Well, I’ve tried to use the same code as step 5 (based on RaspiStill.c) and I’ve just added a loop to take many pictures as quick as possible (it’s called a movie isn’t-it ?). Result is not too bad, but we can surely do better starting with RaspiVid.c (but another story, next step).

This way is quite simple  and I get around 8 FPS (still better than my USB-cam and its 2-3 FPS).
Compared to step 5, only linors changes : take a look on main function (around line 743) and in encoder_buffer_callback (around line 235).
File is here : http://raufast.org/download/camcv2.c

Note : filename changed, update your CMakeLists.txt file ! 😉