#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

typedef struct

{

void *start;

int length;

}BUFTYPE;

BUFTYPE *user_buf;

int n_buffer = 0;

//打开摄像头设备

int open_camer_device()

{

int fd;

if((fd = open("/dev/video0",O_RDWR | O_NONBLOCK)) < 0)

{

perror("Fail to open");

exit(EXIT_FAILURE);

} 

return fd;

}

int init_mmap(int fd)

{

int i = 0;

struct v4l2_requestbuffers reqbuf;

bzero(&reqbuf,sizeof(reqbuf));

reqbuf.count = 4;

reqbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

reqbuf.memory = V4L2_MEMORY_MMAP;

//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(fd,VIDIOC_REQBUFS,&reqbuf))

{

perror("Fail to ioctl 'VIDIOC_REQBUFS'");

exit(EXIT_FAILURE);

}

n_buffer = reqbuf.count;

printf("n_buffer = %d\n",n_buffer);

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(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,

fd,buf.m.offset

);

if(MAP_FAILED == user_buf[i].start)

{

perror("Fail to mmap");

exit(EXIT_FAILURE);

}

}

return 0;

}

//初始化视频设备

int init_camer_device(int fd)

{

struct v4l2_fmtdesc fmt;

struct v4l2_capability cap;

struct v4l2_format stream_fmt;

int ret;

//当前视频设备支持的视频格式

memset(&fmt,0,sizeof(fmt));

fmt.index = 0;

fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

while((ret = ioctl(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);

}

//查询视频设备驱动的功能

ret = ioctl(fd,VIDIOC_QUERYCAP,&cap);

if(ret < 0){

perror("FAIL to ioctl VIDIOC_QUERYCAP");

exit(EXIT_FAILURE);

}

//判断是否是一个视频捕捉设备

if(!(cap.capabilities & V4L2_BUF_TYPE_VIDEO_CAPTURE))

{

printf("The Current device is not a video capture device\n");

exit(EXIT_FAILURE);

}

//判断是否支持视频流形式

if(!(cap.capabilities & V4L2_CAP_STREAMING))

{

printf("The Current device does not support streaming i/o\n");

exit(EXIT_FAILURE);

}

//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 = 680;

stream_fmt.fmt.pix.height = 480;

stream_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;

stream_fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;

if(-1 == ioctl(fd,VIDIOC_S_FMT,&stream_fmt))

{

perror("Fail to ioctl");

exit(EXIT_FAILURE);

}

//初始化视频采集方式(mmap)

init_mmap(fd);

return 0;

}

int start_capturing(int 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(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(fd,VIDIOC_STREAMON,&type))

{

printf("i = %d.\n",i);

perror("Fail to ioctl 'VIDIOC_STREAMON'");

exit(EXIT_FAILURE);

}

return 0;

}

//将采集好的数据放到文件中

int process_image(void *addr,int length)

{

FILE *fp;

static int num = 0;

char picture_name[20];

sprintf(picture_name,"picture%d.jpg",num ++);

if((fp = fopen(picture_name,"w")) == NULL)

{

perror("Fail to fopen");

exit(EXIT_FAILURE);

}

fwrite(addr,length,1,fp);

usleep(500);

fclose(fp);

return 0;

}

int read_frame(int fd)

{

struct v4l2_buffer buf;

unsigned int i;

bzero(&buf,sizeof(buf));

buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

buf.memory = V4L2_MEMORY_MMAP;

//从队列中取缓冲区

if(-1 == ioctl(fd,VIDIOC_DQBUF,&buf))

{

perror("Fail to ioctl 'VIDIOC_DQBUF'");

exit(EXIT_FAILURE);

}

assert(buf.index < n_buffer);

//读取进程空间的数据到一个文件中

process_image(user_buf[buf.index].start,user_buf[buf.index].length);

if(-1 == ioctl(fd,VIDIOC_QBUF,&buf))

{

perror("Fail to ioctl 'VIDIOC_QBUF'");

exit(EXIT_FAILURE);

}

return 1;

}

int mainloop(int fd)

{ 

int count = 10;

while(count -- > 0)

{

for(;;)

{

fd_set fds;

struct timeval tv;

int r;

FD_ZERO(&fds);

FD_SET(fd,&fds);

/*Timeout*/

tv.tv_sec = 2;

tv.tv_usec = 0;

r = select(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);

}

if(read_frame(fd))

break;

}

}

return 0;

}

void stop_capturing(int fd)

{

enum v4l2_buf_type type;

type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

if(-1 == ioctl(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);

}

}

free(user_buf);

return;

}

void close_camer_device(int fd)

{

if(-1 == close(fd))

{

perror("Fail to close fd");

exit(EXIT_FAILURE);

}

return;

}

int main()

{

int fd;       

fd = open_camer_device();

init_camer_device(fd);

start_capturing(fd);

mainloop(fd);

stop_capturing(fd);

uninit_camer_device(fd);

close_camer_device(fd);

return 0;

}

注意：每个摄像头采集出来的数据格式可能不一样，一般支持MJPEG,JPEG格式的摄像头，采集出来的数据可以直接放在文件中，然后用图片查看器显示。