raw

Thirdparty/Pangolin/include/pangolin/video/drivers/uvc.h

@@ -0,0 +1,115 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2011 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/pangolin.h>
+#include <pangolin/video/video.h>
+#include <pangolin/utils/timer.h>
+
+#ifdef _MSC_VER
+// Define missing timeval struct
+typedef struct timeval {
+    long tv_sec;
+    long tv_usec;
+} timeval;
+#endif // _MSC_VER
+
+#include <libuvc/libuvc.h>
+
+namespace pangolin
+{
+
+class PANGOLIN_EXPORT UvcVideo : public VideoInterface, public VideoUvcInterface, public VideoPropertiesInterface
+{
+public:
+    UvcVideo(int vendor_id, int product_id, const char* sn, int deviceid, int width, int height, int fps);
+    ~UvcVideo();
+    
+    void InitDevice(int vid, int pid, const char* sn, int deviceid, int width, int height, int fps);
+    void DeinitDevice();
+    
+    //! Implement VideoInput::Start()
+    void Start();
+    
+    //! Implement VideoInput::Stop()
+    void Stop();
+
+    //! Implement VideoInput::SizeBytes()
+    size_t SizeBytes() const;
+
+    //! Implement VideoInput::Streams()
+    const std::vector<StreamInfo>& Streams() const;
+    
+    //! Implement VideoInput::GrabNext()
+    bool GrabNext( unsigned char* image, bool wait = true );
+    
+    //! Implement VideoInput::GrabNewest()
+    bool GrabNewest( unsigned char* image, bool wait = true );
+
+    //! Implement VideoUvcInterface::GetCtrl()
+    int IoCtrl(uint8_t unit, uint8_t ctrl, unsigned char* data, int len, UvcRequestCode req_code);
+
+    //! Implement VideoUvcInterface::GetExposure()
+    bool GetExposure(int& exp_us);
+
+    //! Implement VideoUvcInterface::SetExposure()
+    bool SetExposure(int exp_us);
+
+    //! Implement VideoUvcInterface::GetGain()
+    bool GetGain(float& gain);
+
+    //! Implement VideoUvcInterface::SetGain()
+    bool SetGain(float gain);
+
+    //! Access JSON properties of device
+    const picojson::value& DeviceProperties() const;
+
+    //! Access JSON properties of most recently captured frame
+    const picojson::value& FrameProperties() const;
+
+protected:
+    void InitPangoDeviceProperties();
+    static uvc_error_t FindDevice(
+        uvc_context_t *ctx, uvc_device_t **dev,
+        int vid, int pid, const char *sn, int device_id);
+
+    std::vector<StreamInfo> streams;
+    size_t size_bytes;
+    
+    uvc_context* ctx_;
+    uvc_device*  dev_;
+    uvc_device_handle* devh_;
+    uvc_stream_handle* strm_;
+    uvc_stream_ctrl_t ctrl_;
+    uvc_frame_t* frame_;
+    picojson::value device_properties;
+    picojson::value frame_properties;
+    bool is_streaming;
+};
+
+}