-#include "libuvc/libuvc.h"
-#include <stdio.h>
-
-/* This callback function runs once per frame. Use it to perform any
- * quick processing you need, or have it put the frame into your application's
- * input queue. If this function takes too long, you'll start losing frames. */
-void cb(uvc_frame_t *frame, void *ptr) {
- uvc_frame_t *bgr;
- uvc_error_t ret;
-
- /* We'll convert the image from YUV/JPEG to BGR, so allocate space */
- bgr = uvc_allocate_frame(frame->width * frame->height * 3);
- if (!bgr) {
- printf("unable to allocate bgr frame!");
- return;
- }
-
- /* Do the BGR conversion */
- ret = uvc_any2bgr(frame, bgr);
- if (ret) {
- uvc_perror(ret, "uvc_any2bgr");
- uvc_free_frame(bgr);
- return;
- }
-
- /* Call a user function:
- *
- * my_type *my_obj = (*my_type) ptr;
- * my_user_function(ptr, bgr);
- * my_other_function(ptr, bgr->data, bgr->width, bgr->height);
- */
-
- /* Call a C++ method:
- *
- * my_type *my_obj = (*my_type) ptr;
- * my_obj->my_func(bgr);
- */
-
- /* Use opencv.highgui to display the image:
- *
- * cvImg = cvCreateImageHeader(
- * cvSize(bgr->width, bgr->height),
- * IPL_DEPTH_8U,
- * 3);
- *
- * cvSetData(cvImg, bgr->data, bgr->width * 3);
- *
- * cvNamedWindow("Test", CV_WINDOW_AUTOSIZE);
- * cvShowImage("Test", cvImg);
- * cvWaitKey(10);
- *
- * cvReleaseImageHeader(&cvImg);
- */
-
- uvc_free_frame(bgr);
-}
-
-int main(int argc, char **argv) {
- uvc_context_t *ctx;
- uvc_device_t *dev;
- uvc_device_handle_t *devh;
- uvc_stream_ctrl_t ctrl;
- uvc_error_t res;
-
- /* Initialize a UVC service context. Libuvc will set up its own libusb
- * context. Replace NULL with a libusb_context pointer to run libuvc
- * from an existing libusb context. */
- res = uvc_init(&ctx, NULL);
-
- if (res < 0) {
- uvc_perror(res, "uvc_init");
- return res;
- }
-
- puts("UVC initialized");
-
- /* Locates the first attached UVC device, stores in dev */
- res = uvc_find_device(
- ctx, &dev,
- 0, 0, NULL); /* filter devices: vendor_id, product_id, "serial_num" */
-
- if (res < 0) {
- uvc_perror(res, "uvc_find_device"); /* no devices found */
- } else {
- puts("Device found");
-
- /* Try to open the device: requires exclusive access */
- res = uvc_open(dev, &devh);
-
- if (res < 0) {
- uvc_perror(res, "uvc_open"); /* unable to open device */
- } else {
- puts("Device opened");
-
- /* Print out a message containing all the information that libuvc
- * knows about the device */
- uvc_print_diag(devh, stderr);
-
- /* Try to negotiate a 640x480 30 fps YUYV stream profile */
- res = uvc_get_stream_ctrl_format_size(
- devh, &ctrl, /* result stored in ctrl */
- UVC_FRAME_FORMAT_YUYV, /* YUV 422, aka YUV 4:2:2. try _COMPRESSED */
- 640, 480, 30 /* width, height, fps */
- );
-
- /* Print out the result */
- uvc_print_stream_ctrl(&ctrl, stderr);
-
- if (res < 0) {
- uvc_perror(res, "get_mode"); /* device doesn't provide a matching stream */
- } else {
- /* Start the video stream in isochronous mode. The library will
- * call user function cb: cb(frame, (void*) 12345)
- */
- res = uvc_start_iso_streaming(devh, &ctrl, cb, 12345);
-
- if (res < 0) {
- uvc_perror(res, "start_streaming"); /* unable to start stream */
- } else {
- puts("Streaming...");
-
- uvc_set_ae_mode(devh, 1); /* e.g., turn on auto exposure */
-
- sleep(10); /* stream for 10 seconds */
-
- /* End the stream. Blocks until last callback is serviced */
- uvc_stop_streaming(devh);
- puts("Done streaming.");
- }
- }
-
- /* Release our handle on the device */
- uvc_close(devh);
- puts("Device closed");
- }
-
- /* Release the device descriptor */
- uvc_unref_device(dev);
- }
-
- /* Close the UVC context. This closes and cleans up any existing device handles,
- * and it closes the libusb context if one was not provided. */
- uvc_exit(ctx);
- puts("UVC exited");
-
- return 0;
-}
-