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The VIDIOC_S_FMT error 22, and the VIDIOC_S_FMT error 5, are just due to that fact different android devices have different speeds to process frames. so I changed the tv.tv_sec = 2; to tv.tv_sec = 20;

void process_camera(int fd, buffer* frame_buffers, int width,

        struct timeval tv;

        tv.tv_sec = 20;

        tv.tv_usec = 0;