cap_caps | dev->vbi_out_caps |
		dev->radio_rx_caps | dev->radio_tx_caps |
		dev->sdr_cap_caps | V4L2_CAP_DEVICE_CAPS;
	return 0;
}

3.查询视频设备输出的格式  // 一般可以不做直接设置即可

VIDIOC_ENUM_FMT

int ioctl(int fd, int request, struct v4l2_fmtdesc *argp);

/*
 *	F O R M A T   E N U M E R A T I O N
 */
struct v4l2_fmtdesc {
	__u32		    index;             /* Format number      */
	__u32		    type;              /* enum v4l2_buf_type */
	__u32               flags;
	__u8		    description[32];   /* Description string */
	__u32		    pixelformat;       /* Format fourcc      */
	__u32		    reserved[4];
};

4.设置视频采集格式

1. 设置摄像头的格式

2. 设置图片的长度，宽度，图片格式

	//VIDIOC_S_FMT
	my_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE ;
	my_fmt.fmt.pix.width = 720;
	my_fmt.fmt.pix.height = 576;
	my_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
	ioctl(fd, VIDIOC_S_FMT, &my_fmt);

/**
 * struct v4l2_format - stream data format
 * @type:	enum v4l2_buf_type; type of the data stream
 * @pix:	definition of an image format
 * @pix_mp:	definition of a multiplanar image format
 * @win:	definition of an overlaid image
 * @vbi:	raw VBI capture or output parameters
 * @sliced:	sliced VBI capture or output parameters
 * @raw_data:	placeholder for future extensions and custom formats
 */
struct v4l2_format {
	__u32	 type;
	union {
		struct v4l2_pix_forma