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You can try OpenCV camera access with starter_video.cpp sample. It reads and shows frames from camera or video file.
Usage:
$cpp-examples-starter_video <camera index, i.e. 0> # for camera access
$cpp-examples-starter_video <path to video file> # for file reading
Also you can use it as reference of camera access in OpenCV. Saple on Willowgarage wiki is out of date. It uses old OpenCV 1.x C API. Use official documentation instead.