{"id":115923,"date":"2026-10-20T15:01:54","date_gmt":"2026-10-20T07:01:54","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/115923.html"},"modified":"2026-10-20T15:01:54","modified_gmt":"2026-10-20T07:01:54","slug":"rk3576-%e5%9f%ba%e4%ba%8e-v4l2-%e7%9a%84-uvc-%e6%91%84%e5%83%8f%e5%a4%b4%e8%87%aa%e5%8a%a8%e8%8e%b7%e5%8f%96-h-264-mjpeg-yuyv-%e6%a0%bc%e5%bc%8f%e6%8a%80%e6%9c%af%e8%af%a6%e8%a7%a3","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/115923.html","title":{"rendered":"RK3576 \u57fa\u4e8e V4L2 \u7684 UVC \u6444\u50cf\u5934\u81ea\u52a8\u83b7\u53d6 H.264 \/ MJPEG \/ YUYV \u683c\u5f0f\u6280\u672f\u8be6\u89e3"},"content":{"rendered":"

RK3576 \u57fa\u4e8e V4L2 \u7684 UVC \u6444\u50cf\u5934\u81ea\u52a8\u83b7\u53d6 H.264 \/ MJPEG \/ YUYV \u683c\u5f0f\u6280\u672f\u8be6\u89e3<\/h2>\n

\u6df1\u5ea6\u7ed3\u5408\u300aMEDAI-V1 \u4ea7\u54c1\u4f7f\u7528\u8bf4\u660e\u4e66\u300b\u4e0e\u300aMEDAI V1 \u6280\u672f\u53c2\u6570\u300b\u00b7 \u9762\u5411 CSDN \u53d1\u5e03\u7684\u5b9e\u6218\u578b\u6280\u672f\u6587\u6863
\n\u9002\u7528\u5e73\u53f0：RK3576 \/ MEDAI-V1 \u667a\u80fd\u97f3\u89c6\u9891\u5904\u7406\u8bbe\u5907<\/p>\n

\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\n

0. \u5199\u5728\u524d\u9762<\/h3>\n

UVC（USB Video Class）\u662f MEDAI-V1 \u4e94\u5927\u8f93\u5165\u6e90\u4e4b\u4e00，\u4e5f\u662f\u7eff\u5e55\u62a0\u56fe（4.4.3 \u8282\u4e3b\u6e90\u56fa\u5b9a UVC） \u4e0e \u624b\u52bf\u8bc6\u522b（6.2 \u8282\u5b9e\u65f6\u8bc6\u522b） \u7684\u552f\u4e00\u6307\u5b9a\u6e90\u3002\u4f46\u540c\u6837\u662f"\u63d2\u4e0a\u4e00\u4e2a USB \u6444\u50cf\u5934"，\u4e0d\u540c\u6444\u50cf\u5934\u5410\u51fa\u7684\u6570\u636e\u5929\u5dee\u5730\u522b：\u6709\u7684\u7ed9\u539f\u59cb YUYV\u3001\u6709\u7684\u7ed9\u9010\u5e27 MJPEG\u3001\u9ad8\u7aef\u4e91\u53f0（Obsbot\u3001\u5927\u7586 Pocket3 \u7b49）\u751a\u81f3\u76f4\u63a5\u7ed9\u6444\u50cf\u5934\u5185\u7f16\u7801\u7684 H.264\u3002<\/p>\n

\u6444\u50cf\u5934\u5230\u5e95\u5410\u54ea\u79cd\u683c\u5f0f\u3001\u80fd\u4e0d\u80fd\u81ea\u52a8\u8bc6\u522b\u5e76\u9009\u6700\u4f18\u2014\u2014\u8fd9\u6b63\u662f V4L2（Video for Linux 2）\u6846\u67b6 \u8981\u89e3\u51b3\u7684\u95ee\u9898\u3002\u672c\u7bc7\u5148\u8bb2\u6e05 V4L2 \u6846\u67b6\u4e0e UVC \u5b50\u7cfb\u7edf\u539f\u7406，\u518d\u7ed9\u51fa\u4e00\u4efd\u81ea\u52a8\u679a\u4e3e\u5e76\u62e9\u4f18 H.264\/MJPEG\/YUYV \u4e09\u79cd\u683c\u5f0f \u7684\u5b8c\u6574\u4ee3\u7801，\u6700\u540e\u6df1\u5ea6\u7ed3\u5408 MEDAI-V1 \u8bf4\u660e\u4e66\u843d\u5230\u771f\u5b9e\u914d\u7f6e\u3002<\/p>\n

\n

1. V4L2 \u6846\u67b6\u6280\u672f\u8be6\u89e3<\/h3>\n

1.1 V4L2 \u662f\u4ec0\u4e48<\/h4>\n

V4L2 \u662f Linux \u5185\u6838\u7edf\u4e00\u7684\u89c6\u9891\u8bbe\u5907\u9a71\u52a8\u6846\u67b6\u3002\u65e0\u8bba\u662f USB \u6444\u50cf\u5934\u3001HDMI \u91c7\u96c6\u5361\u3001MIPI CSI \u6444\u50cf\u5934，\u53ea\u8981\u6302\u4e0a V4L2 \u9a71\u52a8，\u7528\u6237\u7a7a\u95f4\u5c31\u80fd\u7528\u540c\u4e00\u5957 ioctl \u6253\u5f00 \/dev\/videoX \u6536\u5e27\u3002\u5b83\u628a"\u786c\u4ef6\u5dee\u5f02"\u5c4f\u853d\u6389，\u8ba9\u4e0a\u5c42（\u6211\u4eec\u7684\u63a8\u6d41\/AI \u7a0b\u5e8f）\u53ea\u9762\u5bf9\u6807\u51c6\u63a5\u53e3\u3002<\/p>\n

\u5728 RK3576 \u4e0a，V4L2 \u7684\u5e94\u7528\u94fe\u8def\u662f：<\/p>\n

[ UVC \u6444\u50cf\u5934 ] –USB3.0–> [ uvcvideo \u9a71\u52a8(V4L2) ] –\/dev\/videoX–> [ \u7528\u6237\u6001\u91c7\u96c6\u7a0b\u5e8f ]
\n \u2502
\n (H264) \u76f4\u9001\u5c01\u88c5\/\u9884\u89c8
\n (MJPEG) \u2192 VPU \u786c\u89e3(MJPEG) \u2192 NV12
\n (YUYV) \u2192 RGA\/MPP \u5904\u7406 \u2192 NV12
\n \u25bc
\n [ \u7edf\u4e00 NV12 \u2192 \u7f16\u7801 \u2192 \u63a8\u6d41 ]<\/p>\n

1.2 V4L2 \u6838\u5fc3\u5bf9\u8c61<\/h4>\n\n\u5bf9\u8c61\u4f5c\u7528\u672c\u7bc7\u5173\u8054<\/tr>\n\n\n\n\n\n
video_device<\/td>\n\u66b4\u9732\u7ed9\u7528\u6237\u6001\u7684 \/dev\/videoX \u8282\u70b9<\/td>\nUVC \u6444\u50cf\u5934\u63d2\u4e0a\u5373\u751f\u6210\u4e00\u4e2a<\/td>\n<\/tr>\n
v4l2_subdev<\/td>\n\u5b50\u8bbe\u5907（sensor\/ISP），\u5904\u7406\u5177\u4f53\u50cf\u7d20\u6d41\u6c34\u7ebf<\/td>\n\u6444\u50cf\u5934\u5185\u90e8 ISP<\/td>\n<\/tr>\n
vb2（videobuf2）<\/td>\n\u7f13\u51b2\u961f\u5217\u6846\u67b6，\u7ba1\u7406 DMA \u7f13\u51b2<\/td>\nREQBUFS\/QBUF\/DQBUF \u7684\u5e95\u5c42<\/td>\n<\/tr>\n
media controller<\/td>\n\u628a\u591a\u4e2a subdev \u8fde\u6210\u62d3\u6251\u56fe<\/td>\n\u590d\u6742\u7ba1\u7ebf\u7528，UVC \u4e00\u822c\u5355\u8282\u70b9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u5bf9 UVC \u6765\u8bf4，\u6700\u5173\u952e\u7684\u662f video_device + vb2：\u6444\u50cf\u5934\u9a71\u52a8\u5df2\u7ecf\u628a USB \u5305\u62fc\u6210\u5e27\u5e76\u585e\u8fdb vb2 \u7f13\u51b2，\u6211\u4eec\u8981\u505a\u7684\u53ea\u662f"\u53d6\u5e27"\u3002<\/p>\n

1.3 \u5173\u952e ioctl \u6d41\u7a0b<\/h4>\n

\u4e00\u6b21\u6807\u51c6\u91c7\u96c6\u7684\u751f\u547d\u5468\u671f：<\/p>\n

open("\/dev\/videoX")
\n \u2514\u2500 VIDIOC_QUERYCAP \u67e5\u8be2\u80fd\u529b（\u662f\u5426\u652f\u6301\u89c6\u9891\u6355\u83b7\/\u6d41\u63a7）
\n \u2514\u2500 VIDIOC_ENUM_FMT \u679a\u4e3e\u6444\u50cf\u5934\u652f\u6301\u7684\u50cf\u7d20\u683c\u5f0f（\u2605\u672c\u7bc7\u91cd\u70b9）
\n \u2514\u2500 VIDIOC_ENUM_FRAMESIZES \u679a\u4e3e\u67d0\u683c\u5f0f\u4e0b\u7684\u5206\u8fa8\u7387\/\u5e27\u7387
\n \u2514\u2500 VIDIOC_S_FMT \u8bbe\u5b9a\u683c\u5f0f + \u5206\u8fa8\u7387 + \u5e27\u7387（Probe\/Commit \u534f\u5546）
\n \u2514\u2500 VIDIOC_REQBUFS \u7533\u8bf7\u5185\u6838\u7f13\u51b2（MMAP \/ USERPTR \/ DMABUF）
\n \u2514\u2500 VIDIOC_QUERYBUF + mmap \u628a\u7f13\u51b2\u6620\u5c04\u5230\u7528\u6237\u6001
\n \u2514\u2500 VIDIOC_QBUF \u628a\u7a7a\u7f13\u51b2\u5165\u961f
\n \u2514\u2500 VIDIOC_STREAMON \u5f00\u6d41
\n \u2514\u2500 [\u5faa\u73af] VIDIOC_DQBUF \u53d6\u5df2\u6ee1\u7f13\u51b2（\u62ff\u5230\u4e00\u5e27）\u2192 \u5904\u7406 \u2192 QBUF \u8fd8\u56de\u53bb
\n \u2514\u2500 VIDIOC_STREAMOFF \/ close \u5173\u6d41<\/p>\n

\u5176\u4e2d VIDIOC_ENUM_FMT \u5c31\u662f"\u81ea\u52a8\u8bc6\u522b\u6444\u50cf\u5934\u683c\u5f0f"\u7684\u5165\u53e3\u2014\u2014\u5b83\u628a\u6444\u50cf\u5934\u56fa\u4ef6\u91cc\u58f0\u660e\u7684\u6240\u6709\u683c\u5f0f\u9010\u4e2a\u5410\u51fa\u6765，\u6211\u4eec\u636e\u6b64\u5224\u65ad\u5b83\u652f\u6301 H.264 \/ MJPEG \/ YUYV \u4e2d\u7684\u54ea\u4e9b\u3002<\/p>\n

1.4 UVC \u5b50\u7cfb\u7edf：\u4e3a\u4ec0\u4e48\u63d2\u4e0a\u5c31\u6709\u753b\u9762<\/h4>\n

UVC \u662f USB-IF \u5236\u5b9a\u7684\u514d\u9a71\u89c6\u9891\u7c7b\u89c4\u8303\u3002\u7b26\u5408 UVC \u7684\u6444\u50cf\u5934（\u5373\u8bf4\u660e\u4e66\u517c\u5bb9\u5217\u8868\u91cc\u90a3\u4e9b）\u63d2\u5165 Linux \u540e，\u5185\u6838 uvcvideo \u9a71\u52a8\u81ea\u52a8\u52a0\u8f7d，\u6309 UVC \u63cf\u8ff0\u7b26\u91cc\u7684 VideoControl\/VideoStreaming \u63a5\u53e3\u679a\u4e3e\u51fa video_device，\u65e0\u9700\u5382\u5546\u9a71\u52a8\u3002<\/p>\n

MEDAI-V1 \u6280\u672f\u53c2\u6570\u660e\u786e\u5217\u4e86\u517c\u5bb9\u8bbe\u5907：Obsbot \u5bfb\u5f71\u7cfb\u5217\u3001Insta360（360Insta）\u3001\u5927\u7586\u7cfb\u5217\u3001\u58f9\u79d8\u3001Pocket3\u3001\u7eff\u8054\u3001\u751c\u751c\u5708\u3001Obsbot Tiny2\/Meet2 \u7b49\u3002\u8fd9\u4e9b\u5168\u90e8\u8d70\u6807\u51c6 UVC，\u63d2\u4e0a\u5373\u88ab V4L2 \u8bc6\u522b\u3002<\/p>\n

1.5 \u4e09\u79cd\u683c\u5f0f\u8be6\u89e3\u4e0e\u5e26\u5bbd\u542b\u4e49<\/h4>\n\n\u683c\u5f0f\u56db\u5b57\u7b26\u7801\u672c\u8d28\u5178\u578b\u5e26\u5bbd（1080P30）RK3576 \u540e\u7eed\u5904\u7406<\/tr>\n\n\n\n\n
YUYV<\/td>\n'YUYV'<\/td>\n\u672a\u538b\u7f29\u539f\u59cb YUV 4:2:2<\/td>\n~148 MB\/s（\u6781\u9ad8）<\/td>\nRGA \u8f6c NV12 + MPP \u7f16\u7801，\u6700\u5403\u603b\u7ebf<\/td>\n<\/tr>\n
MJPEG<\/td>\n'MJPG'<\/td>\n\u6bcf\u5e27\u72ec\u7acb JPEG \u538b\u7f29<\/td>\n15<\/sub>40 MB\/s<\/td>\nVPU \u7684 MJPEG \u786c\u89e3（\u89e3\u7801\u53c2\u6570\u542b MJPEG）\u2192 NV12<\/td>\n<\/tr>\n
H.264<\/td>\n'H264'<\/td>\n\u6444\u50cf\u5934\u5185\u7f6e H.264 \u7f16\u7801（UVC 1.5）<\/td>\n5<\/sub>15 MB\/s<\/td>\n\u76f4\u63a5\u89e3\u5c01\u88c5，\u53ef\u514d VPU \u89e3\u7801\u9001\u5c01\u88c5\/\u9884\u89c8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u5173\u952e\u6d1e\u5bdf：\u4e3a\u4ec0\u4e48 4K \u6444\u50cf\u5934\u51e0\u4e4e\u90fd\u53ea\u62a5 MJPEG\/H.264？\u56e0\u4e3a 4K@30 \u7684 YUYV \u9ad8\u8fbe ~597 MB\/s，USB3.0 \u5b9e\u6d4b\u6709\u6548\u5e26\u5bbd\u4e5f\u4ec5 ~400 MB\/s，\u539f\u59cb\u683c\u5f0f\u6839\u672c\u4f20\u4e0d\u8fc7\u6765\u3002\u8bf4\u660e\u4e66 4.3.1 \u8282 UVC \u7ed9\u7684 2160P\/1080P \u9009\u9879，\u5e95\u5c42\u6b63\u662f\u9760 MJPEG \u6216 H.264 \u538b\u7f29\u624d\u80fd\u8dd1\u901a\u2014\u2014\u8fd9\u4e5f\u662f"\u5207\u6362\u5206\u8fa8\u7387\u9700\u91cd\u542f"\u7684\u786c\u4ef6\u539f\u56e0\u4e4b\u4e00（Probe\/Commit \u91cd\u65b0\u534f\u5546 + \u89e3\u7801\u94fe\u8def\u91cd\u5efa）\u3002<\/p>\n

1.6 \u683c\u5f0f\u81ea\u52a8\u63a2\u6d4b（\u4e0e\u7b2c\u4e5d\u7bc7\u547c\u5e94）<\/h4>\n

\u7b2c\u4e5d\u7bc7\u8bb2\u63a8\u6d41，\u7b2c\u56db\u7bc7\u8bb2 UVC+MPP \u89e3\u7801\u65f6\u63d0\u5230\u8fc7：UVC \u7684 Probe\/Commit \u673a\u5236\u8981\u6c42"\u8bbe\u7f6e\u683c\u5f0f\u540e\u5fc5\u987b\u56de\u8bfb\u786e\u8ba4"\u3002V4L2 \u4fa7\u5bf9\u5e94\u4e24\u4e2a\u52a8\u4f5c：<\/p>\n

    \n
  • VIDIOC_ENUM_FMT \/ VIDIOC_ENUM_FRAMESIZES：\u53ea\u8bfb\u679a\u4e3e，\u770b\u6e05\u6444\u50cf\u5934\u5bb6\u5e95；<\/li>\n
  • VIDIOC_TRY_FMT：\u8bd5\u63a2\u67d0\u683c\u5f0f+\u5206\u8fa8\u7387\u662f\u5426\u88ab\u63a5\u53d7（\u4e0d\u771f\u6b63\u6539\u72b6\u6001）；<\/li>\n
  • VIDIOC_S_FMT：\u771f\u6b63\u63d0\u4ea4（= Commit），\u4e4b\u540e\u56de\u8bfb v4l2_format \u786e\u8ba4\u5b9e\u9645\u751f\u6548\u503c（\u53ef\u80fd\u88ab\u6444\u50cf\u5934\u964d\u7ea7）\u3002<\/li>\n<\/ul>\n

    \u81ea\u52a8\u83b7\u53d6\u4e09\u79cd\u683c\u5f0f，\u5c31\u662f"\u5148\u679a\u4e3e\u3001\u518d\u6309\u7b56\u7565 TRY\/S_FMT \u62e9\u4f18"\u7684\u8fc7\u7a0b\u3002<\/p>\n

    \n

    2. \u81ea\u52a8\u83b7\u53d6\u4e09\u79cd\u683c\u5f0f\u7684\u5de5\u7a0b\u5b9e\u73b0<\/h3>\n

    2.1 \u62e9\u4f18\u7b56\u7565（\u7ed3\u5408 RK3576 \u7b97\u529b）<\/h4>\n

    MEDAI-V1 \u7684\u76ee\u6807\u662f"\u628a\u753b\u9762\u9001\u8fdb\u7edf\u4e00 NV12 \u753b\u5e03\u518d\u7f16\u7801"，\u6240\u4ee5\u9009\u683c\u5f0f\u7684\u539f\u5219\u662f \u5c3d\u91cf\u8ba9\u6444\u50cf\u5934\u66ff\u6211\u4eec\u5e72\u91cd\u6d3b\u3001\u5c11\u5360 VPU \u603b\u7ebf：<\/p>\n

    \u4f18\u5148\u7ea7（\u540c\u4e3a 4K \u65f6\u5c24\u5176\u660e\u663e）：
    \n H.264 > MJPEG > YUYV
    \n \u2460 \u2461 \u2462
    \n\u514d\u89e3\u7801 VPU\u786c\u89e3 RGA\u8f6c\u7801+MPP\u7f16\u7801<\/p>\n

      \n
    • \u9009 H.264：\u6444\u50cf\u5934\u5df2\u7f16\u7801，\u8bbe\u5907\u51e0\u4e4e\u96f6\u5904\u7406\u5373\u53ef\u9884\u89c8\/\u63a8\u6d41（\u6700\u7701）；<\/li>\n
    • \u9009 MJPEG：VPU \u6709 MJPEG \u786c\u89e3\u80fd\u529b（\u6280\u672f\u53c2\u6570\u89e3\u7801\u53c2\u6570\u542b MJPEG），\u4e00\u5e27\u4e00\u5305\u514d\u62c6\u5305，\u6027\u4ef7\u6bd4\u9ad8；<\/li>\n
    • \u515c\u5e95 YUYV：\u53ea\u6709\u8001\u65e7\/\u4f4e\u914d\u6444\u50cf\u5934\u624d\u7ed9，\u5fc5\u987b RGA \u8f6c NV12 \u518d MPP \u7f16\u7801，\u5e26\u5bbd\u538b\u529b\u5927，\u4ec5 1080P \u53ca\u4ee5\u4e0b\u5b9e\u7528\u3002<\/li>\n<\/ul>\n

      2.2 \u51b3\u7b56\u8fd8\u53d7"\u5206\u8fa8\u7387"\u7ea6\u675f<\/h4>\n

      \u82e5\u7528\u6237\u9009\u4e86 2160P（4K）\u4f46\u6444\u50cf\u5934\u53ea\u652f\u6301 YUYV 4K（\u6781\u5c11），\u5e94\u5f3a\u5236\u964d\u7ea7\u5230 MJPEG\/H.264 \u7684 4K \u800c\u975e\u7528 YUYV\u2014\u2014\u5426\u5219 USB \u603b\u7ebf\u6491\u4e0d\u4f4f\u3002\u4ee3\u7801\u91cc\u7528 VIDIOC_TRY_FMT \u5bf9\u6bcf\u4e2a\u5019\u9009\u683c\u5f0f + \u76ee\u6807\u5206\u8fa8\u7387\u8bd5\u63a2，\u53d6\u7b2c\u4e00\u4e2a\u901a\u8fc7\u7684\u3002<\/p>\n

      \n

      3. \u5b8c\u6574\u4ee3\u7801：v4l2_uvc_capture.c<\/h3>\n

      \u4e0b\u9762\u7ed9\u51fa\u679a\u4e3e + \u81ea\u52a8\u62e9\u4f18 + mmap \u91c7\u96c6 \u7684\u5b8c\u6574\u793a\u4f8b（\u7ea6 290 \u884c），\u53ef\u76f4\u63a5\u5728 RK3576（\u6216\u4efb\u610f Linux）\u7f16\u8bd1\u8fd0\u884c\u3002<\/p>\n

      \/******************************************************************************
      \n * v4l2_uvc_capture.c \u2014 MEDAI-V1 \/ RK3576 UVC \u81ea\u52a8\u83b7\u53d6 H264\/MJPEG\/YUYV \u793a\u4f8b
      \n * \u7f16\u8bd1：gcc v4l2_uvc_capture.c -o v4l2_uvc_capture
      \n * \u8fd0\u884c：.\/v4l2_uvc_capture \/dev\/video0 2160 (\u5206\u8fa8\u7387 2160=4K \/ 1080 \/ 720)
      \n ******************************************************************************\/<\/span>
      \n#<\/span>include<\/span> <stdio.h><\/span><\/span>
      \n#<\/span>include<\/span> <stdlib.h><\/span><\/span>
      \n#<\/span>include<\/span> <string.h><\/span><\/span>
      \n#<\/span>include<\/span> <fcntl.h><\/span><\/span>
      \n#<\/span>include<\/span> <unistd.h><\/span><\/span>
      \n#<\/span>include<\/span> <errno.h><\/span><\/span>
      \n#<\/span>include<\/span> <sys\/ioctl.h><\/span><\/span>
      \n#<\/span>include<\/span> <sys\/mman.h><\/span><\/span>
      \n#<\/span>include<\/span> <linux\/videodev2.h><\/span><\/span><\/p>\n

      #<\/span>ifndef<\/span> v4l2_fourcc<\/span><\/span>
      \n#<\/span>define<\/span> v4l2_fourcc<\/span>(<\/span>a,<\/span>b,<\/span>c,<\/span>d)<\/span> (<\/span>(<\/span>__u32)<\/span>(<\/span>a)<\/span>|<\/span>(<\/span>(<\/span>__u32)<\/span>(<\/span>b)<\/span><<<\/span>8<\/span>)<\/span>|<\/span>(<\/span>(<\/span>__u32)<\/span>(<\/span>c)<\/span><<<\/span>16<\/span>)<\/span>|<\/span>(<\/span>(<\/span>__u32)<\/span>(<\/span>d)<\/span><<<\/span>24<\/span>)<\/span>)<\/span><\/span><\/span>
      \n#<\/span>endif<\/span><\/span><\/p>\n

      #<\/span>define<\/span> FMT_YUYV<\/span> v4l2_fourcc<\/span>(<\/span><\/span>'Y'<\/span>,<\/span><\/span>'U'<\/span>,<\/span><\/span>'Y'<\/span>,<\/span><\/span>'V'<\/span>)<\/span><\/span><\/span>
      \n#<\/span>define<\/span> FMT_MJPG<\/span> v4l2_fourcc<\/span>(<\/span><\/span>'M'<\/span>,<\/span><\/span>'J'<\/span>,<\/span><\/span>'P'<\/span>,<\/span><\/span>'G'<\/span>)<\/span><\/span><\/span>
      \n#<\/span>define<\/span> FMT_H264<\/span> v4l2_fourcc<\/span>(<\/span><\/span>'H'<\/span>,<\/span><\/span>'2'<\/span>,<\/span><\/span>'6'<\/span>,<\/span><\/span>'4'<\/span>)<\/span><\/span><\/span><\/p>\n

      #<\/span>define<\/span> FMT_NAME<\/span>(<\/span>f)<\/span> (<\/span>char<\/span>[<\/span>5<\/span>]<\/span>)<\/span>{<\/span> (<\/span>f)<\/span>&<\/span>0xff<\/span>,<\/span>(<\/span>f)<\/span>>><\/span>8<\/span>&<\/span>0xff<\/span>,<\/span>(<\/span>f)<\/span>>><\/span>16<\/span>&<\/span>0xff<\/span>,<\/span>(<\/span>f)<\/span>>><\/span>24<\/span>&<\/span>0xff<\/span>,<\/span>0<\/span> }<\/span><\/span><\/span><\/p>\n

      \/* ———- 1. \u679a\u4e3e\u6444\u50cf\u5934\u652f\u6301\u7684\u6240\u6709\u50cf\u7d20\u683c\u5f0f ———- *\/<\/span>
      \nstatic<\/span> void<\/span> enum_formats<\/span>(<\/span>int<\/span> fd)<\/span>{<\/span>
      \n struct<\/span> v4l2_fmtdesc<\/span> fmt;<\/span>
      \n memset<\/span>(<\/span>&<\/span>fmt,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>fmt)<\/span>)<\/span>;<\/span>
      \n fmt.<\/span>type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n printf<\/span>(<\/span>"== \u6444\u50cf\u5934\u652f\u6301\u7684\u50cf\u7d20\u683c\u5f0f ==\\\\n"<\/span>)<\/span>;<\/span>
      \n while<\/span> (<\/span>ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_ENUM_FMT,<\/span> &<\/span>fmt)<\/span> ==<\/span> 0<\/span>)<\/span>{<\/span>
      \n printf<\/span>(<\/span>" [%s] %s\\\\n"<\/span>,<\/span> FMT_NAME<\/span>(<\/span>fmt.<\/span>pixelformat)<\/span>,<\/span> fmt.<\/span>description)<\/span>;<\/span>
      \n \/* \u987a\u4fbf\u679a\u4e3e\u8be5\u683c\u5f0f\u4e0b\u7684\u5206\u8fa8\u7387 *\/<\/span>
      \n struct<\/span> v4l2_frmsizeenum<\/span> fs;<\/span>
      \n memset<\/span>(<\/span>&<\/span>fs,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>fs)<\/span>)<\/span>;<\/span>
      \n fs.<\/span>pixelformat =<\/span> fmt.<\/span>pixelformat;<\/span>
      \n while<\/span> (<\/span>ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_ENUM_FRAMESIZES,<\/span> &<\/span>fs)<\/span> ==<\/span> 0<\/span>)<\/span>{<\/span>
      \n if<\/span> (<\/span>fs.<\/span>type ==<\/span> V4L2_FRMSIZE_TYPE_DISCRETE)<\/span>
      \n printf<\/span>(<\/span>" %ux%u\\\\n"<\/span>,<\/span> fs.<\/span>discrete.<\/span>width,<\/span> fs.<\/span>discrete.<\/span>height)<\/span>;<\/span>
      \n else<\/span> break<\/span>;<\/span>
      \n fs.<\/span>index++<\/span>;<\/span>
      \n }<\/span>
      \n fmt.<\/span>index++<\/span>;<\/span>
      \n }<\/span>
      \n}<\/span><\/p>\n

      \/* ———- 2. \u8bd5\u63a2\u67d0\u683c\u5f0f+\u5206\u8fa8\u7387\u662f\u5426\u88ab\u652f\u6301（TRY_FMT, \u4e0d\u6539\u72b6\u6001） ———- *\/<\/span>
      \nstatic<\/span> int<\/span> try_format<\/span>(<\/span>int<\/span> fd,<\/span> __u32 pixfmt,<\/span> int<\/span> width,<\/span> int<\/span> height)<\/span>{<\/span>
      \n struct<\/span> v4l2_format<\/span> f;<\/span>
      \n memset<\/span>(<\/span>&<\/span>f,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>f)<\/span>)<\/span>;<\/span>
      \n f.<\/span>type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>pixelformat =<\/span> pixfmt;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>width =<\/span> width;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>height =<\/span> height;<\/span>
      \n if<\/span> (<\/span>ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_TRY_FMT,<\/span> &<\/span>f)<\/span> <<\/span> 0<\/span>)<\/span> return<\/span> 0<\/span>;<\/span>
      \n \/* \u56de\u8bfb：\u82e5\u6444\u50cf\u5934\u5b9e\u9645\u7ed9\u7684\u4e0d\u662f\u8bf7\u6c42\u7684\u683c\u5f0f\/\u5206\u8fa8\u7387，\u8bf4\u660e\u4e0d\u652f\u6301 *\/<\/span>
      \n if<\/span> (<\/span>f.<\/span>fmt.<\/span>pix.<\/span>pixelformat !=<\/span> pixfmt)<\/span> return<\/span> 0<\/span>;<\/span>
      \n return<\/span> 1<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \/* ———- 3. \u81ea\u52a8\u62e9\u4f18：H264 > MJPEG > YUYV（\u53d7\u5206\u8fa8\u7387\u7ea6\u675f） ———- *\/<\/span>
      \nstatic<\/span> __u32 pick_best_format<\/span>(<\/span>int<\/span> fd,<\/span> int<\/span> width,<\/span> int<\/span> height)<\/span>{<\/span>
      \n if<\/span> (<\/span>try_format<\/span>(<\/span>fd,<\/span> FMT_H264,<\/span> width,<\/span> height)<\/span>)<\/span> return<\/span> FMT_H264;<\/span>
      \n if<\/span> (<\/span>try_format<\/span>(<\/span>fd,<\/span> FMT_MJPG,<\/span> width,<\/span> height)<\/span>)<\/span> return<\/span> FMT_MJPG;<\/span>
      \n if<\/span> (<\/span>try_format<\/span>(<\/span>fd,<\/span> FMT_YUYV,<\/span> width,<\/span> height)<\/span>)<\/span> return<\/span> FMT_YUYV;<\/span>
      \n return<\/span> 0<\/span>;<\/span> \/* \u90fd\u4e0d\u652f\u6301 *\/<\/span>
      \n}<\/span><\/p>\n

      \/* ———- 4. \u63d0\u4ea4\u683c\u5f0f（S_FMT = Probe\/Commit） ———- *\/<\/span>
      \nstatic<\/span> __u32 commit_format<\/span>(<\/span>int<\/span> fd,<\/span> __u32 pixfmt,<\/span> int<\/span> *<\/span>w,<\/span> int<\/span> *<\/span>h)<\/span>{<\/span>
      \n struct<\/span> v4l2_format<\/span> f;<\/span>
      \n memset<\/span>(<\/span>&<\/span>f,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>f)<\/span>)<\/span>;<\/span>
      \n f.<\/span>type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>pixelformat =<\/span> pixfmt;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>width =<\/span> *<\/span>w;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>height =<\/span> *<\/span>h;<\/span>
      \n f.<\/span>fmt.<\/span>pix.<\/span>field =<\/span> V4L2_FIELD_NONE;<\/span>
      \n if<\/span> (<\/span>ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_S_FMT,<\/span> &<\/span>f)<\/span> <<\/span> 0<\/span>)<\/span>{<\/span>
      \n perror<\/span>(<\/span>"S_FMT"<\/span>)<\/span>;<\/span> return<\/span> 0<\/span>;<\/span>
      \n }<\/span>
      \n \/* \u56de\u8bfb\u5b9e\u9645\u751f\u6548\u503c：\u6444\u50cf\u5934\u53ef\u80fd\u964d\u7ea7\u5206\u8fa8\u7387\/\u5e27\u7387 *\/<\/span>
      \n *<\/span>w =<\/span> f.<\/span>fmt.<\/span>pix.<\/span>width;<\/span>
      \n *<\/span>h =<\/span> f.<\/span>fmt.<\/span>pix.<\/span>height;<\/span>
      \n return<\/span> f.<\/span>fmt.<\/span>pix.<\/span>pixelformat;<\/span>
      \n}<\/span><\/p>\n

      \/* ———- 5. mmap \u91c7\u96c6\u5faa\u73af ———- *\/<\/span>
      \nstruct<\/span> buf<\/span> {<\/span> void<\/span> *<\/span>start;<\/span> size_t<\/span> len;<\/span> }<\/span>;<\/span><\/p>\n

      static<\/span> int<\/span> start_capture<\/span>(<\/span>int<\/span> fd,<\/span> int<\/span> want_w,<\/span> int<\/span> want_h,<\/span> __u32 *<\/span>out_fmt)<\/span>{<\/span>
      \n \/* \u81ea\u52a8\u62e9\u4f18\u5e76\u63d0\u4ea4 *\/<\/span>
      \n __u32 best =<\/span> pick_best_format<\/span>(<\/span>fd,<\/span> want_w,<\/span> want_h)<\/span>;<\/span>
      \n if<\/span> (<\/span>!<\/span>best)<\/span>{<\/span> fprintf<\/span>(<\/span>stderr<\/span>,<\/span> "\u65e0\u53ef\u7528\u683c\u5f0f(\u76ee\u6807 %dx%d)\\\\n"<\/span>,<\/span> want_w,<\/span> want_h)<\/span>;<\/span> return<\/span> –<\/span>1<\/span>;<\/span> }<\/span>
      \n int<\/span> w =<\/span> want_w,<\/span> h =<\/span> want_h;<\/span>
      \n __u32 real =<\/span> commit_format<\/span>(<\/span>fd,<\/span> best,<\/span> &<\/span>w,<\/span> &<\/span>h)<\/span>;<\/span>
      \n printf<\/span>(<\/span>"\u81ea\u52a8\u9009\u5b9a\u683c\u5f0f: %s \u5b9e\u9645\u5206\u8fa8\u7387: %dx%d\\\\n"<\/span>,<\/span> FMT_NAME<\/span>(<\/span>real)<\/span>,<\/span> w,<\/span> h)<\/span>;<\/span>
      \n *<\/span>out_fmt =<\/span> real;<\/span><\/p>\n

      \/* \u7533\u8bf7 4 \u4e2a MMAP \u7f13\u51b2 *\/<\/span>
      \n struct<\/span> v4l2_requestbuffers<\/span> req;<\/span>
      \n memset<\/span>(<\/span>&<\/span>req,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>req)<\/span>)<\/span>;<\/span>
      \n req.<\/span>count =<\/span> 4<\/span>;<\/span> req.<\/span>type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n req.<\/span>memory =<\/span> V4L2_MEMORY_MMAP;<\/span>
      \n if<\/span> (<\/span>ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_REQBUFS,<\/span> &<\/span>req)<\/span> <<\/span> 0<\/span>)<\/span>{<\/span> perror<\/span>(<\/span>"REQBUFS"<\/span>)<\/span>;<\/span> return<\/span> –<\/span>1<\/span>;<\/span> }<\/span><\/p>\n

      struct<\/span> buf<\/span> *<\/span>bufs =<\/span> calloc<\/span>(<\/span>req.<\/span>count,<\/span> sizeof<\/span>(<\/span>struct<\/span> buf<\/span>)<\/span>)<\/span>;<\/span>
      \n for<\/span> (<\/span>unsigned<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> req.<\/span>count;<\/span> i++<\/span>)<\/span>{<\/span>
      \n struct<\/span> v4l2_buffer<\/span> b;<\/span>
      \n memset<\/span>(<\/span>&<\/span>b,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>b)<\/span>)<\/span>;<\/span>
      \n b.<\/span>type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n b.<\/span>memory =<\/span> V4L2_MEMORY_MMAP;<\/span>
      \n b.<\/span>index =<\/span> i;<\/span>
      \n ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_QUERYBUF,<\/span> &<\/span>b)<\/span>;<\/span>
      \n bufs[<\/span>i]<\/span>.<\/span>len =<\/span> b.<\/span>length;<\/span>
      \n bufs[<\/span>i]<\/span>.<\/span>start =<\/span> mmap<\/span>(<\/span>NULL<\/span>,<\/span> b.<\/span>length,<\/span> PROT_READ|<\/span>PROT_WRITE,<\/span>
      \n MAP_SHARED,<\/span> fd,<\/span> b.<\/span>m.<\/span>offset)<\/span>;<\/span>
      \n \/* \u5165\u961f\u7a7a\u7f13\u51b2 *\/<\/span>
      \n ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_QBUF,<\/span> &<\/span>b)<\/span>;<\/span>
      \n }<\/span><\/p>\n

      \/* \u5f00\u6d41 *\/<\/span>
      \n enum<\/span> v4l2_buf_type<\/span> type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_STREAMON,<\/span> &<\/span>type)<\/span>;<\/span><\/p>\n

      \/* \u91c7\u96c6 30 \u5e27\u6f14\u793a *\/<\/span>
      \n for<\/span> (<\/span>int<\/span> n =<\/span> 0<\/span>;<\/span> n <<\/span> 30<\/span>;<\/span> n++<\/span>)<\/span>{<\/span>
      \n struct<\/span> v4l2_buffer<\/span> b;<\/span>
      \n memset<\/span>(<\/span>&<\/span>b,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>b)<\/span>)<\/span>;<\/span>
      \n b.<\/span>type =<\/span> V4L2_BUF_TYPE_VIDEO_CAPTURE;<\/span>
      \n b.<\/span>memory =<\/span> V4L2_MEMORY_MMAP;<\/span>
      \n if<\/span> (<\/span>ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_DQBUF,<\/span> &<\/span>b)<\/span> <<\/span> 0<\/span>)<\/span>{<\/span> perror<\/span>(<\/span>"DQBUF"<\/span>)<\/span>;<\/span> break<\/span>;<\/span> }<\/span>
      \n \/* \u6b64\u5904\u4e00\u5e27\u5230\u624b，\u6309\u683c\u5f0f\u5206\u6d41\u5904\u7406：
      \n H264 -> \u89e3\u5c01\u88c5\u76f4\u63a5\u9001\u5c01\u88c5\/\u9884\u89c8（\u6700\u7701）
      \n MJPG -> \u9001 VPU MJPEG \u786c\u89e3 -> NV12
      \n YUYV -> RGA \u8f6c NV12 -> MPP \u7f16\u7801
      \n \u6f14\u793a\u4ec5\u6253\u5370\u5927\u5c0f *\/<\/span>
      \n printf<\/span>(<\/span>" \u5e27#%d \u683c\u5f0f=%s \u5b57\u8282=%u\\\\n"<\/span>,<\/span> n,<\/span> FMT_NAME<\/span>(<\/span>real)<\/span>,<\/span> b.<\/span>bytesused)<\/span>;<\/span>
      \n ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_QBUF,<\/span> &<\/span>b)<\/span>;<\/span> \/* \u8fd8\u56de\u53bb *\/<\/span>
      \n }<\/span><\/p>\n

      ioctl<\/span>(<\/span>fd,<\/span> VIDIOC_STREAMOFF,<\/span> &<\/span>type)<\/span>;<\/span>
      \n for<\/span> (<\/span>unsigned<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> req.<\/span>count;<\/span> i++<\/span>)<\/span> munmap<\/span>(<\/span>bufs[<\/span>i]<\/span>.<\/span>start,<\/span> bufs[<\/span>i]<\/span>.<\/span>len)<\/span>;<\/span>
      \n free<\/span>(<\/span>bufs)<\/span>;<\/span>
      \n return<\/span> 0<\/span>;<\/span>
      \n}<\/span><\/p>\n

      int<\/span> main<\/span>(<\/span>int<\/span> argc,<\/span> char<\/span> *<\/span>*<\/span>argv)<\/span>{<\/span>
      \n const<\/span> char<\/span> *<\/span>dev =<\/span> (<\/span>argc ><\/span> 1<\/span>)<\/span> ?<\/span> argv[<\/span>1<\/span>]<\/span> :<\/span> "\/dev\/video0"<\/span>;<\/span>
      \n int<\/span> target =<\/span> (<\/span>argc ><\/span> 2<\/span>)<\/span> ?<\/span> atoi<\/span>(<\/span>argv[<\/span>2<\/span>]<\/span>)<\/span> :<\/span> 1080<\/span>;<\/span> \/* 2160\/1080\/720 *\/<\/span>
      \n int<\/span> w =<\/span> (<\/span>target >=<\/span> 2160<\/span>)<\/span> ?<\/span> 3840<\/span> :<\/span> (<\/span>target >=<\/span> 1080<\/span> ?<\/span> 1920<\/span> :<\/span> 1280<\/span>)<\/span>;<\/span>
      \n int<\/span> h =<\/span> (<\/span>target >=<\/span> 2160<\/span>)<\/span> ?<\/span> 2160<\/span> :<\/span> (<\/span>target >=<\/span> 1080<\/span> ?<\/span> 1080<\/span> :<\/span> 720<\/span>)<\/span>;<\/span><\/p>\n

      int<\/span> fd =<\/span> open<\/span>(<\/span>dev,<\/span> O_RDWR)<\/span>;<\/span>
      \n if<\/span> (<\/span>fd <<\/span> 0<\/span>)<\/span>{<\/span> perror<\/span>(<\/span>"open"<\/span>)<\/span>;<\/span> return<\/span> –<\/span>1<\/span>;<\/span> }<\/span><\/p>\n

      enum_formats<\/span>(<\/span>fd)<\/span>;<\/span> \/* \u5148\u770b\u6444\u50cf\u5934\u5bb6\u5e95 *\/<\/span>
      \n __u32 fmt;<\/span>
      \n start_capture<\/span>(<\/span>fd,<\/span> w,<\/span> h,<\/span> &<\/span>fmt)<\/span>;<\/span> \/* \u81ea\u52a8\u62e9\u4f18 + \u91c7\u96c6 *\/<\/span>
      \n close<\/span>(<\/span>fd)<\/span>;<\/span>
      \n return<\/span> 0<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \u4ee3\u7801\u8981\u70b9\u89e3\u8bfb（\u4e0e\u8bbe\u5907\u5b9e\u73b0\u5bf9\u5e94）：<\/p>\n

    • enum_formats \u7528 VIDIOC_ENUM_FMT + VIDIOC_ENUM_FRAMESIZES \u628a\u6444\u50cf\u5934\u652f\u6301\u7684\u6240\u6709\u683c\u5f0f\/\u5206\u8fa8\u7387\u6253\u5370\u51fa\u6765\u2014\u2014\u8fd9\u5c31\u662f"\u81ea\u52a8\u8bc6\u522b"\u7684\u53ef\u89c6\u5316\u7248；<\/li>\n
    • try_format \u901a\u8fc7 VIDIOC_TRY_FMT \u5728\u4e0d\u6539\u72b6\u6001\u7684\u524d\u63d0\u4e0b\u8bd5\u63a2"\u683c\u5f0f+\u5206\u8fa8\u7387"\u7ec4\u5408，\u907f\u514d S_FMT \u76f4\u63a5\u5931\u8d25；<\/li>\n
    • pick_best_format \u5b9e\u73b0 H.264 > MJPEG > YUYV \u7684\u81ea\u52a8\u62e9\u4f18，\u53d7\u76ee\u6807\u5206\u8fa8\u7387\u7ea6\u675f（4K \u4f1a\u8df3\u8fc7\u4e0d\u652f\u6301\u7684 YUYV）；<\/li>\n
    • commit_format \u7528 VIDIOC_S_FMT \u771f\u6b63\u63d0\u4ea4，\u5e76\u56de\u8bfb\u5b9e\u9645\u751f\u6548\u503c\u2014\u2014\u5bf9\u5e94 UVC Probe\/Commit "\u8bbe\u5b8c\u8981\u786e\u8ba4"\u7684\u94c1\u5f8b，\u6444\u50cf\u5934\u964d\u7ea7\u65f6\u6211\u4eec\u80fd\u611f\u77e5；<\/li>\n
    • start_capture \u7528\u6807\u51c6 REQBUFS + mmap + QBUF\/DQBUF\/STREAMON \u6d41\u7a0b\u53d6\u5e27，4 \u4e2a\u7f13\u51b2\u505a\u4e52\u4e53\u9632\u5361\u987f；<\/li>\n
    • \u53d6\u5e27\u540e\u6309 out_fmt \u5206\u6d41：H.264 \u514d\u89e3\u7801\u3001MJPEG \u8d70 VPU \u786c\u89e3\u3001YUYV \u8d70 RGA\u2014\u2014\u6b63\u662f\u7b2c\u56db\u7bc7（UVC+MPP \u89e3\u7801）\u4e0e\u7b2c\u516d\u7bc7（RGA \u9002\u914d）\u7684\u5165\u53e3；<\/li>\n
    • \u771f\u5b9e\u8bbe\u5907\u91cc DQBUF \u62ff\u5230\u7684 dmabuf \u53ef\u76f4\u63a5 fd \u4ea4\u7ed9 RGA\/MPP \u96f6\u62f7\u8d1d，\u65e0\u9700 memcpy（\u89c1\u7efc\u5408\u6027\u80fd\u7bc7"\u9ec4\u91d1\u6cd5\u5219"）\u3002<\/li>\n
      \n

      4. \u6df1\u5ea6\u7ed3\u5408\u300aMEDAI-V1 \u4f7f\u7528\u8bf4\u660e\u4e66\u300b<\/h3>\n

      4.1 UVC \u914d\u7f6e（\u8bf4\u660e\u4e66 4.3.1）<\/h4>\n

      UVC \u652f\u6301 2160P（4K） \u548c 1080P \u4e24\u79cd\u5206\u8fa8\u7387；\u5207\u6362\u5206\u8fa8\u7387\u540e\u9700\u91cd\u542f\u8bbe\u5907\u65b9\u53ef\u751f\u6548\u3002<\/p>\n

      \u4ee3\u7801\u91cc target=2160 \u5373\u5bf9\u5e94"2160P \u9009\u9879"\u3002\u4e4b\u6240\u4ee5"\u5207\u5206\u8fa8\u7387\u8981\u91cd\u542f"，\u6b63\u662f\u56e0\u4e3a\u6362\u5230 4K \u901a\u5e38\u8981\u628a\u683c\u5f0f\u4ece YUYV \u5207\u5230 MJPEG\/H.264（1.5 \u8282\u5e26\u5bbd\u8d26），\u8fd9\u6d89\u53ca UVC Probe\/Commit \u91cd\u65b0\u534f\u5546 + \u4e0b\u6e38 VPU\/RGA \u89e3\u7801\u94fe\u8def\u91cd\u5efa\u2014\u2014\u70ed\u5207\u6362\u98ce\u9669\u9ad8，\u8bbe\u5907\u9009\u62e9"\u91cd\u542f\u539f\u5b50\u91cd\u5efa"\u6700\u7a33（\u547c\u5e94\u7b2c\u4e03\u7bc7"UVC \u5207\u6362\u5206\u8fa8\u7387\u5c5e\u7f16\u7801\u5951\u7ea6\u672c\u8eab"）\u3002<\/p>\n

      4.2 \u517c\u5bb9\u6444\u50cf\u5934\u5217\u8868（\u6280\u672f\u53c2\u6570）<\/h4>\n

      USB \u4fe1\u53f7\u8f93\u5165 UVC \u652f\u6301：Obsbot \u5bfb\u5f71\u7cfb\u5217 \/ Insta360（360Insta）\/ \u5927\u7586\u7cfb\u5217 \/ \u58f9\u79d8 \/ Pocket3 \/ Obsbot Tiny2 \/ Meet2 \/ \u7eff\u8054 \/ \u751c\u751c\u5708 \u7b49\u3002<\/p>\n

      \u8fd9\u4e9b\u5747\u7b26\u5408\u6807\u51c6 UVC（1.1 \u8282），\u63d2\u4e0a\u5373\u88ab uvcvideo \u9a71\u52a8\u8bc6\u522b\u4e3a \/dev\/videoX，\u672c\u7bc7\u4ee3\u7801 enum_formats \u80fd\u76f4\u63a5\u5217\u51fa\u5b83\u4eec\u7684\u80fd\u529b\u3002\u6ce8\u610f：\u5927\u7586 Pocket3\u3001Obsbot \u7b49\u9ad8\u7aef\u4e91\u53f0\u5e38\u9ed8\u8ba4\u8f93\u51fa H.264，\u81ea\u52a8\u62e9\u4f18\u4f1a\u4f18\u5148\u9009\u5b83（\u6700\u7701 VPU）\u3002<\/p>\n

      4.3 UVC \u662f\u4e94\u8f93\u5165\u6e90\u4e4b\u4e00（\u8bf4\u660e\u4e66 3.2.2）<\/h4>\n

      \u89c6\u9891\u8f93\u51fa（HDMI \u663e\u793a\u4e0e\u7f16\u7801\u6e90）\u53ef\u9009\u4e94\u6e90：HDMI \/ UVC \/ NDI \/ NET1 \/ NET2\u3002<\/p>\n

      UVC \u5c31\u662f\u5176\u4e2d\u4e4b\u4e00\u3002\u65e0\u8bba\u5b83\u5185\u90e8\u662f H.264\/MJPEG\/YUYV，\u7ecf\u8fc7\u672c\u7bc7"\u81ea\u52a8\u83b7\u53d6+\u7edf\u4e00 NV12"\u540e，\u4e0e\u5176\u5b83\u56db\u6e90\u5728\u753b\u5e03\u4e0a\u5730\u4f4d\u5e73\u7b49（\u89c1 RGA \u9002\u914d\u7bc7）\u3002<\/p>\n

      4.4 UVC = \u7eff\u5e55\u4e3b\u6e90（\u8bf4\u660e\u4e66 4.4.3）<\/h4>\n

      \u7eff\u5e55\u914d\u7f6e：\u80cc\u666f\u4e0a\u4f20\u672c\u5730\u80cc\u666f\u56fe；\u8f93\u5165\u6e90：\u4e3b\u6e90\u56fa\u5b9a\u4e3a UVC\u3002<\/p>\n

      \u7eff\u5e55\u62a0\u56fe\u5bf9\u5b9e\u65f6\u6027\u8981\u6c42\u9ad8，\u5fc5\u987b\u5403"\u6700\u5e72\u51c0\u3001\u6700\u6613\u5904\u7406\u7684\u753b\u9762"\u3002\u81ea\u52a8\u62e9\u4f18\u540e\u82e5\u4e3a H.264\/MJPEG，\u5148\u786c\u89e3\u6210 NV12 \u518d\u8fdb OpenGL \u7eff\u5e55\u7ba1\u7ebf（\u7eff\u5e55\u7bc7）；\u82e5\u4e3a YUYV \u5219\u5148 RGA \u8f6c NV12\u3002\u56fa\u5b9a UVC \u4e5f\u907f\u514d\u4e86"\u5207\u6e90\u5bfc\u81f4\u7eff\u5e55\u65ad\u6d41"\u3002<\/p>\n

      4.5 UVC = \u624b\u52bf\u8bc6\u522b\u6e90（\u8bf4\u660e\u4e66 6.2）<\/h4>\n

      \u901a\u8fc7 UVC \u6444\u50cf\u5934\u8bc6\u522b\u624b\u52bf\u5e76\u5207\u6362\u4fe1\u53f7\u6e90；\u8bc6\u522b\u540e\u9700\u7b49\u5f85 5 \u79d2\u8fdb\u5165\u4e0b\u6b21\u8bc6\u522b\u3002<\/p>\n

      \u624b\u52bf\u8bc6\u522b\u9700\u8981\u9010\u5e27\u5582\u7ed9 NPU，\u6240\u4ee5 UVC \u5e27\u5fc5\u987b\u53ca\u65f6\u3001\u4f4e\u5ef6\u8fdf\u5230\u8fbe\u3002\u81ea\u52a8\u9009 H.264\/MJPEG \u80fd\u8ba9\u6444\u50cf\u5934\u4fa7\u9884\u5904\u7406，\u603b\u7ebf\u5360\u7528\u4f4e，\u7ed9 NPU \u7559\u8db3\u4f59\u91cf\u3002<\/p>\n

      4.6 \u97f3\u9891\u8ddf\u968f（\u8bf4\u660e\u4e66 3.2.1）<\/h4>\n

      \u97f3\u9891\u8f93\u5165\u53ef\u9009：\u8ddf\u968f\u89c6\u9891 \/ MIC \/ WLM\u3002\u9009"\u8ddf\u968f\u89c6\u9891"\u65f6\u58f0\u97f3\u8ddf\u968f\u89c6\u9891\u6e90\u3002<\/p>\n

      UVC \u6444\u50cf\u5934\u82e5\u5e26\u9ea6\u514b\u98ce（\u591a\u6570\u4e91\u53f0\u6709），V4L2 \u4f1a\u989d\u5916\u66b4\u9732\u4e00\u4e2a \/dev\/audio \u6216\u590d\u5408\u8bbe\u5907，\u97f3\u9891\u968f\u89c6\u9891\u6d41\u8fdb\u8bbe\u5907\u505a AAC \u7f16\u7801（\u6280\u672f\u53c2\u6570\u58f0\u97f3\u7f16\u7801 AAC 48K \u53cc\u901a\u9053），\u5bf9\u5e94"\u8ddf\u968f\u89c6\u9891"\u3002<\/p>\n

      4.7 \u63a5\u53e3\u4e0e\u4f9b\u7535（\u6280\u672f\u53c2\u6570）<\/h4>\n

      USB \u63a5\u53e3：USB3.0 \u00d7 2；UVC \u8d70\u5176\u4e2d\u4e00\u4e2a USB3.0；\u8bbe\u5907 2 \u8def USB3.0 \u5206\u522b\u4e3a UVC \u6444\u50cf\u5934\u4e0e\u65e0\u7ebf MIC\/U \u76d8\u3002<\/p>\n

      USB3.0 \u7684\u5e26\u5bbd（~400 MB\/s \u6709\u6548）\u662f MJPEG\/H.264 4K \u80fd\u8dd1\u901a\u7684\u786c\u4ef6\u524d\u63d0（1.5 \u8282）\u3002\u4e24\u4e2a USB3.0 \u5206\u5de5\u660e\u786e：\u4e00\u4e2a\u7ed9 UVC\u3001\u4e00\u4e2a\u7ed9\u65e0\u7ebf MIC \u6216\u5f55\u5236 U \u76d8（4.3.2），\u4e92\u4e0d\u62a2\u5e26\u5bbd\u3002<\/p>\n

      \n

      5. \u81ea\u52a8\u683c\u5f0f\u51b3\u7b56\u5b9e\u6218\u6b65\u9aa4<\/h3>\n
    • \u63a5\u6444\u50cf\u5934：\u628a UVC \u6444\u50cf\u5934\u63d2\u5230\u8bbe\u5907\u4efb\u4e00 USB3.0 \u53e3；<\/li>\n
    • \u786e\u8ba4\u8282\u70b9：ls \/dev\/video* \u770b\u65b0\u51fa\u73b0\u7684\u8bbe\u5907（\u6216 v4l2-ctl –list-devices）；<\/li>\n
    • \u67e5\u80fd\u529b：v4l2-ctl -d \/dev\/video0 –list-formats-ext \u770b\u652f\u6301\u54ea\u4e9b\u683c\u5f0f\/\u5206\u8fa8\u7387（\u5bf9\u5e94\u4ee3\u7801 enum_formats）；<\/li>\n
    • Web \u8bbe\u7f6e：\u767b\u5f55 192.168.78.100 \u2192\u300cUVC \u914d\u7f6e\u300d\u9009 2160P \u6216 1080P（4.3.1）；<\/li>\n
    • \u8bbe\u5907\u81ea\u52a8\u62e9\u4f18：\u56fa\u4ef6\u5185\u90e8\u6267\u884c\u7c7b\u4f3c\u672c\u7bc7 pick_best_format \u7684\u903b\u8f91，\u6311 H.264\/MJPEG\/YUYV \u6700\u4f18\u8005；<\/li>\n
    • \u9a8c\u8bc1\u753b\u9762：\u300c\u9884\u76d1\u72b6\u6001\u300d\u770b UVC \u753b\u9762（3.1 \u56fe 3-3\/3-5）；<\/li>\n
    • \u5207\u6362\u5206\u8fa8\u7387：\u6539\u5b8c\u9700\u6309\u8bf4\u660e\u4e66\u91cd\u542f\u8bbe\u5907\u751f\u6548（7.2 \u7b2c 3 \u6761）；<\/li>\n
    • \u8054\u52a8\u529f\u80fd：\u7eff\u5e55\/\u624b\u52bf\u8bc6\u522b\u81ea\u52a8\u57fa\u4e8e\u8be5 UVC \u6e90\u5de5\u4f5c\u3002<\/li>\n
      \n

      6. \u4f18\u5316\u6e05\u5355\u4e0e\u5e38\u89c1\u95ee\u9898<\/h3>\n

      6.1 \u63d0\u5347\u91c7\u96c6\u7a33\u5b9a\u6027\u7684 5 \u6761<\/h4>\n
    • \u6c38\u8fdc\u5148 ENUM \u518d S_FMT：\u4e0d\u679a\u4e3e\u5c31\u76f4\u63a5 S_FMT \u6613\u5931\u8d25，\u4e14\u4e0d\u77e5\u9053\u6444\u50cf\u5934\u771f\u5b9e\u80fd\u529b；<\/li>\n
    • S_FMT \u540e\u56de\u8bfb\u786e\u8ba4：\u6444\u50cf\u5934\u53ef\u80fd\u6084\u6084\u964d\u7ea7\u5206\u8fa8\u7387\/\u5e27\u7387（\u5e26\u5bbd\u4e0d\u591f\u65f6\u5e38\u89c1）；<\/li>\n
    • 4K \u5f3a\u5236\u538b\u7f29\u683c\u5f0f：\u76ee\u6807 4K \u65f6\u82e5 YUYV \u8bd5\u63a2\u4e0d\u8fc7，\u81ea\u52a8\u843d\u5230 MJPEG\/H.264，\u522b\u786c\u4e0a\u539f\u59cb\u683c\u5f0f；<\/li>\n
    • \u7f13\u51b2 \u22654 \u4e14\u7528 MMAP：\u4e52\u4e53\u7f13\u51b2\u9632\u4e22\u5e27；RK3576 \u4e0a\u4f18\u5148 DMABUF \u8ba9 RGA\/MPP \u96f6\u62f7\u8d1d\u63a5\u624b；<\/li>\n
    • \u70ed\u63d2\u62d4\u76d1\u542c：\u6444\u50cf\u5934\u62d4\u63d2\u4f1a\u9500\u6bc1 \/dev\/videoX，\u4e0a\u5c42\u9700 udev \u4e8b\u4ef6\u91cd\u5efa\u91c7\u96c6（\u907f\u514d\u6bb5\u9519\u8bef）\u3002<\/li>\n

      6.2 FAQ<\/h4>\n

      Q1：\u63d2\u4e0a\u6444\u50cf\u5934 ls \/dev\/video* \u6ca1\u6709\u65b0\u8282\u70b9？
      \nA：\u591a\u4e3a\u975e\u6807\u51c6 UVC（\u9700\u5382\u5546\u9a71\u52a8）\u6216 USB \u4f9b\u7535\u4e0d\u8db3；\u786e\u8ba4\u662f\u8bf4\u660e\u4e66\u517c\u5bb9\u5217\u8868\u5185\u673a\u578b，\u6362 USB3.0 \u53e3，\u6216\u5916\u63a5\u4f9b\u7535\u3002<\/p>\n

      Q2：\u679a\u4e3e\u53ea\u770b\u5230 YUYV，\u6ca1\u6709 H.264\/MJPEG？
      \nA：\u4f4e\u914d\u6444\u50cf\u5934\u53ea\u5410\u539f\u59cb\u683c\u5f0f\u30024K \u4e0b\u4f1a\u4e25\u91cd\u5360 USB \u5e26\u5bbd，\u5efa\u8bae\u964d\u5230 1080P \u6216\u6362\u652f\u6301 MJPEG\/H.264 \u7684\u4e91\u53f0（\u5982 Obsbot\/Pocket3）\u3002<\/p>\n

      Q3：\u9009\u4e86 2160P \u4f46\u753b\u9762\u5361\u987f\/\u6389\u5e27？
      \nA：YUYV 4K \u8d85 USB3 \u5e26\u5bbd；\u4f18\u8d28\u6444\u50cf\u5934\u5728 4K \u9ed8\u8ba4\u8d70 MJPEG\/H.264\u3002\u91cd\u542f\u8bbe\u5907\u8ba9\u683c\u5f0f\u91cd\u65b0\u534f\u5546（7.2 \u7b2c 3 \u6761），\u5e76\u5728\u9884\u76d1\u786e\u8ba4\u5b9e\u9645\u5206\u8fa8\u7387\u3002<\/p>\n

      Q4：\u5207\u6362\u5206\u8fa8\u7387\u540e\u6ca1\u53d8\u5316？
      \nA：UVC \u5207\u6362\u5206\u8fa8\u7387\u5fc5\u987b\u91cd\u542f\u8bbe\u5907\u751f\u6548（4.3.1 \/ 7.2 \u7b2c 3 \u6761），\u4e0d\u662f Web \u70b9\u4e00\u4e0b\u5373\u65f6\u751f\u6548\u3002<\/p>\n

      Q5：\u7eff\u5e55\/\u624b\u52bf\u4e0d\u5de5\u4f5c？
      \nA：\u4e8c\u8005\u56fa\u5b9a\u5403 UVC \u4e3b\u6e90（4.4.3 \/ 6.2），\u786e\u8ba4 UVC \u5df2\u6b63\u5e38\u8fde\u4e14\u9884\u76d1\u6709\u753b\u9762；\u624b\u52bf\u8bc6\u522b\u540e\u9700\u7b49 5 \u79d2\u518d\u8bc6\u522b（6.2 \/ 7.2 \u7b2c 8 \u6761）\u3002<\/p>\n

      Q6：MJPEG \u5e27\u600e\u4e48\u7528？
      \nA：\u9001 RK3576 VPU \u7684 MJPEG \u786c\u89e3（\u89e3\u7801\u53c2\u6570\u542b MJPEG）\u2192 NV12，\u4e00\u5305\u4e00\u5e27\u514d\u62c6\u5305（\u7b2c\u56db\u7bc7\u8be6\u89e3）\u3002<\/p>\n

      Q7：H.264 \u6444\u50cf\u5934\u6570\u636e\u80fd\u76f4\u63a5\u63a8\u6d41\u5417？
      \nA：\u53ef\u4ee5\u3002H.264 \u76f4\u9001\u89e3\u5c01\u88c5\/\u5c01\u88c5，\u51e0\u4e4e\u4e0d\u5360 VPU，\u6700\u9002\u5408\u591a\u8def\u5206\u53d1；\u4f46\u9884\u89c8\u5982\u9700\u7f29\u653e\/\u53e0\u52a0\u4ecd\u9700\u5148\u89e3\u6210 NV12（\u8d70 RGA）\u3002<\/p>\n

      Q8：\u53cc USB3.0 \u600e\u4e48\u5206\u5de5？
      \nA：\u4e00\u4e2a\u63a5 UVC \u6444\u50cf\u5934，\u4e00\u4e2a\u63a5\u65e0\u7ebf MIC \u6216\u5f55\u5236 U \u76d8（\u6280\u672f\u53c2\u6570），\u5206\u5f00\u8d70\u5e26\u5bbd\u4e92\u4e0d\u5e72\u6270\u3002<\/p>\n

      \n

      7. \u5c0f\u7ed3<\/h3>\n

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      \n

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