【USB网络摄像头】基于QT的嵌入式LINXU的网络摄像头(UDP方案)

基于QT的网络摄像头

因为倒霉疫情已经在家呆了三个月了，项目需要设计一个可以直播的网络的设计，再方案的计划上，一开始就花费了大量的时间，现在终于开始有一些突破，虽然因为UDP的丢包问题很严重，仍然出现了很多的问题，准备马上使用TCP重新尝试一下。此外在信号和槽的使用上在嵌入式平台上还是存在很严重的问题，因此好像还是只能进行单向的数据传输。

嵌入式平台代码设计（需要移植QT）

NetCamera.pro

#-------------------------------------------------
#
# Project created by QtCreator 2020-03-01T18:07:39
#
#-------------------------------------------------

QT       += core network

QT       -= gui

TARGET = NetCamera
CONFIG   += console
CONFIG   -= app_bundle

TEMPLATE = app

#ARM
INCLUDEPATH +=/home/swann/s5p6818/opencv-2.4.9-6818/include/opencv
INCLUDEPATH +=/home/swann/s5p6818/opencv-2.4.9-6818/include/opencv2
INCLUDEPATH +=/home/swann/s5p6818/opencv-2.4.9-6818/include

LIBS        +=  /usr/lib/libopencv_highgui.so  \
                /usr/lib/libopencv_core.so \
                /usr/lib/libopencv_objdetect.so    \
                /usr/lib/libopencv_imgproc.so

SOURCES += main.cpp \
    Camera/Camera.cpp \
    Camera/Udpcam.cpp

HEADERS += \
    Camera/camera.h \
    Camera/videodev2_samsung.h \
    Camera/Udpcam.h

USB摄像头采集

camera.h

#ifndef CAMERA_H
#define CAMERA_H

#include 

#define CLEAR(x) memset (&(x), 0, sizeof (x))
#define CAPTURE_BUFFER_NUMBER	1
typedef enum {
    IO_METHOD_READ, IO_METHOD_MMAP, IO_METHOD_USERPTR,
} io_method;

class Camera
{
public:
    Camera(char *DEV_NAME,int w,int h);//构造函数
    ~Camera();
    bool OpenDevice();//打开设备
    void CloseDevice();//关闭设备
    bool GetBuffer(unsigned char *image);//得到一幅图像
    unsigned int getImageSize();   //图像大小
    void DecodeYUV420SP(unsigned int* rgbBuf, unsigned char* yuv420sp, int width, int height);
    void video_yuyv_to_rgb24(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
private:
    char dev_name[50];
    io_method io;
    int fd;
	bool  sign3;
	FILE * yuv_fd;                      //将捕捉的图像保存为文件
    int width;
    int height;
    struct { void * start; int length; } buffers[CAPTURE_BUFFER_NUMBER];
    struct buffer 
    {
            void *                  start;
            size_t                  length;
    };

    unsigned int cap_image_size ;

    bool init_device(void);
    bool init_mmap(void);
    void uninit_device(void);
    bool start_capturing(void);//开始捕捉
    void stop_capturing(void);//停止捕捉
    void mainloop(unsigned char *image);
    int read_frame(unsigned char *image);//读取一帧
    void close_device(void);
    bool open_device(void);
    bool process_image(unsigned char *image,const void * p);
    int yuvtorgb( int y, int u, int v);
	
    void errno_exit(const char * s);
    int xioctl(int fd, int request, void * arg);
};

#endif // CAMERA_H

为了减少平台依赖，添加一个头文件

videodev2_samsung.h

/*
 * Video for Linux Two header file for samsung
 *
 * Copyright (C) 2009, Samsung Electronics
 *
 * This header file contains several v4l2 APIs to be proposed to v4l2
 * community and until bein accepted, will be used restrictly in Samsung's
 * camera interface driver FIMC.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * Alternatively, Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef __LINUX_VIDEODEV2_SAMSUNG_H
#define __LINUX_VIDEODEV2_SAMSUNG_H

/* Values for 'capabilities' field */
/* Object detection device */
#define V4L2_CAP_OBJ_RECOGNITION	0x10000000
/* strobe control */
#define V4L2_CAP_STROBE			0x20000000

#define V4L2_CID_FOCUS_MODE		(V4L2_CID_CAMERA_CLASS_BASE + 17)
/* Focus Methods */
enum v4l2_focus_mode {
	V4L2_FOCUS_MODE_AUTO		= 0,
	V4L2_FOCUS_MODE_MACRO		= 1,
	V4L2_FOCUS_MODE_MANUAL		= 2,
	V4L2_FOCUS_MODE_LASTP		= 2,
};

#define V4L2_CID_ZOOM_MODE		(V4L2_CID_CAMERA_CLASS_BASE + 18)
/* Zoom Methods */
enum v4l2_zoom_mode {
	V4L2_ZOOM_MODE_CONTINUOUS	= 0,
	V4L2_ZOOM_MODE_OPTICAL		= 1,
	V4L2_ZOOM_MODE_DIGITAL		= 2,
	V4L2_ZOOM_MODE_LASTP		= 2,
};

/* Exposure Methods */
#define V4L2_CID_PHOTOMETRY		(V4L2_CID_CAMERA_CLASS_BASE + 19)
enum v4l2_photometry_mode {
	V4L2_PHOTOMETRY_MULTISEG = 0,	/*Multi Segment */
	V4L2_PHOTOMETRY_CWA	= 1,	/*Centre Weighted Average */
	V4L2_PHOTOMETRY_SPOT	= 2,
	V4L2_PHOTOMETRY_AFSPOT	= 3,	/*Spot metering on focused point */
	V4L2_PHOTOMETRY_LASTP = V4L2_PHOTOMETRY_AFSPOT,
};

/* Manual exposure control items menu type: iris, shutter, iso */
#define V4L2_CID_CAM_APERTURE	(V4L2_CID_CAMERA_CLASS_BASE + 20)
#define V4L2_CID_CAM_SHUTTER	(V4L2_CID_CAMERA_CLASS_BASE + 21)
#define V4L2_CID_CAM_ISO	(V4L2_CID_CAMERA_CLASS_BASE + 22)

/* Following CIDs are menu type */
#define V4L2_CID_SCENEMODE	(V4L2_CID_CAMERA_CLASS_BASE + 23)
#define V4L2_CID_CAM_STABILIZE	(V4L2_CID_CAMERA_CLASS_BASE + 24)
#define V4L2_CID_CAM_MULTISHOT	(V4L2_CID_CAMERA_CLASS_BASE + 25)

/* Control dynamic range */
#define V4L2_CID_CAM_DR		(V4L2_CID_CAMERA_CLASS_BASE + 26)

/* White balance preset control */
#define V4L2_CID_WHITE_BALANCE_PRESET	(V4L2_CID_CAMERA_CLASS_BASE + 27)

/* CID extensions */
#define V4L2_CID_ROTATION		(V4L2_CID_PRIVATE_BASE + 0)
#define V4L2_CID_PADDR_Y		(V4L2_CID_PRIVATE_BASE + 1)
#define V4L2_CID_PADDR_CB		(V4L2_CID_PRIVATE_BASE + 2)
#define V4L2_CID_PADDR_CR		(V4L2_CID_PRIVATE_BASE + 3)
#define V4L2_CID_PADDR_CBCR		(V4L2_CID_PRIVATE_BASE + 4)
#define V4L2_CID_OVERLAY_AUTO		(V4L2_CID_PRIVATE_BASE + 5)
#define V4L2_CID_OVERLAY_VADDR0		(V4L2_CID_PRIVATE_BASE + 6)
#define V4L2_CID_OVERLAY_VADDR1		(V4L2_CID_PRIVATE_BASE + 7)
#define V4L2_CID_OVERLAY_VADDR2		(V4L2_CID_PRIVATE_BASE + 8)
#define V4L2_CID_OVLY_MODE		(V4L2_CID_PRIVATE_BASE + 9)
#define V4L2_CID_DST_INFO		(V4L2_CID_PRIVATE_BASE + 10)
#define V4L2_CID_IMAGE_EFFECT_FN	(V4L2_CID_PRIVATE_BASE + 16)
#define V4L2_CID_IMAGE_EFFECT_APPLY	(V4L2_CID_PRIVATE_BASE + 17)
#define V4L2_CID_IMAGE_EFFECT_CB	(V4L2_CID_PRIVATE_BASE + 18)
#define V4L2_CID_IMAGE_EFFECT_CR	(V4L2_CID_PRIVATE_BASE + 19)
#define V4L2_CID_RESERVED_MEM_BASE_ADDR	(V4L2_CID_PRIVATE_BASE + 20)
#define V4L2_CID_FIMC_VERSION		(V4L2_CID_PRIVATE_BASE + 21)

#define V4L2_CID_STREAM_PAUSE			(V4L2_CID_PRIVATE_BASE + 53)

/* CID Extensions for camera sensor operations */
#define V4L2_CID_CAM_PREVIEW_ONOFF		(V4L2_CID_PRIVATE_BASE + 64)
#define V4L2_CID_CAM_CAPTURE			(V4L2_CID_PRIVATE_BASE + 65)
#define V4L2_CID_CAM_JPEG_MEMSIZE		(V4L2_CID_PRIVATE_BASE + 66)

#define V4L2_CID_CAM_DATE_INFO_YEAR		(V4L2_CID_PRIVATE_BASE + 14)
#define V4L2_CID_CAM_DATE_INFO_MONTH		(V4L2_CID_PRIVATE_BASE + 15)
#define V4L2_CID_CAM_DATE_INFO_DATE		(V4L2_CID_PRIVATE_BASE + 22)
#define V4L2_CID_CAM_SENSOR_VER			(V4L2_CID_PRIVATE_BASE + 23)
#define V4L2_CID_CAM_FW_MINOR_VER		(V4L2_CID_PRIVATE_BASE + 24)
#define V4L2_CID_CAM_FW_MAJOR_VER		(V4L2_CID_PRIVATE_BASE + 25)
#define V4L2_CID_CAM_PRM_MINOR_VER		(V4L2_CID_PRIVATE_BASE + 26)
#define V4L2_CID_CAM_PRM_MAJOR_VER		(V4L2_CID_PRIVATE_BASE + 27)
#define V4L2_CID_CAM_FW_VER			(V4L2_CID_PRIVATE_BASE + 28)
#define V4L2_CID_CAM_SET_FW_ADDR		(V4L2_CID_PRIVATE_BASE + 29)
#define V4L2_CID_CAM_SET_FW_SIZE		(V4L2_CID_PRIVATE_BASE + 30)
#define V4L2_CID_CAM_UPDATE_FW			(V4L2_CID_PRIVATE_BASE + 31)
#define V4L2_CID_CAM_JPEG_MAIN_SIZE		(V4L2_CID_PRIVATE_BASE + 32)
#define V4L2_CID_CAM_JPEG_MAIN_OFFSET		(V4L2_CID_PRIVATE_BASE + 33)
#define V4L2_CID_CAM_JPEG_THUMB_SIZE		(V4L2_CID_PRIVATE_BASE + 34)
#define V4L2_CID_CAM_JPEG_THUMB_OFFSET		(V4L2_CID_PRIVATE_BASE + 35)
#define V4L2_CID_CAM_JPEG_POSTVIEW_OFFSET	(V4L2_CID_PRIVATE_BASE + 36)
#define V4L2_CID_CAM_JPEG_QUALITY		(V4L2_CID_PRIVATE_BASE + 37)
#define V4L2_CID_CAM_SENSOR_MAKER		(V4L2_CID_PRIVATE_BASE + 38)
#define V4L2_CID_CAM_SENSOR_OPTICAL		(V4L2_CID_PRIVATE_BASE + 39)
#define V4L2_CID_CAM_AF_VER_LOW			(V4L2_CID_PRIVATE_BASE + 40)
#define V4L2_CID_CAM_AF_VER_HIGH		(V4L2_CID_PRIVATE_BASE + 41)
#define V4L2_CID_CAM_GAMMA_RG_LOW		(V4L2_CID_PRIVATE_BASE + 42)
#define V4L2_CID_CAM_GAMMA_RG_HIGH		(V4L2_CID_PRIVATE_BASE + 43)
#define V4L2_CID_CAM_GAMMA_BG_LOW		(V4L2_CID_PRIVATE_BASE + 44)
#define V4L2_CID_CAM_GAMMA_BG_HIGH		(V4L2_CID_PRIVATE_BASE + 45)
#define V4L2_CID_CAM_DUMP_FW			(V4L2_CID_PRIVATE_BASE + 46)
#define V4L2_CID_CAM_GET_DUMP_SIZE		(V4L2_CID_PRIVATE_BASE + 47)
#define V4L2_CID_CAMERA_VT_MODE			(V4L2_CID_PRIVATE_BASE + 48)
#define V4L2_CID_CAMERA_VGA_BLUR		(V4L2_CID_PRIVATE_BASE + 49)
#define V4L2_CID_CAMERA_CAPTURE			(V4L2_CID_PRIVATE_BASE + 50)

#define V4L2_CID_MAIN_SW_DATE_INFO_YEAR		(V4L2_CID_PRIVATE_BASE + 54)
#define V4L2_CID_MAIN_SW_DATE_INFO_MONTH	(V4L2_CID_PRIVATE_BASE + 55)
#define V4L2_CID_MAIN_SW_DATE_INFO_DATE		(V4L2_CID_PRIVATE_BASE + 56)
#define V4L2_CID_MAIN_SW_FW_MINOR_VER		(V4L2_CID_PRIVATE_BASE + 57)
#define V4L2_CID_MAIN_SW_FW_MAJOR_VER		(V4L2_CID_PRIVATE_BASE + 58)
#define V4L2_CID_MAIN_SW_PRM_MINOR_VER		(V4L2_CID_PRIVATE_BASE + 59)
#define V4L2_CID_MAIN_SW_PRM_MAJOR_VER		(V4L2_CID_PRIVATE_BASE + 60)

enum v4l2_blur {
	BLUR_LEVEL_0 = 0,
	BLUR_LEVEL_1,
	BLUR_LEVEL_2,
	BLUR_LEVEL_3,
	BLUR_LEVEL_MAX,
};

#define V4L2_CID_CAMERA_SCENE_MODE		(V4L2_CID_PRIVATE_BASE + 70)
enum v4l2_scene_mode {
	SCENE_MODE_BASE,
	SCENE_MODE_NONE,
	SCENE_MODE_PORTRAIT,
	SCENE_MODE_NIGHTSHOT,
	SCENE_MODE_BACK_LIGHT,
	SCENE_MODE_LANDSCAPE,
	SCENE_MODE_SPORTS,
	SCENE_MODE_PARTY_INDOOR,
	SCENE_MODE_BEACH_SNOW,
	SCENE_MODE_SUNSET,
	SCENE_MODE_DUST_DAWN,
	SCENE_MODE_FALL_COLOR,
	SCENE_MODE_FIREWORKS,
	SCENE_MODE_TEXT,
	SCENE_MODE_CANDLE_LIGHT,
	SCENE_MODE_MAX,
};

#define V4L2_CID_CAMERA_FLASH_MODE		(V4L2_CID_PRIVATE_BASE + 71)
enum v4l2_flash_mode {
	FLASH_MODE_BASE,
	FLASH_MODE_OFF,
	FLASH_MODE_AUTO,
	FLASH_MODE_ON,
	FLASH_MODE_TORCH,
	FLASH_MODE_MAX,
};

#define V4L2_CID_CAMERA_BRIGHTNESS		(V4L2_CID_PRIVATE_BASE + 72)
enum v4l2_ev_mode {
	EV_MINUS_4 = 0,
	EV_MINUS_3,
	EV_MINUS_2,
	EV_MINUS_1,
	EV_DEFAULT,
	EV_PLUS_1,
	EV_PLUS_2,
	EV_PLUS_3,
	EV_PLUS_4,
	EV_MAX,
};

#define V4L2_CID_CAMERA_WHITE_BALANCE		(V4L2_CID_PRIVATE_BASE + 73)
enum v4l2_wb_mode {
	WHITE_BALANCE_BASE = 0,
	WHITE_BALANCE_AUTO,
	WHITE_BALANCE_SUNNY,
	WHITE_BALANCE_CLOUDY,
	WHITE_BALANCE_TUNGSTEN,
	WHITE_BALANCE_FLUORESCENT,
	WHITE_BALANCE_MAX,
};

#define V4L2_CID_CAMERA_EFFECT			(V4L2_CID_PRIVATE_BASE + 74)
enum v4l2_effect_mode {
	IMAGE_EFFECT_BASE = 0,
	IMAGE_EFFECT_NONE,
	IMAGE_EFFECT_BNW,
	IMAGE_EFFECT_SEPIA,
	IMAGE_EFFECT_AQUA,
	IMAGE_EFFECT_ANTIQUE,
	IMAGE_EFFECT_NEGATIVE,
	IMAGE_EFFECT_SHARPEN,
	IMAGE_EFFECT_MAX,
};

#define V4L2_CID_CAMERA_ISO			(V4L2_CID_PRIVATE_BASE + 75)
enum v4l2_iso_mode {
	ISO_AUTO = 0,
	ISO_50,
	ISO_100,
	ISO_200,
	ISO_400,
	ISO_800,
	ISO_1600,
	ISO_SPORTS,
	ISO_NIGHT,
	ISO_MOVIE,
	ISO_MAX,
};

#define V4L2_CID_CAMERA_METERING		(V4L2_CID_PRIVATE_BASE + 76)
enum v4l2_metering_mode {
	METERING_BASE = 0,
	METERING_MATRIX,
	METERING_CENTER,
	METERING_SPOT,
	METERING_MAX,
};

#define V4L2_CID_CAMERA_CONTRAST		(V4L2_CID_PRIVATE_BASE + 77)
enum v4l2_contrast_mode {
	CONTRAST_MINUS_2 = 0,
	CONTRAST_MINUS_1,
	CONTRAST_DEFAULT,
	CONTRAST_PLUS_1,
	CONTRAST_PLUS_2,
	CONTRAST_MAX,
};

#define V4L2_CID_CAMERA_SATURATION		(V4L2_CID_PRIVATE_BASE + 78)
enum v4l2_saturation_mode {
	SATURATION_MINUS_2 = 0,
	SATURATION_MINUS_1,
	SATURATION_DEFAULT,
	SATURATION_PLUS_1,
	SATURATION_PLUS_2,
	SATURATION_MAX,
};

#define V4L2_CID_CAMERA_SHARPNESS		(V4L2_CID_PRIVATE_BASE + 79)
enum v4l2_sharpness_mode {
	SHARPNESS_MINUS_2 = 0,
	SHARPNESS_MINUS_1,
	SHARPNESS_DEFAULT,
	SHARPNESS_PLUS_1,
	SHARPNESS_PLUS_2,
	SHARPNESS_MAX,
};

#define V4L2_CID_CAMERA_WDR			(V4L2_CID_PRIVATE_BASE + 80)
enum v4l2_wdr_mode {
	WDR_OFF,
	WDR_ON,
	WDR_MAX,
};

#define V4L2_CID_CAMERA_ANTI_SHAKE		(V4L2_CID_PRIVATE_BASE + 81)
enum v4l2_anti_shake_mode {
	ANTI_SHAKE_OFF,
	ANTI_SHAKE_STILL_ON,
	ANTI_SHAKE_MOVIE_ON,
	ANTI_SHAKE_MAX,
};

#define V4L2_CID_CAMERA_TOUCH_AF_START_STOP	(V4L2_CID_PRIVATE_BASE + 82)
enum v4l2_touch_af {
	TOUCH_AF_STOP = 0,
	TOUCH_AF_START,
	TOUCH_AF_MAX,
};

#define V4L2_CID_CAMERA_SMART_AUTO		(V4L2_CID_PRIVATE_BASE + 83)
enum v4l2_smart_auto {
	SMART_AUTO_OFF = 0,
	SMART_AUTO_ON,
	SMART_AUTO_MAX,
};

#define V4L2_CID_CAMERA_VINTAGE_MODE		(V4L2_CID_PRIVATE_BASE + 84)
enum v4l2_vintage_mode {
	VINTAGE_MODE_BASE,
	VINTAGE_MODE_OFF,
	VINTAGE_MODE_NORMAL,
	VINTAGE_MODE_WARM,
	VINTAGE_MODE_COOL,
	VINTAGE_MODE_BNW,
	VINTAGE_MODE_MAX,
};

#define V4L2_CID_CAMERA_JPEG_QUALITY	(V4L2_CID_PRIVATE_BASE + 85)
#define V4L2_CID_CAMERA_GPS_LATITUDE	(V4L2_CID_CAMERA_CLASS_BASE + 30)
#define V4L2_CID_CAMERA_GPS_LONGITUDE	(V4L2_CID_CAMERA_CLASS_BASE + 31)
#define V4L2_CID_CAMERA_GPS_TIMESTAMP	(V4L2_CID_CAMERA_CLASS_BASE + 32)
#define V4L2_CID_CAMERA_GPS_ALTITUDE	(V4L2_CID_CAMERA_CLASS_BASE + 33)
#define V4L2_CID_CAMERA_EXIF_TIME_INFO	(V4L2_CID_CAMERA_CLASS_BASE + 34)
#define V4L2_CID_CAMERA_ZOOM		(V4L2_CID_PRIVATE_BASE + 90)
enum v4l2_zoom_level {
	ZOOM_LEVEL_0 = 0,
	ZOOM_LEVEL_1,
	ZOOM_LEVEL_2,
	ZOOM_LEVEL_3,
	ZOOM_LEVEL_4,
	ZOOM_LEVEL_5,
	ZOOM_LEVEL_6,
	ZOOM_LEVEL_7,
	ZOOM_LEVEL_8,
	ZOOM_LEVEL_9,
	ZOOM_LEVEL_10,
	ZOOM_LEVEL_11,
	ZOOM_LEVEL_12,
	ZOOM_LEVEL_MAX,
};

#define V4L2_CID_CAMERA_FACE_DETECTION		(V4L2_CID_PRIVATE_BASE + 91)
enum v4l2_face_detection {
	FACE_DETECTION_OFF = 0,
	FACE_DETECTION_ON,
	FACE_DETECTION_NOLINE,
	FACE_DETECTION_ON_BEAUTY,
	FACE_DETECTION_MAX,
};

#define V4L2_CID_CAMERA_SMART_AUTO_STATUS	(V4L2_CID_PRIVATE_BASE + 92)
enum v4l2_smart_auto_status {
	SMART_AUTO_STATUS_AUTO = 0,
	SMART_AUTO_STATUS_LANDSCAPE,
	SMART_AUTO_STATUS_PORTRAIT,
	SMART_AUTO_STATUS_MACRO,
	SMART_AUTO_STATUS_NIGHT,
	SMART_AUTO_STATUS_PORTRAIT_NIGHT,
	SMART_AUTO_STATUS_BACKLIT,
	SMART_AUTO_STATUS_PORTRAIT_BACKLIT,
	SMART_AUTO_STATUS_ANTISHAKE,
	SMART_AUTO_STATUS_PORTRAIT_ANTISHAKE,
	SMART_AUTO_STATUS_MAX,
};

#define V4L2_CID_CAMERA_SET_AUTO_FOCUS		(V4L2_CID_PRIVATE_BASE + 93)
enum v4l2_auto_focus {
	AUTO_FOCUS_OFF = 0,
	AUTO_FOCUS_ON,
	AUTO_FOCUS_MAX,
};

#define V4L2_CID_CAMERA_BEAUTY_SHOT		(V4L2_CID_PRIVATE_BASE + 94)
enum v4l2_beauty_shot {
	BEAUTY_SHOT_OFF = 0,
	BEAUTY_SHOT_ON,
	BEAUTY_SHOT_MAX,
};

#define V4L2_CID_CAMERA_AEAWB_LOCK_UNLOCK	(V4L2_CID_PRIVATE_BASE + 95)
enum v4l2_ae_awb_lockunlock {
	AE_UNLOCK_AWB_UNLOCK = 0,
	AE_LOCK_AWB_UNLOCK,
	AE_UNLOCK_AWB_LOCK,
	AE_LOCK_AWB_LOCK,
	AE_AWB_MAX
};

#define V4L2_CID_CAMERA_FACEDETECT_LOCKUNLOCK	(V4L2_CID_PRIVATE_BASE + 96)
enum v4l2_face_lock {
	FACE_LOCK_OFF = 0,
	FACE_LOCK_ON,
	FIRST_FACE_TRACKING,
	FACE_LOCK_MAX,
};

#define V4L2_CID_CAMERA_OBJECT_POSITION_X	(V4L2_CID_PRIVATE_BASE + 97)
#define V4L2_CID_CAMERA_OBJECT_POSITION_Y	(V4L2_CID_PRIVATE_BASE + 98)
#define V4L2_CID_CAMERA_FOCUS_MODE		(V4L2_CID_PRIVATE_BASE + 99)
enum v4l2_focusmode {
	FOCUS_MODE_AUTO = 0,
	FOCUS_MODE_MACRO,
	FOCUS_MODE_FACEDETECT,
	FOCUS_MODE_AUTO_DEFAULT,
	FOCUS_MODE_MACRO_DEFAULT,
	FOCUS_MODE_FACEDETECT_DEFAULT,
	FOCUS_MODE_INFINITY,
	FOCUS_MODE_MAX,
};

#define V4L2_CID_CAMERA_OBJ_TRACKING_STATUS	(V4L2_CID_PRIVATE_BASE + 100)
enum v4l2_obj_tracking_status {
	OBJECT_TRACKING_STATUS_BASE,
	OBJECT_TRACKING_STATUS_PROGRESSING,
	OBJECT_TRACKING_STATUS_SUCCESS,
	OBJECT_TRACKING_STATUS_FAIL,
	OBJECT_TRACKING_STATUS_MISSING,
	OBJECT_TRACKING_STATUS_MAX,
};

#define V4L2_CID_CAMERA_OBJ_TRACKING_START_STOP	(V4L2_CID_PRIVATE_BASE + 101)
enum v4l2_ot_start_stop {
	OT_STOP = 0,
	OT_START,
	OT_MAX,
};

#define V4L2_CID_CAMERA_CAF_START_STOP		(V4L2_CID_PRIVATE_BASE + 102)
enum v4l2_caf_start_stop {
	CAF_STOP = 0,
	CAF_START,
	CAF_MAX,
};

#define V4L2_CID_CAMERA_AUTO_FOCUS_RESULT	(V4L2_CID_PRIVATE_BASE + 103)
#define V4L2_CID_CAMERA_FRAME_RATE		(V4L2_CID_PRIVATE_BASE + 104)
enum v4l2_frame_rate {
	FRAME_RATE_AUTO	= 0,
	FRAME_RATE_7	= 7,
	FRAME_RATE_15	= 15,
	FRAME_RATE_30	= 30,
	FRAME_RATE_60	= 60,
	FRAME_RATE_120	= 120,
	FRAME_RATE_MAX
};

#define V4L2_CID_CAMERA_ANTI_BANDING		(V4L2_CID_PRIVATE_BASE + 105)
enum v4l2_anti_banding {
	ANTI_BANDING_AUTO	= 0,
	ANTI_BANDING_50HZ	= 1,
	ANTI_BANDING_60HZ	= 2,
	ANTI_BANDING_OFF	= 3,
};

#define V4L2_CID_CAMERA_SET_GAMMA		(V4L2_CID_PRIVATE_BASE + 106)
enum v4l2_gamma_mode {
	GAMMA_OFF	= 0,
	GAMMA_ON	= 1,
	GAMMA_MAX,
};

#define V4L2_CID_CAMERA_SET_SLOW_AE		(V4L2_CID_PRIVATE_BASE + 107)
enum v4l2_slow_ae_mode {
	SLOW_AE_OFF,
	SLOW_AE_ON,
	SLOW_AE_MAX,
};

#define V4L2_CID_CAMERA_BATCH_REFLECTION	(V4L2_CID_PRIVATE_BASE + 108)
#define V4L2_CID_CAMERA_EXIF_ORIENTATION	(V4L2_CID_PRIVATE_BASE + 109)

#define V4L2_CID_CAMERA_RESET			(V4L2_CID_PRIVATE_BASE + 111)
#define V4L2_CID_CAMERA_CHECK_DATALINE		(V4L2_CID_PRIVATE_BASE + 112)
#define V4L2_CID_CAMERA_CHECK_DATALINE_STOP	(V4L2_CID_PRIVATE_BASE + 113)
#define V4L2_CID_CAMERA_GET_ISO			(V4L2_CID_PRIVATE_BASE + 114)
#define V4L2_CID_CAMERA_GET_SHT_TIME		(V4L2_CID_PRIVATE_BASE + 115)
#define V4L2_CID_CAMERA_SENSOR_MODE		(V4L2_CID_PRIVATE_BASE + 116)
#define V4L2_CID_ESD_INT			(V4L2_CID_PRIVATE_BASE + 117)
#define V4L2_CID_CAMERA_GET_FLASH_ONOFF		(V4L2_CID_PRIVATE_BASE + 118)
#define V4L2_CID_CAMERA_RETURN_FOCUS		(V4L2_CID_PRIVATE_BASE + 119)

/* Pixel format FOURCC depth Description */
/* 12  Y/CbCr 4:2:0 64x32 macroblocks */
#define V4L2_PIX_FMT_NV12T    v4l2_fourcc('T', 'V', '1', '2')

/*
 *  * V4L2 extention for digital camera
 *   */
/* Strobe flash light */
enum v4l2_strobe_control {
	/* turn off the flash light */
	V4L2_STROBE_CONTROL_OFF		= 0,
	/* turn on the flash light */
	V4L2_STROBE_CONTROL_ON		= 1,
	/* act guide light before splash */
	V4L2_STROBE_CONTROL_AFGUIDE	= 2,
	/* charge the flash light */
	V4L2_STROBE_CONTROL_CHARGE	= 3,
};

enum v4l2_strobe_conf {
	V4L2_STROBE_OFF			= 0,	/* Always off */
	V4L2_STROBE_ON			= 1,	/* Always splashes */
	/* Auto control presets */
	V4L2_STROBE_AUTO		= 2,
	V4L2_STROBE_REDEYE_REDUCTION	= 3,
	V4L2_STROBE_SLOW_SYNC		= 4,
	V4L2_STROBE_FRONT_CURTAIN	= 5,
	V4L2_STROBE_REAR_CURTAIN	= 6,
	/* Extra manual control presets */
	/* keep turned on until turning off */
	V4L2_STROBE_PERMANENT		= 7,
	V4L2_STROBE_EXTERNAL		= 8,
};

enum v4l2_strobe_status {
	V4L2_STROBE_STATUS_OFF		= 0,
	/* while processing configurations */
	V4L2_STROBE_STATUS_BUSY		= 1,
	V4L2_STROBE_STATUS_ERR		= 2,
	V4L2_STROBE_STATUS_CHARGING	= 3,
	V4L2_STROBE_STATUS_CHARGED	= 4,
};

/* capabilities field */
/* No strobe supported */
#define V4L2_STROBE_CAP_NONE		0x0000
/* Always flash off mode */
#define V4L2_STROBE_CAP_OFF		0x0001
/* Always use flash light mode */
#define V4L2_STROBE_CAP_ON		0x0002
/* Flashlight works automatic */
#define V4L2_STROBE_CAP_AUTO		0x0004
/* Red-eye reduction */
#define V4L2_STROBE_CAP_REDEYE		0x0008
/* Slow sync */
#define V4L2_STROBE_CAP_SLOWSYNC	0x0010
/* Front curtain */
#define V4L2_STROBE_CAP_FRONT_CURTAIN	0x0020
/* Rear curtain */
#define V4L2_STROBE_CAP_REAR_CURTAIN	0x0040
/* keep turned on until turning off */
#define V4L2_STROBE_CAP_PERMANENT	0x0080
/* use external strobe */
#define V4L2_STROBE_CAP_EXTERNAL	0x0100

/* Set mode and Get status */
struct v4l2_strobe {
	/* off/on/charge:0/1/2 */
	enum v4l2_strobe_control control;
	/* supported strobe capabilities */
	__u32 capabilities;
	enum v4l2_strobe_conf mode;
	enum v4l2_strobe_status status;	/* read only */
	/* default is 0 and range of value varies from each models */
	__u32 flash_ev;
	__u32 reserved[4];
};

#define VIDIOC_S_STROBE     _IOWR('V', 83, struct v4l2_strobe)
#define VIDIOC_G_STROBE     _IOR('V', 84, struct v4l2_strobe)

/* Object recognition and collateral actions */
enum v4l2_recog_mode {
	V4L2_RECOGNITION_MODE_OFF	= 0,
	V4L2_RECOGNITION_MODE_ON	= 1,
	V4L2_RECOGNITION_MODE_LOCK	= 2,
};

enum v4l2_recog_action {
	V4L2_RECOGNITION_ACTION_NONE	= 0,	/* only recognition */
	V4L2_RECOGNITION_ACTION_BLINK	= 1,	/* Capture on blinking */
	V4L2_RECOGNITION_ACTION_SMILE	= 2,	/* Capture on smiling */
};

enum v4l2_recog_pattern {
	V4L2_RECOG_PATTERN_FACE		= 0,	/* Face */
	V4L2_RECOG_PATTERN_HUMAN	= 1,	/* Human */
	V4L2_RECOG_PATTERN_CHAR		= 2,	/* Character */
};

struct v4l2_recog_rect {
	enum v4l2_recog_pattern p;	/* detected pattern */
	struct v4l2_rect o;		/* detected area */
	__u32 reserved[4];
};

struct v4l2_recog_data {
	__u8 detect_cnt;	/* detected object counter */
	struct v4l2_rect o;	/* detected area */
	__u32 reserved[4];
};

struct v4l2_recognition {
	enum v4l2_recog_mode mode;

	/* Which pattern to detect */
	enum v4l2_recog_pattern pattern;

	/* How many object to detect */
	__u8 obj_num;

	/* select detected object */
	__u32 detect_idx;

	/* read only :Get object coordination */
	struct v4l2_recog_data data;

	enum v4l2_recog_action action;
	__u32 reserved[4];
};

#define VIDIOC_S_RECOGNITION	_IOWR('V', 85, struct v4l2_recognition)
#define VIDIOC_G_RECOGNITION	_IOR('V', 86, struct v4l2_recognition)

/* We use this struct as the v4l2_streamparm raw_data for
 * VIDIOC_G_PARM and VIDIOC_S_PARM
 */
struct sec_cam_parm {
	struct v4l2_captureparm capture;
	int contrast;
	int effects;
	int brightness;
	int flash_mode;
	int focus_mode;
	int iso;
	int metering;
	int saturation;
	int scene_mode;
	int sharpness;
	int white_balance;
};

/* ------------- Input ------------------*/
// type
#define V4L2_INPUT_TYPE_MSDMA			3
#define V4L2_INPUT_TYPE_FIFO			4
// fmt

/* ------------- Output -----------------*/
// type
#define V4L2_OUTPUT_TYPE_MSDMA			4
#define V4L2_OUTPUT_TYPE_COMPOSITE		5
#define V4L2_OUTPUT_TYPE_SVIDEO			6
#define V4L2_OUTPUT_TYPE_YPBPR_INERLACED	7
#define V4L2_OUTPUT_TYPE_YPBPR_PROGRESSIVE	8
#define V4L2_OUTPUT_TYPE_RGB_PROGRESSIVE	9
#define V4L2_OUTPUT_TYPE_DIGITAL		10
#define V4L2_OUTPUT_TYPE_HDMI			V4L2_OUTPUT_TYPE_DIGITAL
#define V4L2_OUTPUT_TYPE_HDMI_RGB		11
#define V4L2_OUTPUT_TYPE_DVI			12
// fmt

/* ------------- STD -------------------*/
#define V4L2_STD_PAL_BDGHI V4L2_STD_PAL_B|V4L2_STD_PAL_D|V4L2_STD_PAL_G|V4L2_STD_PAL_H|V4L2_STD_PAL_I

#define V4L2_STD_480P_60_16_9		((v4l2_std_id)0x04000000)
#define V4L2_STD_480P_60_4_3		((v4l2_std_id)0x05000000)
#define V4L2_STD_576P_50_16_9		((v4l2_std_id)0x06000000)
#define V4L2_STD_576P_50_4_3		((v4l2_std_id)0x07000000)
#define V4L2_STD_720P_60		((v4l2_std_id)0x08000000)
#define V4L2_STD_720P_50		((v4l2_std_id)0x09000000)
#define V4L2_STD_1080P_60		((v4l2_std_id)0x0a000000)
#define V4L2_STD_1080P_50		((v4l2_std_id)0x0b000000)
#define V4L2_STD_1080P_30		((v4l2_std_id)0x12000000)
#define V4L2_STD_1080I_60		((v4l2_std_id)0x0c000000)
#define V4L2_STD_1080I_50		((v4l2_std_id)0x0d000000)
#define V4L2_STD_480P_59		((v4l2_std_id)0x0e000000)
#define V4L2_STD_720P_59		((v4l2_std_id)0x0f000000)
#define V4L2_STD_1080I_59		((v4l2_std_id)0x10000000)
#define V4L2_STD_1080P_59		((v4l2_std_id)0x11000000)
#define V4L2_STD_1080P_30		((v4l2_std_id)0x12000000)


/* ------------- ext. param -------------------*/

#define V4L2_FBUF_FLAG_PRE_MULTIPLY			0x0040
#define V4L2_FBUF_CAP_PRE_MULTIPLY			0x0080

#define VIDIOC_HDCP_ENABLE _IOWR('V', 100, unsigned int)	//Control HDCP flag 1: enable, 0: disable
#define VIDIOC_HDCP_STATUS _IOR('V', 101, unsigned int)
#define VIDIOC_HDCP_PROT_STATUS _IOR('V', 102, unsigned int)

#define VIDIOC_INIT_AUDIO _IOR('V', 103, unsigned int)
#define VIDIOC_AV_MUTE _IOR('V', 104, unsigned int)
#define VIDIOC_G_AVMUTE _IOR('V', 105, unsigned int)
#define VIDIOC_TV_OUT_BASE_ADDR _IOR('V', 106, unsigned int)


struct v4l2_window_s5p_tvout
{
	__u32			capability;
	__u32			flags;
	unsigned int		priority;
	struct v4l2_window	win;
};

struct v4l2_pix_format_s5p_tvout
{
	void *base_y;
	void *base_c;
	unsigned short src_img_endian;
	struct v4l2_pix_format	pix_fmt;
};

#endif /* __LINUX_VIDEODEV2_SAMSUNG_H */

camera.cpp

#include 
#include 
#include 
#include 
#include              /* getopt_long() */
#include               /* low-level i/o */
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include           /* for videodev2.h */
#include 
#include "camera.h"
#include "videodev2_samsung.h"

void Camera::DecodeYUV420SP(unsigned int* rgbBuf, unsigned char* yuv420sp, int width, int height) {
    int frameSize = width * height;

    int i = 0, y = 0;
    int uvp = 0, u = 0, v = 0;
    int y1192 = 0, r = 0, g = 0, b = 0;
    unsigned int xrgb8888;
    int xrgb8888Index = 0;

    for (int j = 0, yp = 0; j < height; j++) {
        uvp = frameSize + (j >> 1) * width;
        u = 0;
        v = 0;
        for (i = 0; i < width; i++, yp++) {
            y = (0xff & ((int) yuv420sp[yp])) - 16;
            if (y < 0) y = 0;
            if ((i & 1) == 0) {
                v = (0xff & yuv420sp[uvp++]) - 128;
                u = (0xff & yuv420sp[uvp++]) - 128;
            }

            y1192 = 1192 * y;
            r = (y1192 + 1634 * u);
            g = (y1192 - 833 * u - 400 * v);
            b = (y1192 + 2066 * v);

            if (r < 0) r = 0; else if (r > 262143) r = 262143;
            if (g < 0) g = 0; else if (g > 262143) g = 262143;
            if (b < 0) b = 0; else if (b > 262143) b = 262143;


            r = (unsigned char)(r >> 10);
            g = (unsigned char)(g >> 10);
            b = (unsigned char)(b >> 10);

            xrgb8888 = (unsigned int)((r << 16) | (g << 8) | b);
            rgbBuf[xrgb8888Index++] = xrgb8888;
        }
    }
}

//YUYV(yuv422)转RGB
void Camera:: video_yuyv_to_rgb24(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height)
{
    unsigned int in, out;
     int y0, u, y1, v;
     unsigned int pixel24;
      unsigned char *pixel = (unsigned char *)&pixel24;
      unsigned int size = width*height*2;

      for (in = 0, out = 0; in < size; in += 4, out += 8)
     {
         y0 = yuv[in+0];
         u  = yuv[in+1];
         y1 = yuv[in+2];
         v  = yuv[in+3];

         sign3 = true;
         pixel24 = yuvtorgb(y0, u, v);
         rgb[out+0] = pixel[0];    //for QT
         rgb[out+1] = pixel[1];
         rgb[out+2] = pixel[2];
         //rgb[out+0] = pixel[2];  //for iplimage
         //rgb[out+1] = pixel[1];
        //rgb[out+2] = pixel[0];

         //sign3 = true;
         pixel24 = yuvtorgb(y1, u, v);
         rgb[out+4] = pixel[0];
         rgb[out+5] = pixel[1];
         rgb[out+6] = pixel[2];
         //rgb[out+3] = pixel[2];
         //rgb[out+4] = pixel[1];
         //rgb[out+5] = pixel[0];
    }
     //return 0;

}


int Camera:: yuvtorgb(int y, int u, int v)
{
    unsigned int pixel24 = 0;
     unsigned char *pixel = (unsigned char *)&pixel24;
     int r, g, b;
     static long int ruv, guv, buv;

     if (sign3)
     {
         sign3 = false;
         ruv = 1159*(v-128);
         guv = 380*(u-128) + 813*(v-128);
         buv = 2018*(u-128);
    }

     r = (1164*(y-16) + ruv) / 1000;
     g = (1164*(y-16) - guv) / 1000;
     b = (1164*(y-16) + buv) / 1000;

     if (r > 255) r = 255;
     if (g > 255) g = 255;
     if (b > 255) b = 255;
     if (r < 0) r = 0;
     if (g < 0) g = 0;
     if (b < 0) b = 0;

     pixel[0] = r;
     pixel[1] = g;
     pixel[2] = b;

     return pixel24;
}


Camera::Camera(char *DEV_NAME, int w, int h)//构造函数
{
    memcpy(dev_name,DEV_NAME,strlen(DEV_NAME));
    io = IO_METHOD_MMAP;//IO_METHOD_READ;//IO_METHOD_MMAP;
    cap_image_size=0;
    width=w;
    height=h;
}

Camera::~Camera(){

}

unsigned int Camera::getImageSize(){
    return cap_image_size;
}

void Camera::CloseDevice() {
    stop_capturing();
    uninit_device();
    close_device();
}

void Camera::errno_exit(const char * s) {
    fprintf(stderr, "%s error %d, %s\n", s, errno, strerror(errno));
    exit(EXIT_FAILURE);
}
int Camera::xioctl(int fd, int request, void * arg) {
    int r;
    do
        r = ioctl(fd, request, arg);
    while (-1 == r && EINTR == errno);
    return r;
}

int Camera::read_frame(unsigned char *image) {
    struct v4l2_buffer buf;

    //CLEAR (buf);
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;
    if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) //把数据从缓存中读取出来
    {
        switch (errno) {
        case EAGAIN:
            return 0;
        case EIO:
            /* Could ignore EIO, see spec. */
            /* fall through */
        default:
            errno_exit("VIDIOC_DQBUF");
        }
    }
    assert(buf.index < CAPTURE_BUFFER_NUMBER);
    memcpy((void*)image,(void*)buffers[0].start,buffers[0].length);
    //fwrite(buffers[0].start, buffers[0].length, 1, yuv_fd);//写入文件
    //DecodeYUV420SP((unsigned int*)image, (unsigned char*)buffers[0].start, width, height);
    //video_yuyv_to_rgb24((unsigned char*)buffers[0].start,(unsigned char*)image,width,height);
    if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))//再将其入列，把数据放回缓存队列
        errno_exit("VIDIOC_QBUF");

    return 1;
}
void Camera::stop_capturing(void) {
    enum v4l2_buf_type type;
    switch (io) {
    case IO_METHOD_READ:
        /* Nothing to do. */
        break;
    case IO_METHOD_MMAP:
    case IO_METHOD_USERPTR:
        type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        /*关闭视频采集命令*/
        if (-1 == xioctl(fd, VIDIOC_STREAMOFF, &type))
            errno_exit("VIDIOC_STREAMOFF");
        break;
    }
}
bool Camera::start_capturing(void) {
    unsigned int i;
    enum v4l2_buf_type type;

    for (i = 0; i < CAPTURE_BUFFER_NUMBER; ++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))//再将其入列，把数据放回缓存队列
            return false;
    }
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    //启动视频采集命令
    /*通过调用select函数来判断一帧视频数据是否采集完成，当视频设备驱动完成一帧视频数据采集并保存到视频缓冲区中时，select函数返
    回，应用程序接着可以读取视频数据；否则select函数阻塞直到视频数据采集完成*/
    if (-1 == xioctl(fd, VIDIOC_STREAMON, &type))
        return false;

    return true;
}
void Camera::uninit_device(void) {
    unsigned int i;
    switch (io) {
    case IO_METHOD_READ:
        free(buffers[0].start);
        break;
    case IO_METHOD_MMAP:
        for (i = 0; i < CAPTURE_BUFFER_NUMBER; ++i)//释放申请的内存映射
            if (-1 == munmap(buffers[i].start, buffers[i].length))
                errno_exit("munmap");
        break;
    case IO_METHOD_USERPTR:
        for (i = 0; i < CAPTURE_BUFFER_NUMBER; ++i)
            free(buffers[i].start);
        break;
    }
}
/*********************申请物理内存*******************************/
bool Camera::init_mmap(void) {

    bool CouldSetFrameRate = false;
    struct v4l2_streamparm StreamParam;
    memset(&StreamParam, 0, sizeof StreamParam);
    StreamParam.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (ioctl(fd, VIDIOC_G_PARM, &StreamParam) < 0)  {
        fprintf(stderr, "could not set frame rate\n");
    } else {
        CouldSetFrameRate = StreamParam.parm.capture.capability & V4L2_CAP_TIMEPERFRAME;
    }

    // map the capture buffer...
    struct v4l2_requestbuffers req;
    CLEAR (req);
    req.count = CAPTURE_BUFFER_NUMBER; // 缓冲区内缓冲帧的数目
    req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;// 缓冲帧数据格式
    req.memory = V4L2_MEMORY_MMAP;//内存映射(memorymapping)方式
    if(ioctl(fd, VIDIOC_REQBUFS, &req) < 0) //申请缓冲，count是申请的数量
    {

        fprintf(stderr, "request capture buffer failed\n");
        return false;
    }

    if (int(req.count) != CAPTURE_BUFFER_NUMBER) {

        fprintf(stderr, "capture buffer number is wrong\n");
        return false;
    }


    for (unsigned int i = 0; i < req.count; i++) {
        struct v4l2_buffer buf; //驱动中的一帧
        CLEAR (buf);
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;//buffer类型
        buf.memory = V4L2_MEMORY_MMAP;//IO方式，内存映射
        buf.index = i;//序号
        //映射用户空间，把VIDIOC_REQBUFS中分配的数据缓存转换成物理地址
        if (ioctl(fd, VIDIOC_QUERYBUF, &buf) < 0)
            errno_exit("VIDIOC_QUERYBUF");
        buffers[i].length = buf.length;
        //通过mmap建立映射关系
        buffers[i].start = mmap(NULL /* start anywhere */, buf.length,
                                        PROT_READ | PROT_WRITE /* required */,
                                        MAP_SHARED /* recommended */, fd, buf.m.offset);
        if (MAP_FAILED == buffers[i].start)
            return false;
    }

    struct v4l2_control ctrl;
    ctrl.id = V4L2_CID_CAMERA_CHECK_DATALINE;
    ctrl.value = 0;
     /* 设置新的命令值 */
    if(ioctl(fd, VIDIOC_S_CTRL,&ctrl)) {
        fprintf(stderr, "VIDIOC_S_CTRL V4L2_CID_CAMERA_CHECK_DATALINE failed\n");
        return false;
    }

    return true;
}

bool Camera::init_device(void) {

    v4l2_input input;
    memset(&input, 0, sizeof(struct v4l2_input));
    input.index = 0;
    if (ioctl(fd, VIDIOC_ENUMINPUT, &input) != 0) {

        fprintf(stderr, "No matching index found\n");
        return false;
    }
    if (!input.name) {

        fprintf(stderr, "No matching index found\n");
        return false;
    }
    if (ioctl(fd, VIDIOC_S_INPUT, &input) < 0) {

        fprintf(stderr, "VIDIOC_S_INPUT failed\n");
        return false;
    }


    struct v4l2_fmtdesc fmt1; //v4l2_fmtdesc : 帧格式结构体
    int ret;
    memset(&fmt1, 0, sizeof(fmt1));//将fmt1结构体填充为0
    fmt1.index = 0;            //初始化为0，要查询的格式序号
    fmt1.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; // 数据流类型，必须永远是V4L2_BUF_TYPE_VIDEO_CAPTURE
    while ((ret = ioctl(fd, VIDIOC_ENUM_FMT, &fmt1)) == 0) //显示所有支持的格式
    {
        fmt1.index++;
        printf("{ pixelformat = '%c%c%c%c', description = '%s' }\n",fmt1.pixelformat & 0xFF,
        (fmt1.pixelformat >> 8) & 0xFF,(fmt1.pixelformat >> 16) & 0xFF,
        (fmt1.pixelformat >> 24) & 0xFF,fmt1.description); //  pixelformat;格式32位   description[32];// 格式名称8位
    }

     /**************************设置当前帧格式************************/
    struct v4l2_format fmt; //设置当前格式结构体(v4l2_format包含v4l2_fmtdesc  fmt为共用体)
    CLEAR (fmt);
    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;//数据流类型
    fmt.fmt.pix.width = width;
    fmt.fmt.pix.height = height;
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;//V4L2_PIX_FMT_NV12;//视频数据存储类型
    fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;

//    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;//V4L2_PIX_FMT_NV12;//视频数据存储类型
//    fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;

    if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))//设置图像格式
        return false;
     /**************************读取当前帧格式*************************/
    if (-1 == xioctl(fd, VIDIOC_G_FMT, &fmt))
    {

        return false;

    }
    else
    printf("\nCurrent data format information:\n twidth:%d \n theight:%d \n",
                                     fmt.fmt.pix.width,fmt.fmt.pix.height);
     printf(" pixelformat = '%c%c%c%c'\n",fmt.fmt.pix.pixelformat & 0xFF,
    (fmt.fmt.pix.pixelformat >> 8) & 0xFF,(fmt.fmt.pix.pixelformat >> 16) & 0xFF,
    (fmt.fmt.pix.pixelformat >> 24) & 0xFF); //  pixelformat;格式32位

    //原始摄像头数据每帧的大小
    cap_image_size = fmt.fmt.pix.sizeimage;
    init_mmap();

    return true;
}

void Camera::close_device(void) {
    if (-1 == close(fd))
        errno_exit("close");
    fd = -1;
}
bool Camera::open_device(void) {
    struct stat st;
    if (-1 == stat(dev_name, &st)) //通过文件名filename获取文件信息，并保存在buf所指的结构体st中
    {
        fprintf(stderr, "Cannot identify '%s': %d, %s\n", dev_name, errno,
                strerror(errno));
        return false;
    }
    if (!S_ISCHR(st.st_mode)) {
        fprintf(stderr, "%s is no device\n", dev_name);
        return false;
    }
    fd = ::open(dev_name, O_RDWR | O_NONBLOCK);
    if (-1 == fd) {
        fprintf(stderr, "Cannot open '%s': %d, %s\n", dev_name, errno,
                strerror(errno));
        return false;
    }
//    yuv_fd = fopen("out.mpg","wb");//打开文件
    return true;
}

bool Camera::OpenDevice(){
    if (open_device()) {
        printf("Open video success\n");
        if (init_device())
        {
            if (start_capturing())
                return true;
        }
    } else
        printf("open video failed\n");
    return false;
}

bool Camera::GetBuffer(unsigned char *image){

    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) {
        errno_exit("select");
    }
    if (0 == r) {
        fprintf(stderr, "select timeout\n");
        exit(EXIT_FAILURE);
    }
    read_frame(image);

    return true;
}

网络传输部分

Udpcam.h

#ifndef UDPCAM_H
#define UDPCAM_H
#include 
#include 


class UdpCam
{
public:
    UdpCam(char* ip,qint16 port);
    int width,height,size;
    void dealMsg();//slot
    void Send(char* data,QByteArray buf);
    void frameStartcheck();
    void frameEndcheck();
    int convert_yuv_to_rgb_pixel(int y, int u, int v);
    int convert_yuv_to_rgb_buffer(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
    void Udpcheck(char* dst,int len);
private:
    QString udpip;
    qint16 udpport;

    QUdpSocket *udpSocket;
};

#endif // UDPCAM_H

Udpcam.cpp

#include "Udpcam.h"
#include 
#include 
#include 
#include 

using namespace  std ;

//YUYV(yuv422)转RGB
int UdpCam::convert_yuv_to_rgb_buffer(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height)
{
    unsigned int in, out = 0;
    unsigned int pixel_16;
    unsigned char pixel_24[3];
    unsigned int pixel32;
    int y0, u, y1, v;
    for(in = 0; in < width * height * 2; in += 4) {
        pixel_16 =
            yuv[in + 3] << 24 |
            yuv[in + 2] << 16 |
            yuv[in + 1] <<  8 |
            yuv[in + 0];
        y0 = (pixel_16 & 0x000000ff);
        u  = (pixel_16 & 0x0000ff00) >>  8;
        y1 = (pixel_16 & 0x00ff0000) >> 16;
        v  = (pixel_16 & 0xff000000) >> 24;
        pixel32 = convert_yuv_to_rgb_pixel(y0, u, v);
        pixel_24[0] = (pixel32 & 0x000000ff);
        pixel_24[1] = (pixel32 & 0x0000ff00) >> 8;
        pixel_24[2] = (pixel32 & 0x00ff0000) >> 16;
        rgb[out++] = pixel_24[0];
        rgb[out++] = pixel_24[1];
        rgb[out++] = pixel_24[2];
        pixel32 = convert_yuv_to_rgb_pixel(y1, u, v);
        pixel_24[0] = (pixel32 & 0x000000ff);
        pixel_24[1] = (pixel32 & 0x0000ff00) >> 8;
        pixel_24[2] = (pixel32 & 0x00ff0000) >> 16;
        rgb[out++] = pixel_24[0];
        rgb[out++] = pixel_24[1];
        rgb[out++] = pixel_24[2];
    }
    return 0;
}

int UdpCam::convert_yuv_to_rgb_pixel(int y, int u, int v)
{
    unsigned int pixel32 = 0;
    unsigned char *pixel = (unsigned char *)&pixel32;
    int r, g, b;
    r = y + (1.370705 * (v-128));
    g = y - (0.698001 * (v-128)) - (0.337633 * (u-128));
    b = y + (1.732446 * (u-128));
    if(r > 255) r = 255;
    if(g > 255) g = 255;
    if(b > 255) b = 255;
    if(r < 0) r = 0;
    if(g < 0) g = 0;
    if(b < 0) b = 0;
    pixel[0] = r * 220 / 256;
    pixel[1] = g * 220 / 256;
    pixel[2] = b * 220 / 256;
    return pixel32;
}
UdpCam::UdpCam(char* ip,qint16 port)
{
       udpip = QString (ip);
       udpport=port;
       udpSocket =new QUdpSocket();

       udpSocket->bind(9999);
}

void UdpCam::Send(char* data, QByteArray buf)
{

    for(int i=0;i<size/2000;i++){
    memcpy(buf.data(),data+2000*i,2000);
    udpSocket->writeDatagram(buf,QHostAddress(udpip),udpport);
    }
}

void UdpCam::frameStartcheck()
{
    udpSocket->writeDatagram("start",QHostAddress(udpip),udpport);
}
void UdpCam::frameEndcheck()
{
    udpSocket->writeDatagram("end",QHostAddress(udpip),udpport);
}

void UdpCam::Udpcheck(char* dst,int len)
{
    char tbuf[5];
    memset(tbuf,0,5);
    QHostAddress cliaddr;
    quint16 port;
    udpSocket->readDatagram(tbuf,len,&cliaddr,&port);

    while(1)
    {
    int res=strcmp(tbuf,dst);
    printf("%s,%s,%d\n",tbuf,dst,res);
    if(res==0)break;
    }
}

主文件
main.cpp

/*
 * main.cpp
 *
 *  Created on: 2020年3月1日
 *      Author: Westlor
 */
#include 
#include 
#include 
#include 
#include 
#include 
#include "Camera/camera.h"
#include "Camera/Udpcam.h"

#define CAM_DEV		"/dev/video5"
#define FB_DEV		"/dev/fb0"
Camera *camera;
using namespace std;

void sign_func(int sign_num)
{
    switch(sign_num)
    {
        case SIGINT:
            printf("I have get SIGINT, I'm going now..\n");
            camera->CloseDevice();
            exit(0);
            break;
    }
}

//IP PORT WIDTH HEIGHT
int main(int argc,char** argv) {
    QCoreApplication a(argc, argv);
    printf("[IP,PORT,WIDTH,HEIGHT]:%s,%s,%s,%s\n",argv[1],argv[2],argv[3],argv[4]);
    if(argc!=5)
    {
        printf("USE THIS MODE :./APP IP PORT WIDTH HEIGHT");
        return a.exec();
    }
    UdpCam udpcamera(argv[1],atoi(argv[2]));
    udpcamera.width=atoi((const char*)argv[3]);
    udpcamera.height=atoi((const char*)argv[4]);
    udpcamera.size=udpcamera.width*udpcamera.height*2;
    unsigned char image[udpcamera.width*udpcamera.height*2];
    camera=new Camera(CAM_DEV, udpcamera.width, udpcamera.height);
    if(!camera->OpenDevice()){
        printf("Cam Open error\n");
        return -1;
    }
    printf("Waiting for signal SIGINT..\n");
    signal(SIGINT, sign_func);

    while(1)
    {
       if(camera->GetBuffer(image)){
           QByteArray b;
           b.resize(2000);
           udpcamera.Send((char*)image,b);
       }
       else{
           break;
       }
    }
    return a.exec();
}

上位机代码设计

NetWin.pro

#-------------------------------------------------
#
# Project created by QtCreator 2020-03-01T16:51:20
#
#-------------------------------------------------

QT       += core gui network

greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

TARGET = NetWIn
TEMPLATE = app

#X86
INCLUDEPATH +=/usr/local/include
INCLUDEPATH +=/usr/local/include/opencv

LIBS        +=/usr/local/lib/libopencv*


#ARM
#INCLUDEPATH +=/home/swann/s5p6818/opencv-2.4.9-6818/include/opencv
#INCLUDEPATH +=/home/swann/s5p6818/opencv-2.4.9-6818/include/opencv2
#INCLUDEPATH +=/home/swann/s5p6818/opencv-2.4.9-6818/include

#LIBS        +=  /usr/lib/libopencv_highgui.so  \
#                /usr/lib/libopencv_core.so \
#                /usr/lib/libopencv_objdetect.so    \
#                /usr/lib/libopencv_imgproc.so

SOURCES += main.cpp\
        widget.cpp

HEADERS  += widget.h

FORMS    += widget.ui

widget.h

#ifndef WIDGET_H
#define WIDGET_H

#include 
#include 
#include 

namespace Ui {
class Widget;
}

class Widget : public QWidget
{
    Q_OBJECT

public:
    explicit Widget(QWidget *parent = 0);
    int width,height;
    ~Widget();
    int convert_yuv_to_rgb_pixel(int y, int u, int v);
    int convert_yuv_to_rgb_buffer(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height);
    void dealMsg();//slot
    void getframe();
    bool Udpcheck(char* src,char* dst);
private:
    Ui::Widget *ui;
    char* buf;
    char* rgbbuf;
    int   getnum;
    int size;
    uchar *pp;
    uchar * p;
    QPainter *painter;
    QLabel *label;
    QImage *frame;
    QTimer *timer;
    QUdpSocket *udpSocket;
    FILE *fd;
    QString udpip;
    qint16 udpport;
private slots:
    void paint();
};

#endif // WIDGET_H

widget.cpp

#include "widget.h"
#include "ui_widget.h"
#include 
#include 
#include 
#include 
#include 
#include 

//YUYV(yuv422)转RGB
int Widget::convert_yuv_to_rgb_buffer(unsigned char *yuv, unsigned char *rgb, unsigned int width, unsigned int height)
{
    unsigned int in, out = 0;
    unsigned int pixel_16;
    unsigned char pixel_24[3];
    unsigned int pixel32;
    int y0, u, y1, v;
    for(in = 0; in < width * height * 2; in += 4) {
        pixel_16 =
            yuv[in + 3] << 24 |
            yuv[in + 2] << 16 |
            yuv[in + 1] <<  8 |
            yuv[in + 0];
        y0 = (pixel_16 & 0x000000ff);
        u  = (pixel_16 & 0x0000ff00) >>  8;
        y1 = (pixel_16 & 0x00ff0000) >> 16;
        v  = (pixel_16 & 0xff000000) >> 24;
        pixel32 = convert_yuv_to_rgb_pixel(y0, u, v);
        pixel_24[0] = (pixel32 & 0x000000ff);
        pixel_24[1] = (pixel32 & 0x0000ff00) >> 8;
        pixel_24[2] = (pixel32 & 0x00ff0000) >> 16;
        rgb[out++] = pixel_24[0];
        rgb[out++] = pixel_24[1];
        rgb[out++] = pixel_24[2];
        pixel32 = convert_yuv_to_rgb_pixel(y1, u, v);
        pixel_24[0] = (pixel32 & 0x000000ff);
        pixel_24[1] = (pixel32 & 0x0000ff00) >> 8;
        pixel_24[2] = (pixel32 & 0x00ff0000) >> 16;
        rgb[out++] = pixel_24[0];
        rgb[out++] = pixel_24[1];
        rgb[out++] = pixel_24[2];
    }
    return 0;
}

int Widget::convert_yuv_to_rgb_pixel(int y, int u, int v)
{
    unsigned int pixel32 = 0;
    unsigned char *pixel = (unsigned char *)&pixel32;
    int r, g, b;
    r = y + (1.370705 * (v-128));
    g = y - (0.698001 * (v-128)) - (0.337633 * (u-128));
    b = y + (1.732446 * (u-128));
    if(r > 255) r = 255;
    if(g > 255) g = 255;
    if(b > 255) b = 255;
    if(r < 0) r = 0;
    if(g < 0) g = 0;
    if(b < 0) b = 0;
    pixel[0] = r * 220 / 256;
    pixel[1] = g * 220 / 256;
    pixel[2] = b * 220 / 256;
    return pixel32;
}


Widget::Widget(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::Widget)
{
    ui->setupUi(this);
    udpSocket =new QUdpSocket(this);
    width=1280;
    height=800;
    size=width*height*2;
    getnum=0;
    buf=(char*)malloc(size*sizeof(char));
    rgbbuf=(char*)malloc(width*height*3);
    //获取编辑区内容
    qint16 port =ui->lineEditPort->text().toInt();
    udpSocket->bind(port);
    udpip = QString ("192.168.0.18");
    udpport=9999;
    setWindowTitle("PORT:9999");
    connect(udpSocket,&QUdpSocket::readyRead,this,&Widget::dealMsg);
    frame = new QImage(pp,width,height,QImage::Format_RGB888);

}

void Widget::paint()
{
    convert_yuv_to_rgb_buffer((unsigned char*)buf,(unsigned char*)rgbbuf, width, height);
    QImage img = QImage((const unsigned char*)(rgbbuf),
                            width, height, QImage::Format_RGB888);

        //设定图像大小自适应label窗口的大小
        img = img.scaled(ui->label->size(), Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
        ui->label->setPixmap(QPixmap::fromImage(img));
}


void Widget::getframe()
{
    QHostAddress cliaddr;
    quint16 port;
    udpSocket->readDatagram(buf+2000*(getnum-1),2000,&cliaddr,&port);

}

void Widget::dealMsg()
{
    getnum++;
    getframe();
    if(getnum>=size/2000)
    {
    paint();
    getnum=0;
    }
}


Widget::~Widget()
{
    free(buf);
    free(rgbbuf);
    delete ui;
}

bool Widget::Udpcheck(char* src,char* dst)
{
    while(1)
    {
    int res=strcmp(src,dst);
    printf("%s,%s,%d\n",src,dst,res);
    if(res==0)break;
    }
}

效果展示：

问题分析：

可以非常明显的发现因为存在的丢包问题导致画面有点分裂，之后准备使用LINUX中的TCP传输重新在一次尝试

源码：
NetCam