linux環境下使用V4L2及Qt設計簡易照相機

最近放假，比較清閒，正好手上有一個USB的免驅攝像頭，想了想打算做一個簡易的照相機，後期移植到4412的板子上做實時監控。之後在網上找了找參考資料，發現了一個比較好的博客，在此貼出來，鏈接：http://www.cnblogs.com/surpassal/archive/2012/12/19/zed_webcam_lab1.html 本文是我在參考這個博客和其他很多資料的情況下寫作的，其中包含了我遇到的問題及解決辦法。

硬件平臺：USB免驅攝像頭+X86PC

開發環境：WIN7-64bit+VMware11.0+Ubuntu12.04+Qtcreater(Qt5.0)

一.開始前的準備

   在正式開始編程前，首先需要對所需要用到的知識點進行了解，在此我們主要需要對V4L2，YUYV轉RGB888和BMP編碼進行了解。

1.V4L2

Video4linux2（簡稱V4l2),是linux中關於視頻設備的內核驅動。在linux中一切皆文件,我們藉由V4l2的api即可把攝像頭當作文件進行讀寫。V4L2原生支持UVC攝像頭，我開頭說的USB免驅攝像頭即在此列。由於V4L2設置非常複雜，所以在編程的時候再去看如何設置。

2.YUYV轉RGB888

RGB是常見的像素點表示方法，目前常見於24bit（即真彩色），RGB三個分量分別佔8bit，即上文我所提到的RGB888。

YUV（亦稱YCrCb）是被歐洲電視系統所採用的一種顏色編碼方法（屬於PAL）。YUV主要用於優化彩色視頻信號的傳輸，使其向後兼容老式黑白電視。與RGB視頻信號傳輸相比，它最大的優點在於只需佔用極少的帶寬（RGB要求三個獨立的視頻信號同時傳輸）。其中"Y"表示明亮度（Lumina nce或Luma），也就是灰階值；是個基帶信號，而"U"和"V"表示的則是色度（Chrominance或Chroma），作用是描述影像色彩及飽和度，用於指定像素的顏色。U和V不是基帶信號，它倆是被正交調製了的。 "亮度"是通過RGB輸入信號來創建的，方法是將RGB信號的特定部分疊加到一起。"色度"則定義了顏色的兩個方面-色調與飽和度，分別用Cr和CB來表示。其中，Cr反映了RGB輸入信號紅色部分與RGB信號亮度值之間的差異。而CB反映的是RGB輸入信號藍色部分與RGB信號亮度值之同的差異。通過運算，YUV三分量可以還原出R（紅），G（綠），B（藍）。

換算公式如下表：

<span style="font-size:18px;">R = Y + 1.042*(V-128);
G = Y - 0.34414*(U-128) - 0.71414*(V-128);
B = Y + 1.772*(U-128);</span>

YUV同樣也有很多標準，不過一般攝像頭上會採用422，420等標準，YUYV就是422形式。解釋一下就是，假設現在有兩個像素點P1和P2，那麼本來應該有Y1，U1，V1，Y2，U2，V2六個分量，但是實際上只保留了Y1，U1，Y2，V2，這樣在相鄰極近的兩個像素點之間部分信息共享，減小了數據量，但是又因爲變化較小，並不會明顯改變圖像質量。

3.BMP編碼

BMP（全程Bitmap）是Windows中的標準圖像文件格式。其編碼方式簡單，可以完整的保留原始圖像信息。

典型的BMP圖片包含四個部分：

1.位圖頭文件數據結構，包含BMP文件的類型，顯示內容等信息。

2.位圖信息數據結構，包含BMP的寬，高，壓縮方法，顏色定義等信息。

3.調色板，可選部分，24bit圖像不需要調色板。

4.位圖數據，即真實像素數據

相關文件頭和位圖數據的說明在對BMP進行編碼時進行介紹。

二，建立相關工程

首先在虛擬機中安裝ubuntu，並且安裝Qtcreater。安裝教程在網上很多，我就不說了。建議直接下載一體包，方便安裝。

Qtcreater官方下載地址：http://www.qt.io/download/

新建一個工程，務必確認好保存路徑。

三.修改對應的UI界面

打開mainwindows.ui,在左側工具欄拖出一個Label，將位置修改爲（0，0）大小設置爲你攝像頭的分辨率，此處我設置爲（1280*720）。將Label中的文字刪除。修改此Label的obJectName爲camera。將主窗口設置成合適大小。拖出一個Label，Line edit，pushbutton。label文字修改爲“路徑”，pushbutton文字修改爲“拍照”。Line edit的obJectName修改爲path，pushbutton的obJectName修改爲ok。合理安排所有控件的位置

四.開始程序的編寫

1.首先進行頭文件包含和定義必要的宏

#include <fcntl.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <linux/videodev2.h>
#include <stdio.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <errno.h>
#include <QtGui>
#include "yuyv_to_rgb888.h"


#define Video_path		"/dev/video0"	//usb攝像頭掛載路徑
#define Aim_path		"./test.jpeg"	//目標文件存儲路徑
#define Image_high		720             //目標圖片的分辨率720*1280
#define Image_width		1280
#define Video_count     <span style="white-space:pre">	</span>2               //緩衝幀數

Video_path是攝像頭的掛載路徑，一旦V4l2識別攝像頭有效後，就會產生這個設備節點。使用宏定義設定目標圖片分辨率方便後期適應不同的攝像頭。

2.定義需要用的結構體

typedef struct _buffer										//定義緩衝區結構體
{
    void *start;
    unsigned int length;
}buffer;

typedef unsigned short  WORD;       //定義BMP文件頭的數據類型
typedef unsigned int  DWORD;

#pragma pack(2)                     //修改結構體字節對齊規則
typedef struct _BITMAPFILEHEADER{
     WORD     bfType;                //BMP文件頭，必須爲BM
     DWORD    bfSize;                //文件大小，字節爲單位
     DWORD    bfReserved;            //保留字，值爲0
     DWORD    bfOffBits;             //位圖數據起始位置，此處取54
}BITMAPFILEHEADER;
typedef struct _BITMAPINFOHEADER{
     DWORD    biSize;               //本結構所佔字節數，此處取40
     DWORD    biWidth;              //圖片寬度，像素爲單位
     DWORD    biHeight;             //高度，同上
     WORD     biPlanes;             //目標設備級別，此處必須爲1
     WORD     biBitCount;           //像素位數，此處取24（真彩色）
     DWORD    biCompression;        //位圖類型，必須爲0
     DWORD    biSizeImage;          //位圖大小
     DWORD    biXPelsPerMeter;      //水平像素數，此處取0
     DWORD    biYPelsPerMeter;      //豎直像素數，此處取0
     DWORD    biClrUsed;            //位圖實際使用的顏色表中的顏色數，此處取0
     DWORD    biClrImportant;       //位圖顯示過程中重要的顏色數，此處取0
}BITMAPINFOHEADER;
#pragma pack()

buffer是保存原始圖像數據的容器。BITMAPFILEHEADER是位圖頭文件數據結構，BITMAPINFOHEADER是位圖信息數據結構。注意在定義結構體的時候需要對結構體對齊規則進行重設，以保證數據之間沒有補位空缺，否則會導致BMP圖片文件頭損壞，致使無法保存正常的BMP圖片。

3.定義V4L圖像採集的類

class V4l
{
private:
    int fd;					  <span style="white-space:pre">	</span>    //驅動文件句柄
    bool state;                                             //是否打開成功

    buffer *buffers;                                        //原始數據buff

    struct v4l2_capability   	<span style="white-space:pre">	</span>cap;		    //V4l2參數結構體
    struct v4l2_fmtdesc 		fmtdesc;
    struct v4l2_format 			fmt;
    struct v4l2_streamparm 		setfps;
    struct v4l2_requestbuffers 	<span style="white-space:pre">	</span>req;
    struct v4l2_buffer 			buf;
    enum   v4l2_buf_type 		type;

    BITMAPFILEHEADER   bf;                                  //BMP圖片頭
    BITMAPINFOHEADER   bi;
    unsigned char frame_buffer[Image_high*Image_width*3];   //RGB圖片buff
    bool YUYV_to_RGB888(void);                              //YUYV轉RGB888
    bool V4l_Init(void);                                    //V4L初始化
    bool Get_Frame(void);                                   //獲取原始數據
    bool Free_Frame(void);                                  //更新原始數據

    QPixmap image;

public:
    V4l();
    ~V4l();        
    QPixmap Get_image(void);                                //獲取圖片
    bool Get_state(void);                                   //獲取當前V4L的狀態
    bool Save_BMP(char *path);                              //保存BMP圖片
};

fd爲攝像頭的句柄，staate爲攝像頭的啓動狀態，後面是一些V4l2的結構體，我們用到一個說一個，定義所有用到的函數。

4.函數的具體實現

V4l::V4l()

V4l::V4l()
{

    bi.biSize = 40;                                     //設定BMP圖片頭
    bi.biWidth = Image_width;
    bi.biHeight = Image_high;
    bi.biPlanes = 1;
    bi.biBitCount = 24;
    bi.biCompression = 0;
    bi.biSizeImage = Image_width*Image_high*3;
    bi.biXPelsPerMeter = 0;
    bi.biYPelsPerMeter = 0;
    bi.biClrUsed = 0;
    bi.biClrImportant = 0;

    bf.bfType = 0x4d42;
    bf.bfSize = 54 + bi.biSizeImage;
    bf.bfReserved = 0;
    bf.bfOffBits = 54;

    if(V4l_Init())                                      //初始化V4L
        state=true;
    else
        state=false;
}

代碼分析如下：

首先在V4l的構造函數中，對BMP圖片的頭信息進行了初始化。

下面我們看一下BMP頭的具體構造

typedef struct _BITMAPFILEHEADER{
     WORD     bfType;                //BMP文件頭，必須爲BM
     DWORD    bfSize;                //文件大小，字節爲單位
     DWORD    bfReserved;            //保留字，值爲0
     DWORD    bfOffBits;             //位圖數據起始位置，此處取54
}BITMAPFILEHEADER;

bfType是固定的，也就是0x4d42，用ascii翻譯過來是MB

bfSize是圖片的大小，也就是width*high*3+54（頭的大小），至於爲什麼是乘3，因爲我們存儲使用的是RGB888的格式，正好是三字節一個像素點。

bfReserved是保留字，設置爲0即可

bfOffBits是圖片信息偏移量，也就是像素數據起始地址，由於頭是54字節，在這裏也就是54

typedef struct _BITMAPINFOHEADER{
     DWORD    biSize;               //本結構所佔字節數，此處取40
     DWORD    biWidth;              //圖片寬度，像素爲單位
     DWORD    biHeight;             //高度，同上
     WORD     biPlanes;             //目標設備級別，此處必須爲1
     WORD     biBitCount;           //像素位數，此處取24（真彩色）
     DWORD    biCompression;        //位圖類型，必須爲0
     DWORD    biSizeImage;          //位圖大小
     DWORD    biXPelsPerMeter;      //水平像素數，此處取0
     DWORD    biYPelsPerMeter;      //豎直像素數，此處取0
     DWORD    biClrUsed;            //位圖實際使用的顏色表中的顏色數，此處取0
     DWORD    biClrImportant;       //位圖顯示過程中重要的顏色數，此處取0
}BITMAPINFOHEADER;

此結構說明註釋已經說的很清楚了，就不重複解釋了。

V4l::~V4l()

V4l::~V4l()
{    
    if(fd != -1)
    {
        ioctl(fd, VIDIOC_STREAMOFF, buffers);     	<span style="white-space:pre">	</span>//結束圖像顯示
        close(fd);											//關閉視頻設備
    }
    if(buffers!=NULL)                                       <span style="white-space:pre">	</span>//釋放申請的內存
    {
        free(buffers);
    }
}

代碼分析如下：

檢查fd是否打開狀態，是的話就關閉設備，並且釋放緩衝用的內存。
bool V4l::V4l_Init()

bool V4l::V4l_Init()
{
    if((fd=open(Video_path,O_RDWR)) == -1)                      //讀寫方式打開攝像頭
    {
        qDebug()<<"Error opening V4L interface";                //send messege
        return false;
    }

    if (ioctl(fd, VIDIOC_QUERYCAP, &cap) == -1)                 //檢查cap的屬性
    {
        qDebug()<<"Error opening device "<<Video_path<<": unable to query device.";
        return false;
    }
    else                                                        //打印cap信息
    {
        qDebug()<<"driver:\t\t"         <<QString::fromLatin1((char *)cap.driver);			//驅動名
        qDebug()<<"card:\t\t"           <<QString::fromLatin1((char *)cap.card);			//Device名
        qDebug()<<"bus_info:\t\t"       <<QString::fromLatin1((char *)cap.bus_info);		//在Bus系統中存放位置
        qDebug()<<"version:\t\t"        <<cap.version;                                      <span style="white-space:pre">	</span>//driver 版本
        qDebug()<<"capabilities:\t"     <<cap.capabilities;                                 <span style="white-space:pre">	</span>//能力集,通常爲：V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING
    }

    fmtdesc.index=0;                                            //獲取攝像頭支持的格式
    fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
    qDebug()<<"Support format:";
    while(ioctl(fd,VIDIOC_ENUM_FMT,&fmtdesc)!=-1)
    {
        qDebug()<<"\t\t"<<fmtdesc.index+1<<QString::fromLatin1((char *)fmtdesc.description);
        fmtdesc.index++;
    }

    fmt.type 				=V4L2_BUF_TYPE_VIDEO_CAPTURE;	<span style="white-space:pre">	</span>//設置像素格式
    fmt.fmt.pix.pixelformat 	<span style="white-space:pre">	</span>=V4L2_PIX_FMT_YUYV;             <span style="white-space:pre">	</span>//使用YUYV格式輸出
    fmt.fmt.pix.height 			=Image_high;				//設置圖像尺寸
    fmt.fmt.pix.width 			=Image_width;
    fmt.fmt.pix.field 			=V4L2_FIELD_INTERLACED;         <span style="white-space:pre">	</span>//設置掃描方式
    if(ioctl(fd, VIDIOC_S_FMT, &fmt) == -1)
    {
        qDebug()<<"Unable to set format";
        return false;
    }
    if(ioctl(fd, VIDIOC_G_FMT, &fmt) == -1)                     //重新讀取結構體，以確認完成設置
    {
        qDebug()<<"Unable to get format";
        return false;
    }
    else
    {
        qDebug()<<"fmt.type:\t\t"   <<fmt.type;
        qDebug()<<"pix.height:\t"   <<fmt.fmt.pix.height;
        qDebug()<<"pix.width:\t\t"  <<fmt.fmt.pix.width;
        qDebug()<<"pix.field:\t\t"  <<fmt.fmt.pix.field;
    }

    setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;                  //設置預期的幀率，實際值不一定能達到
    setfps.parm.capture.timeperframe.denominator = 30;          //fps=30/1=30
    setfps.parm.capture.timeperframe.numerator = 1;
    if(ioctl(fd, VIDIOC_S_PARM, &setfps)==-1)
    {
        qDebug()<<"Unable to set fps";
        return false;
    }
    if(ioctl(fd, VIDIOC_G_PARM, &setfps)==-1)
    {
        qDebug()<<"Unable to get fps";
        return false;
    }
    else
    {
        qDebug()<<"fps:\t\t"<<setfps.parm.capture.timeperframe.denominator/setfps.parm.capture.timeperframe.numerator;
    }
    qDebug()<<"init "<<Video_path<<" \t[OK]\n";



    req.count=Video_count;							//申請2個緩存區
    req.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;					//Buffer的類型。此處肯定爲V4L2_BUF_TYPE_VIDEO_CAPTURE
    req.memory=V4L2_MEMORY_MMAP;						//Memory Mapping模式，則此處設置爲：V4L2_MEMORY_MMAP
    if(ioctl(fd,VIDIOC_REQBUFS,&req)==-1)
    {
        qDebug()<<"request for buffers error";
        return false;
    }
    int n_buffers;
    buffers = (buffer *)malloc(req.count*sizeof (*buffers));			//malloc緩衝區
    if (!buffers)
    {
        qDebug()<<"Out of memory";
        return false ;
    }
    for (n_buffers = 0; n_buffers < Video_count; n_buffers++)           <span style="white-space:pre">	</span>//mmap四個緩衝區
    {
        buf.type    = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory  = V4L2_MEMORY_MMAP;
        buf.index   = n_buffers;
       //query buffers
        if (ioctl (fd, VIDIOC_QUERYBUF, &buf) == -1)
        {
            qDebug()<<"query buffer error";
            return false;
        }

        buffers[n_buffers].length = buf.length;
         //map
        buffers[n_buffers].start = mmap(NULL,buf.length,PROT_READ |PROT_WRITE, MAP_SHARED, fd, buf.m.offset);
        if (buffers[n_buffers].start == MAP_FAILED)
        {
            qDebug()<<"buffer map error";
            return false;
        }
    }
    for (n_buffers = 0; n_buffers < Video_count; n_buffers++)   //更新buff
    {
        buf.index = n_buffers;
        ioctl(fd, VIDIOC_QBUF, &buf);
    }
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    ioctl (fd, VIDIOC_STREAMON, &type);                         //開始採集

    return true;
}

代碼分析如下：

if((fd=open(Video_path,O_RDWR)) == -1)                      <span style="white-space:pre">	</span>//讀寫方式打開攝像頭
    {
        qDebug()<<"Error opening V4L interface";                //發送錯誤信息
        return false;
    }

打開攝像頭設備，Video_path就是我們開始的宏定義，表示攝像頭的設備節點

if (ioctl(fd, VIDIOC_QUERYCAP, &cap) == -1)                     //檢查cap的屬性
    {
        qDebug()<<"Error opening device "<<Video_path<<": unable to query device.";
        return false;
    }
    else                                                        //打印cap信息
    {
        qDebug()<<"driver:\t\t"         <<QString::fromLatin1((char *)cap.driver);	    //驅動名
        qDebug()<<"card:\t\t"           <<QString::fromLatin1((char *)cap.card);	    //Device名
        qDebug()<<"bus_info:\t\t"       <<QString::fromLatin1((char *)cap.bus_info);	    //在Bus系統中存放位置
        qDebug()<<"version:\t\t"        <<cap.version;                                      //driver 版本
        qDebug()<<"capabilities:\t"     <<cap.capabilities;                                 //能力集,通常爲：V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING
    }

檢查cap的屬性，其中包含着攝像頭的基礎屬性。我們在調試信息中把這些打印出來。

fmtdesc.index=0;                                            //獲取攝像頭支持的格式
    fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
    qDebug()<<"Support format:";
    while(ioctl(fd,VIDIOC_ENUM_FMT,&fmtdesc)!=-1)
    {
        qDebug()<<"\t\t"<<fmtdesc.index+1<<QString::fromLatin1((char *)fmtdesc.description);
        fmtdesc.index++;
    }

獲取攝像頭支持的格式，並且在調試信息中打印出來。方便後面對圖像信息進行處理。

    fmt.type 				=V4L2_BUF_TYPE_VIDEO_CAPTURE;	//設置像素格式
    fmt.fmt.pix.pixelformat 	<span style="white-space:pre">	</span>=V4L2_PIX_FMT_YUYV;             //使用YUYV格式輸出
    fmt.fmt.pix.height 			=Image_high;			//設置圖像尺寸
    fmt.fmt.pix.width 			=Image_width;
    fmt.fmt.pix.field 			=V4L2_FIELD_INTERLACED;         //設置掃描方式
    if(ioctl(fd, VIDIOC_S_FMT, &fmt) == -1)
    {
        qDebug()<<"Unable to set format";
        return false;
    }
    if(ioctl(fd, VIDIOC_G_FMT, &fmt) == -1)                     //重新讀取結構體，以確認完成設置
    {
        qDebug()<<"Unable to get format";
        return false;
    }
    else
    {
        qDebug()<<"fmt.type:\t\t"   <<fmt.type;
        qDebug()<<"pix.height:\t"   <<fmt.fmt.pix.height;
        qDebug()<<"pix.width:\t\t"  <<fmt.fmt.pix.width;
        qDebug()<<"pix.field:\t\t"  <<fmt.fmt.pix.field;
    }

設置圖形的基礎屬性，在進行設置後還要重新讀取出來以確認設置成功，因爲即使ioctl返回成功，設置也是不一定完成的。

    setfps.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;                  //設置預期的幀率，實際值不一定能達到
    setfps.parm.capture.timeperframe.denominator = 30;          //fps=30/1=30
    setfps.parm.capture.timeperframe.numerator = 1;
    if(ioctl(fd, VIDIOC_S_PARM, &setfps)==-1)
    {
        qDebug()<<"Unable to set fps";
        return false;
    }
    if(ioctl(fd, VIDIOC_G_PARM, &setfps)==-1)
    {
        qDebug()<<"Unable to get fps";
        return false;
    }
    else
    {
        qDebug()<<"fps:\t\t"<<setfps.parm.capture.timeperframe.denominator/setfps.parm.capture.timeperframe.numerator;
    }
    qDebug()<<"init "<<Video_path<<" \t[OK]\n";

設置預期幀率，此處幀率爲目標值，實際值可以通過讀取獲得，通常在高分辨率下無法達到預期的幀率，幀率設置是通過兩個參數進行的，fps=setfps.parm.capture.timeperframe.denominator/setfps.parm.capture.timeperframe.numerator；

即通過分別設置分母和分子的形式來確定幀數。一般設置幀率爲30fps。

到此完成所有攝像頭基礎參數的設置。

    req.count=Video_count;							//申請2個緩存區
    req.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;					//Buffer的類型。此處肯定爲V4L2_BUF_TYPE_VIDEO_CAPTURE
    req.memory=V4L2_MEMORY_MMAP;						//Memory Mapping模式，則此處設置爲：V4L2_MEMORY_MMAP
    if(ioctl(fd,VIDIOC_REQBUFS,&req)==-1)
    {
        qDebug()<<"request for buffers error";
        return false;
    }

申請視頻的緩衝區，視頻緩衝有兩種獲取方式，一個是read方式，即直接讀取圖像信息，適用於靜態圖像的獲取，但是在這裏我們需要實時顯示圖像，所以使用mmap的方式。

    int n_buffers;
    buffers = (buffer *)malloc(req.count*sizeof (*buffers));			//malloc緩衝區
    if (!buffers)
    {
        qDebug()<<"Out of memory";
        return false ;
    }
    for (n_buffers = 0; n_buffers < Video_count; n_buffers++)           <span style="white-space:pre">	</span>//mmap緩衝區
    {
        buf.type    = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory  = V4L2_MEMORY_MMAP;
        buf.index   = n_buffers;
       //query buffers
        if (ioctl (fd, VIDIOC_QUERYBUF, &buf) == -1)
        {
            qDebug()<<"query buffer error";
            return false;
        }

        buffers[n_buffers].length = buf.length;
         //map
        buffers[n_buffers].start = mmap(NULL,buf.length,PROT_READ |PROT_WRITE, MAP_SHARED, fd, buf.m.offset);
        if (buffers[n_buffers].start == MAP_FAILED)
        {
            qDebug()<<"buffer map error";
            return false;
        }
    }

爲緩衝區申請內存，並將緩衝區mmap到用戶空間。

for (n_buffers = 0; n_buffers < Video_count; n_buffers++)   //更新buff
    {
        buf.index = n_buffers;
        ioctl(fd, VIDIOC_QBUF, &buf);
    }

更新所有的buff

type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ioctl (fd, VIDIOC_STREAMON, &type);

啓動採集。
bool V4l::Get_Frame(void)

bool V4l::Get_Frame(void)                                       //獲取原始數據
{    
    if(ioctl(fd, VIDIOC_DQBUF, &buf) == -1)
    {
        return false;
    }
    return true;
}

bool V4l::Free_Frame()                                          //允許更新原始數據
{
    if(ioctl(fd, VIDIOC_QBUF, &buf) == -1)
    {
        return false;
    }
    return true;
}

代碼分析如下：

這兩個函數分別是獲取視頻圖像幀和更新視頻圖像幀的函數。

舉個例子幫助理解，在這裏我們使用了兩幀的緩衝我們命名爲i，i+1，內核空間中存儲這個兩個幀的地址命名爲ip，ip+1假設現在兩個幀都是有效幀，先使用DQBUF獲取到ip的數據，這時的數據i就在用戶空間了，而原有的兩個幀的空間中ip+1將會空缺出來，i+1轉移到ip中去，此時再使用DQBUF獲取ip的數據得到的就是i+1，如果繼續獲取，因爲內核空間中ip已經沒有數據了，則會導致獲取失敗。所以每次獲取數據後我們都應該對內核空間中的數據進行更新，更新使用QBUF，這樣過程就變成了，i+1的數據轉移到ip，而i+2將進入ip+1，始終保證ip中有數據，而雙幀緩衝將極大的減小攝像頭本身獲取圖像所需要的時間對整個視頻獲取過程的影響，從而提高幀率。
bool V4l::Get_state(void)

bool V4l::Get_state(void)                                       //獲取當前攝像頭狀態
{
    return state;
}

bool V4l::YUYV_to_RGB888(void)

bool V4l::YUYV_to_RGB888(void)                                  //圖片轉碼
{
    int     i,j;
    unsigned char y1,y2,u,v,r1,b1,r2,b2;
    int     g1,g2;
    char    *pointer;
    int high,width;

    pointer = (char *)buffers[0].start;
    high=Image_high;
    width=Image_width/2;
    for(i=0;i<high;i++)
    {
        for(j=0;j<(Image_width/2);j++)
        {
            y1 = *( pointer + (i*width+j)*4);
            u  = *( pointer + (i*width+j)*4 + 1);
            y2 = *( pointer + (i*width+j)*4 + 2);
            v  = *( pointer + (i*width+j)*4 + 3);


            r1=(int)R_table[y1][v];                     //r1 = y1 + 1.042*(v-128);
            g1=y1-UV_table[u][v];                       //g1 = y1 - 0.34414*(u-128)-0.71414*(v-128);
            b1=(int)B_table[y1][u];                     //b1 = y1 + 1.772*(u-128);

            r2=(int)R_table[y2][v];                     //r2 = y2 + 1.042*(v-128);
            g2=y2-UV_table[u][v];                       //g2 = y2-0.34414*(u-128)-0.71414*(v-128);
            b2=(int)B_table[y2][u];                     //b2 = y2 + 1.772*(u-128);

            if(g1>255)      g1 = 255;
            else if(g1<0)   g1 = 0;

            if(g2>255)      g2 = 255;
            else if(g2<0)   g2 = 0;

            *(frame_buffer + ((high-1-i)*width+j)*6    ) = b1;
            *(frame_buffer + ((high-1-i)*width+j)*6 + 1) = (unsigned char)g1;
            *(frame_buffer + ((high-1-i)*width+j)*6 + 2) = r1;
            *(frame_buffer + ((high-1-i)*width+j)*6 + 3) = b2;
            *(frame_buffer + ((high-1-i)*width+j)*6 + 4) = (unsigned char)g2;
            *(frame_buffer + ((high-1-i)*width+j)*6 + 5) = r2;
        }
    }
    return true;
}

代碼分析如下：

    pointer = (char *)buffers[0].start;
    high=Image_high;
    width=Image_width/2;

首先獲取到用戶空間的原始YUYV數據，因爲是兩個像素點共用一組數據，所以寬度實際上是指定寬度的一半。

y1 = *( pointer + (i*width+j)*4);
u  = *( pointer + (i*width+j)*4 + 1);
y2 = *( pointer + (i*width+j)*4 + 2);
v  = *( pointer + (i*width+j)*4 + 3);

獲取四個對應的分量。

r1=(int)R_table[y1][v];                     //r1 = y1 + 1.042*(v-128);
g1=y1-UV_table[u][v];                       //g1 = y1 - 0.34414*(u-128)-0.71414*(v-128);
b1=(int)B_table[y1][u];                     //b1 = y1 + 1.772*(u-128);

r2=(int)R_table[y2][v];                     //r2 = y2 + 1.042*(v-128);
g2=y2-UV_table[u][v];                       //g2 = y2-0.34414*(u-128)-0.71414*(v-128);
b2=(int)B_table[y2][u];                     //b2 = y2 + 1.772*(u-128);

if(g1>255)      g1 = 255;
else if(g1<0)   g1 = 0;

if(g2>255)      g2 = 255;
else if(g2<0)   g2 = 0;

YUYV轉換到RGB數據，公式如註釋部分，但是可以看到轉換過程有大量的浮點運算，而浮點運算非常耗時，所以在此對算法進行優化，通過空間換取時間的方法，我採用了查表法的方式進行轉換。建立R_yv，G_yuv，B_yu的換算表，所有的表需要佔的空間是256*256*3=192k，而轉換效率提升在4倍以上。在高幀率下可以很顯著的減少幀延遲。至於兩種算法如何取捨，取決於實際應用環境。

<span style="font-size: 18px;">*(frame_buffer + ((high-1-i)*width+j)*6    ) =</span><span style="font-family: Arial; line-height: 21.06px; white-space: pre-wrap;"><span style="font-size: 18px;"> </span><span style="font-size:14px;">b1</span><span style="font-size: 18px;">;</span></span><span style="font-size: 18px;">
*(frame_buffer + ((high-1-i)*width+j)*6 + 1) = (unsigned char)g1;
*(frame_buffer + ((high-1-i)*width+j)*6 + 2) = r1;
*(frame_buffer + ((high-1-i)*width+j)*6 + 3) = b2;
*(frame_buffer + ((high-1-i)*width+j)*6 + 4) = (unsigned char)g2;
*(frame_buffer + ((high-1-i)*width+j)*6 + 5) = r2;</span>

將所得到的RGB數據存儲起來，需要注意的是，BMP記錄像素的順序在掃描行內是從左到右，掃描行之間是從下到上的，所以存儲也需要按照這個格式來做。

轉換表如下，被存儲在yuyv_to_rgb888.h中

static unsigned char R_table[256][256]={{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,125,126,127,128,129,130,131,132},
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,126,127,128,129,130,131,132,133},
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,127,128,129,130,131,132,133,134},
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,128,129,130,131,132,133,134,135},
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,129,130,131,132,133,134,135,136},
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,3,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,130,131,132,133,134,135,136,137},
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{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,3,4,5,6,7,8,9,10,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,211,212,213,214,215,216,217,218},
{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,3,4,5,6,7,8,9,10,11,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,112,113,1

QPixmap V4l::Get_image(void)

QPixmap V4l::Get_image(void)
{
    Get_Frame();
    YUYV_to_RGB888();

    QByteArray temp;
    temp.append((char *)&bf,14);
    temp.append((char *)&bi,40);
    temp.append((char *)frame_buffer,Image_high*Image_width*3);
    image.loadFromData(temp);

    Free_Frame();
    return image;
}

代碼分析如下：

首先獲取原始數據並轉換成RGB格式，之後定義一個QByteArray用以獲取數據，把BMP的頭和數據均寫入temp，此時temp包含有一張bmp圖片的所有信息，將這些信息導入image中，得到可以顯示的QPixmap，允許更新原始視頻數據，返回此時的QPixmap用於顯示。

bool V4l::Save_BMP(char *path)

bool V4l::Save_BMP(char *path)
{
    Get_Frame();
    YUYV_to_RGB888();
    FILE *fp1;
    fp1=fopen(path,"wb");
    if(fp1==NULL)
    {
        qDebug()<<"open file fail";
        return false;
    }
    fwrite(&bf.bfType, 14, 1, fp1);
    fwrite(&bi.biSize, 40, 1, fp1);
    fwrite(frame_buffer, bi.biSizeImage, 1, fp1);
    fclose(fp1);

    return true;
}

代碼分析如下：

同樣是先獲取RGB數據，之後打開路徑，將所有信息寫入文件，關閉文件，即可得到一張BMP圖片。

在mainwindows的類中聲明一個V4l的對象v4l;

private slots:
    void showtime();
    void photo();

同樣還需要申明兩個槽，一個用於視頻數據的刷新，一個用於手動拍攝照片。

改寫mainwindows的構造函數爲：

    ui->setupUi(this);

    connect(ui->ok,SIGNAL(clicked()),this,SLOT(photo()));

    QTimer *timer = new QTimer(this);
    connect(timer, SIGNAL(timeout()), this, SLOT(showtime()));
    timer->start(33);

代碼分析如下：

第一個connect鏈接pushbutton的clicked（）信號到photo（），也就是我們的拍照函數。

定義一個QTimer，超時時間定位33ms，即刷新率爲30fps，超時信號連接到showtime（）刷新圖像。

void MainWindow::photo()

void MainWindow::photo()
{
    char *temp;
    temp=(char *)ui->path->text().toStdString().data();
    if(v4l.Save_BMP(temp))
    {
        QMessageBox::information(this,"成功","拍照成功",QMessageBox::Ok);
    }
    else
    {
        QMessageBox::warning(this,"失敗","拍照失敗",QMessageBox::Ok);
    }
}

代碼分析如下：

首先獲取line edit中的路徑，由於獲取到的數據類型是QString，先轉化爲stdString的類型，之後取其中date出來，把路徑參數傳入Save_BMP中，如果返回成功就發送一個QMessageBox提示拍照成功，反之提示拍照失敗。

void MainWindow::showtime()

void MainWindow::showtime()
{   
    ui->camera->setPixmap(v4l.Get_image());
}

重設camera的pixmap即可顯示當前的圖像，每33ms刷新一次，即可當作連續的視頻。

五.編譯運行

如圖是qDebuge輸出的調試信息，可以看到攝像頭類型是UVC攝像頭，支持格式有MJPEG和YUYV，實際上在使用中如果只進行後臺拍攝，可以直接使用MJPEG格式，這樣可以直接將得到的數據存入文件得到jpeg格式的圖片。分辨率是1280*720也就是我們常說的720P的攝像頭，需要注意一點的是fps這裏，實際上我在設置的時候是設置的30fps，但是對於這個攝像頭來說最大隻能達到10fps，所以設置後返回的值就是10fps

拍照效果如圖。可以看到效果還是不錯的

路徑下的照片如圖bmp.bmp，是可以正常顯示的，成像效果如上圖。

六.跨平臺移植

將X86平臺上的Qt程序移植到ARM平臺上是很容易的，只需要更改一下編譯器設置就可以了，在此就不進行演示了。

七.結語

到此，整個工程的實現就已經結束了，在我開始參考的博客裏，博主還進行了avi的壓制，但是我暫時並沒有這方面的需求，所以沒有進行深入的研究，如果還有想錄制視頻的看官，可以移步我開頭給的鏈接，看看那位博主是怎麼做的。

--THE END
--2016-7-12