+++ /dev/null
-#ifndef LIBUVC_H
-#define LIBUVC_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h> // FILE
-#include <libusb-1.0/libusb.h>
-#include <libuvc/libuvc_config.h>
-
-/** UVC error types, based on libusb errors
- * @ingroup diag
- */
-typedef enum uvc_error {
- /** Success (no error) */
- UVC_SUCCESS = 0,
- /** Input/output error */
- UVC_ERROR_IO = -1,
- /** Invalid parameter */
- UVC_ERROR_INVALID_PARAM = -2,
- /** Access denied */
- UVC_ERROR_ACCESS = -3,
- /** No such device */
- UVC_ERROR_NO_DEVICE = -4,
- /** Entity not found */
- UVC_ERROR_NOT_FOUND = -5,
- /** Resource busy */
- UVC_ERROR_BUSY = -6,
- /** Operation timed out */
- UVC_ERROR_TIMEOUT = -7,
- /** Overflow */
- UVC_ERROR_OVERFLOW = -8,
- /** Pipe error */
- UVC_ERROR_PIPE = -9,
- /** System call interrupted */
- UVC_ERROR_INTERRUPTED = -10,
- /** Insufficient memory */
- UVC_ERROR_NO_MEM = -11,
- /** Operation not supported */
- UVC_ERROR_NOT_SUPPORTED = -12,
- /** Device is not UVC-compliant */
- UVC_ERROR_INVALID_DEVICE = -50,
- /** Mode not supported */
- UVC_ERROR_INVALID_MODE = -51,
- /** Resource has a callback (can't use polling and async) */
- UVC_ERROR_CALLBACK_EXISTS = -52,
- /** Undefined error */
- UVC_ERROR_OTHER = -99
-} uvc_error_t;
-
-/** Color coding of stream, transport-independent
- * @ingroup streaming
- */
-enum uvc_frame_format {
- UVC_FRAME_FORMAT_UNKNOWN = 0,
- /** Any supported format */
- UVC_FRAME_FORMAT_ANY = 0,
- UVC_FRAME_FORMAT_UNCOMPRESSED,
- UVC_FRAME_FORMAT_COMPRESSED,
- /** YUYV/YUV2/YUV422: YUV encoding with one luminance value per pixel and
- * one UV (chrominance) pair for every two pixels.
- */
- UVC_FRAME_FORMAT_YUYV,
- UVC_FRAME_FORMAT_UYVY,
- /** 24-bit RGB */
- UVC_FRAME_FORMAT_RGB,
- UVC_FRAME_FORMAT_BGR,
- /** Motion-JPEG (or JPEG) encoded images */
- UVC_FRAME_FORMAT_MJPEG,
- UVC_FRAME_FORMAT_GRAY8,
- /** Number of formats understood */
- UVC_FRAME_FORMAT_COUNT,
-};
-
-/* UVC_COLOR_FORMAT_* have been replaced with UVC_FRAME_FORMAT_*. Please use
- * UVC_FRAME_FORMAT_* instead of using these. */
-#define UVC_COLOR_FORMAT_UNKNOWN UVC_FRAME_FORMAT_UNKNOWN
-#define UVC_COLOR_FORMAT_UNCOMPRESSED UVC_FRAME_FORMAT_UNCOMPRESSED
-#define UVC_COLOR_FORMAT_COMPRESSED UVC_FRAME_FORMAT_COMPRESSED
-#define UVC_COLOR_FORMAT_YUYV UVC_FRAME_FORMAT_YUYV
-#define UVC_COLOR_FORMAT_UYVY UVC_FRAME_FORMAT_UYVY
-#define UVC_COLOR_FORMAT_RGB UVC_FRAME_FORMAT_RGB
-#define UVC_COLOR_FORMAT_BGR UVC_FRAME_FORMAT_BGR
-#define UVC_COLOR_FORMAT_MJPEG UVC_FRAME_FORMAT_MJPEG
-#define UVC_COLOR_FORMAT_GRAY8 UVC_FRAME_FORMAT_GRAY8
-
-/** UVC request code (A.8) */
-enum uvc_req_code {
- UVC_RC_UNDEFINED = 0x00,
- UVC_SET_CUR = 0x01,
- UVC_GET_CUR = 0x81,
- UVC_GET_MIN = 0x82,
- UVC_GET_MAX = 0x83,
- UVC_GET_RES = 0x84,
- UVC_GET_LEN = 0x85,
- UVC_GET_INFO = 0x86,
- UVC_GET_DEF = 0x87
-};
-
-enum uvc_device_power_mode {
- UVC_VC_VIDEO_POWER_MODE_FULL = 0x000b,
- UVC_VC_VIDEO_POWER_MODE_DEVICE_DEPENDENT = 0x001b,
-};
-
-/** Camera terminal control selector (A.9.4) */
-enum uvc_ct_ctrl_selector {
- UVC_CT_CONTROL_UNDEFINED = 0x00,
- UVC_CT_SCANNING_MODE_CONTROL = 0x01,
- UVC_CT_AE_MODE_CONTROL = 0x02,
- UVC_CT_AE_PRIORITY_CONTROL = 0x03,
- UVC_CT_EXPOSURE_TIME_ABSOLUTE_CONTROL = 0x04,
- UVC_CT_EXPOSURE_TIME_RELATIVE_CONTROL = 0x05,
- UVC_CT_FOCUS_ABSOLUTE_CONTROL = 0x06,
- UVC_CT_FOCUS_RELATIVE_CONTROL = 0x07,
- UVC_CT_FOCUS_AUTO_CONTROL = 0x08,
- UVC_CT_IRIS_ABSOLUTE_CONTROL = 0x09,
- UVC_CT_IRIS_RELATIVE_CONTROL = 0x0a,
- UVC_CT_ZOOM_ABSOLUTE_CONTROL = 0x0b,
- UVC_CT_ZOOM_RELATIVE_CONTROL = 0x0c,
- UVC_CT_PANTILT_ABSOLUTE_CONTROL = 0x0d,
- UVC_CT_PANTILT_RELATIVE_CONTROL = 0x0e,
- UVC_CT_ROLL_ABSOLUTE_CONTROL = 0x0f,
- UVC_CT_ROLL_RELATIVE_CONTROL = 0x10,
- UVC_CT_PRIVACY_CONTROL = 0x11
-};
-
-/** Processing unit control selector (A.9.5) */
-enum uvc_pu_ctrl_selector {
- UVC_PU_CONTROL_UNDEFINED = 0x00,
- UVC_PU_BACKLIGHT_COMPENSATION_CONTROL = 0x01,
- UVC_PU_BRIGHTNESS_CONTROL = 0x02,
- UVC_PU_CONTRAST_CONTROL = 0x03,
- UVC_PU_GAIN_CONTROL = 0x04,
- UVC_PU_POWER_LINE_FREQUENCY_CONTROL = 0x05,
- UVC_PU_HUE_CONTROL = 0x06,
- UVC_PU_SATURATION_CONTROL = 0x07,
- UVC_PU_SHARPNESS_CONTROL = 0x08,
- UVC_PU_GAMMA_CONTROL = 0x09,
- UVC_PU_WHITE_BALANCE_TEMPERATURE_CONTROL = 0x0a,
- UVC_PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL = 0x0b,
- UVC_PU_WHITE_BALANCE_COMPONENT_CONTROL = 0x0c,
- UVC_PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL = 0x0d,
- UVC_PU_DIGITAL_MULTIPLIER_CONTROL = 0x0e,
- UVC_PU_DIGITAL_MULTIPLIER_LIMIT_CONTROL = 0x0f,
- UVC_PU_HUE_AUTO_CONTROL = 0x10,
- UVC_PU_ANALOG_VIDEO_STANDARD_CONTROL = 0x11,
- UVC_PU_ANALOG_LOCK_STATUS_CONTROL = 0x12
-};
-
-/** USB terminal type (B.1) */
-enum uvc_term_type {
- UVC_TT_VENDOR_SPECIFIC = 0x0100,
- UVC_TT_STREAMING = 0x0101
-};
-
-/** Input terminal type (B.2) */
-enum uvc_it_type {
- UVC_ITT_VENDOR_SPECIFIC = 0x0200,
- UVC_ITT_CAMERA = 0x0201,
- UVC_ITT_MEDIA_TRANSPORT_INPUT = 0x0202
-};
-
-/** Output terminal type (B.3) */
-enum uvc_ot_type {
- UVC_OTT_VENDOR_SPECIFIC = 0x0300,
- UVC_OTT_DISPLAY = 0x0301,
- UVC_OTT_MEDIA_TRANSPORT_OUTPUT = 0x0302
-};
-
-/** External terminal type (B.4) */
-enum uvc_et_type {
- UVC_EXTERNAL_VENDOR_SPECIFIC = 0x0400,
- UVC_COMPOSITE_CONNECTOR = 0x0401,
- UVC_SVIDEO_CONNECTOR = 0x0402,
- UVC_COMPONENT_CONNECTOR = 0x0403
-};
-
-/** Context, equivalent to libusb's contexts.
- *
- * May either own a libusb context or use one that's already made.
- *
- * Always create these with uvc_get_context.
- */
-struct uvc_context;
-typedef struct uvc_context uvc_context_t;
-
-/** UVC device.
- *
- * Get this from uvc_get_device_list() or uvc_find_device().
- */
-struct uvc_device;
-typedef struct uvc_device uvc_device_t;
-
-/** Handle on an open UVC device.
- *
- * Get one of these from uvc_open(). Once you uvc_close()
- * it, it's no longer valid.
- */
-struct uvc_device_handle;
-typedef struct uvc_device_handle uvc_device_handle_t;
-
-/** Handle on an open UVC stream.
- *
- * Get one of these from uvc_stream_open*().
- * Once you uvc_stream_close() it, it will no longer be valid.
- */
-struct uvc_stream_handle;
-typedef struct uvc_stream_handle uvc_stream_handle_t;
-
-/** Representation of the interface that brings data into the UVC device */
-typedef struct uvc_input_terminal {
- struct uvc_input_terminal *prev, *next;
- /** Index of the terminal within the device */
- uint8_t bTerminalID;
- /** Type of terminal (e.g., camera) */
- enum uvc_it_type wTerminalType;
- uint16_t wObjectiveFocalLengthMin;
- uint16_t wObjectiveFocalLengthMax;
- uint16_t wOcularFocalLength;
- /** Camera controls (meaning of bits given in {uvc_ct_ctrl_selector}) */
- uint64_t bmControls;
-} uvc_input_terminal_t;
-
-typedef struct uvc_output_terminal {
- struct uvc_output_terminal *prev, *next;
- /** @todo */
-} uvc_output_terminal_t;
-
-/** Represents post-capture processing functions */
-typedef struct uvc_processing_unit {
- struct uvc_processing_unit *prev, *next;
- /** Index of the processing unit within the device */
- uint8_t bUnitID;
- /** Index of the terminal from which the device accepts images */
- uint8_t bSourceID;
- /** Processing controls (meaning of bits given in {uvc_pu_ctrl_selector}) */
- uint64_t bmControls;
-} uvc_processing_unit_t;
-
-/** Custom processing or camera-control functions */
-typedef struct uvc_extension_unit {
- struct uvc_extension_unit *prev, *next;
- /** Index of the extension unit within the device */
- uint8_t bUnitID;
- /** GUID identifying the extension unit */
- uint8_t guidExtensionCode[16];
- /** Bitmap of available controls (manufacturer-dependent) */
- uint64_t bmControls;
-} uvc_extension_unit_t;
-
-enum uvc_status_class {
- UVC_STATUS_CLASS_CONTROL = 0x10,
- UVC_STATUS_CLASS_CONTROL_CAMERA = 0x11,
- UVC_STATUS_CLASS_CONTROL_PROCESSING = 0x12,
-};
-
-enum uvc_status_attribute {
- UVC_STATUS_ATTRIBUTE_VALUE_CHANGE = 0x00,
- UVC_STATUS_ATTRIBUTE_INFO_CHANGE = 0x01,
- UVC_STATUS_ATTRIBUTE_FAILURE_CHANGE = 0x02,
- UVC_STATUS_ATTRIBUTE_UNKNOWN = 0xff
-};
-
-/** A callback function to accept status updates
- * @ingroup device
- */
-typedef void(uvc_status_callback_t)(enum uvc_status_class status_class,
- int event,
- int selector,
- enum uvc_status_attribute status_attribute,
- void *data, size_t data_len,
- void *user_ptr);
-
-/** Structure representing a UVC device descriptor.
- *
- * (This isn't a standard structure.)
- */
-typedef struct uvc_device_descriptor {
- /** Vendor ID */
- uint16_t idVendor;
- /** Product ID */
- uint16_t idProduct;
- /** UVC compliance level, e.g. 0x0100 (1.0), 0x0110 */
- uint16_t bcdUVC;
- /** Serial number (null if unavailable) */
- const char *serialNumber;
- /** Device-reported manufacturer name (or null) */
- const char *manufacturer;
- /** Device-reporter product name (or null) */
- const char *product;
-} uvc_device_descriptor_t;
-
-/** An image frame received from the UVC device
- * @ingroup streaming
- */
-typedef struct uvc_frame {
- /** Image data for this frame */
- void *data;
- /** Size of image data buffer */
- size_t data_bytes;
- /** Width of image in pixels */
- uint32_t width;
- /** Height of image in pixels */
- uint32_t height;
- /** Pixel data format */
- enum uvc_frame_format frame_format;
- /** Number of bytes per horizontal line (undefined for compressed format) */
- size_t step;
- /** Frame number (may skip, but is strictly monotonically increasing) */
- uint32_t sequence;
- /** Estimate of system time when the device started capturing the image */
- struct timeval capture_time;
- /** Handle on the device that produced the image.
- * @warning You must not call any uvc_* functions during a callback. */
- uvc_device_handle_t *source;
- /** Is the data buffer owned by the library?
- * If 1, the data buffer can be arbitrarily reallocated by frame conversion
- * functions.
- * If 0, the data buffer will not be reallocated or freed by the library.
- * Set this field to zero if you are supplying the buffer.
- */
- uint8_t library_owns_data;
-} uvc_frame_t;
-
-/** A callback function to handle incoming assembled UVC frames
- * @ingroup streaming
- */
-typedef void(uvc_frame_callback_t)(struct uvc_frame *frame, void *user_ptr);
-
-/** Streaming mode, includes all information needed to select stream
- * @ingroup streaming
- */
-typedef struct uvc_stream_ctrl {
- uint16_t bmHint;
- uint8_t bFormatIndex;
- uint8_t bFrameIndex;
- uint32_t dwFrameInterval;
- uint16_t wKeyFrameRate;
- uint16_t wPFrameRate;
- uint16_t wCompQuality;
- uint16_t wCompWindowSize;
- uint16_t wDelay;
- uint32_t dwMaxVideoFrameSize;
- uint32_t dwMaxPayloadTransferSize;
- /** @todo add UVC 1.1 parameters */
- uint8_t bInterfaceNumber;
-} uvc_stream_ctrl_t;
-
-uvc_error_t uvc_init(uvc_context_t **ctx, struct libusb_context *usb_ctx);
-void uvc_exit(uvc_context_t *ctx);
-
-uvc_error_t uvc_get_device_list(
- uvc_context_t *ctx,
- uvc_device_t ***list);
-void uvc_free_device_list(uvc_device_t **list, uint8_t unref_devices);
-
-uvc_error_t uvc_get_device_descriptor(
- uvc_device_t *dev,
- uvc_device_descriptor_t **desc);
-void uvc_free_device_descriptor(
- uvc_device_descriptor_t *desc);
-
-uint8_t uvc_get_bus_number(uvc_device_t *dev);
-uint8_t uvc_get_device_address(uvc_device_t *dev);
-
-uvc_error_t uvc_find_device(
- uvc_context_t *ctx,
- uvc_device_t **dev,
- int vid, int pid, const char *sn);
-
-uvc_error_t uvc_open(
- uvc_device_t *dev,
- uvc_device_handle_t **devh);
-void uvc_close(uvc_device_handle_t *devh);
-
-uvc_device_t *uvc_get_device(uvc_device_handle_t *devh);
-libusb_device_handle *uvc_get_libusb_handle(uvc_device_handle_t *devh);
-
-void uvc_ref_device(uvc_device_t *dev);
-void uvc_unref_device(uvc_device_t *dev);
-
-void uvc_set_status_callback(uvc_device_handle_t *devh,
- uvc_status_callback_t cb,
- void *user_ptr);
-
-const uvc_input_terminal_t *uvc_get_input_terminals(uvc_device_handle_t *devh);
-const uvc_output_terminal_t *uvc_get_output_terminals(uvc_device_handle_t *devh);
-const uvc_processing_unit_t *uvc_get_processing_units(uvc_device_handle_t *devh);
-const uvc_extension_unit_t *uvc_get_extension_units(uvc_device_handle_t *devh);
-
-uvc_error_t uvc_get_stream_ctrl_format_size(
- uvc_device_handle_t *devh,
- uvc_stream_ctrl_t *ctrl,
- enum uvc_frame_format format,
- int width, int height,
- int fps
- );
-
-uvc_error_t uvc_probe_stream_ctrl(
- uvc_device_handle_t *devh,
- uvc_stream_ctrl_t *ctrl);
-
-uvc_error_t uvc_start_streaming(
- uvc_device_handle_t *devh,
- uvc_stream_ctrl_t *ctrl,
- uvc_frame_callback_t *cb,
- void *user_ptr,
- uint8_t isochronous);
-
-uvc_error_t uvc_start_iso_streaming(
- uvc_device_handle_t *devh,
- uvc_stream_ctrl_t *ctrl,
- uvc_frame_callback_t *cb,
- void *user_ptr);
-
-void uvc_stop_streaming(uvc_device_handle_t *devh);
-
-uvc_error_t uvc_stream_open_ctrl(uvc_device_handle_t *devh, uvc_stream_handle_t **strmh, uvc_stream_ctrl_t *ctrl);
-uvc_error_t uvc_stream_ctrl(uvc_stream_handle_t *strmh, uvc_stream_ctrl_t *ctrl);
-uvc_error_t uvc_stream_start(uvc_stream_handle_t *strmh,
- uvc_frame_callback_t *cb,
- void *user_ptr,
- uint8_t isochronous);
-uvc_error_t uvc_stream_start_iso(uvc_stream_handle_t *strmh,
- uvc_frame_callback_t *cb,
- void *user_ptr);
-uvc_error_t uvc_stream_get_frame(
- uvc_stream_handle_t *strmh,
- uvc_frame_t **frame,
- int32_t timeout_us
-);
-uvc_error_t uvc_stream_stop(uvc_stream_handle_t *strmh);
-void uvc_stream_close(uvc_stream_handle_t *strmh);
-
-uvc_error_t uvc_get_power_mode(uvc_device_handle_t *devh, enum uvc_device_power_mode *mode, enum uvc_req_code req_code);
-uvc_error_t uvc_set_power_mode(uvc_device_handle_t *devh, enum uvc_device_power_mode mode);
-uvc_error_t uvc_get_ae_mode(uvc_device_handle_t *devh, int *mode, enum uvc_req_code req_code);
-uvc_error_t uvc_set_ae_mode(uvc_device_handle_t *devh, int mode);
-uvc_error_t uvc_get_ae_priority(uvc_device_handle_t *devh, uint8_t *priority, enum uvc_req_code req_code);
-uvc_error_t uvc_set_ae_priority(uvc_device_handle_t *devh, uint8_t priority);
-uvc_error_t uvc_get_exposure_abs(uvc_device_handle_t *devh, int *time, enum uvc_req_code req_code);
-uvc_error_t uvc_set_exposure_abs(uvc_device_handle_t *devh, int time);
-uvc_error_t uvc_get_exposure_rel(uvc_device_handle_t *devh, int *step, enum uvc_req_code req_code);
-uvc_error_t uvc_set_exposure_rel(uvc_device_handle_t *devh, int step);
-uvc_error_t uvc_get_scanning_mode(uvc_device_handle_t *devh, int *step, enum uvc_req_code req_code);
-uvc_error_t uvc_set_scanning_mode(uvc_device_handle_t *devh, int mode);
-uvc_error_t uvc_get_focus_abs(uvc_device_handle_t *devh, short *focus, enum uvc_req_code req_code);
-uvc_error_t uvc_set_focus_abs(uvc_device_handle_t *devh, short focus);
-uvc_error_t uvc_get_pantilt_abs(uvc_device_handle_t *devh, int *pan, int *tilt, enum uvc_req_code req_code);
-uvc_error_t uvc_set_pantilt_abs(uvc_device_handle_t *devh, int pan, int tilt);
-
-int uvc_get_ctrl_len(uvc_device_handle_t *devh, uint8_t unit, uint8_t ctrl);
-int uvc_get_ctrl(uvc_device_handle_t *devh, uint8_t unit, uint8_t ctrl, void *data, int len, enum uvc_req_code req_code);
-int uvc_set_ctrl(uvc_device_handle_t *devh, uint8_t unit, uint8_t ctrl, void *data, int len);
-
-void uvc_perror(uvc_error_t err, const char *msg);
-const char* uvc_strerror(uvc_error_t err);
-void uvc_print_diag(uvc_device_handle_t *devh, FILE *stream);
-void uvc_print_stream_ctrl(uvc_stream_ctrl_t *ctrl, FILE *stream);
-
-uvc_frame_t *uvc_allocate_frame(size_t data_bytes);
-void uvc_free_frame(uvc_frame_t *frame);
-
-uvc_error_t uvc_duplicate_frame(uvc_frame_t *in, uvc_frame_t *out);
-
-uvc_error_t uvc_yuyv2rgb(uvc_frame_t *in, uvc_frame_t *out);
-uvc_error_t uvc_uyvy2rgb(uvc_frame_t *in, uvc_frame_t *out);
-uvc_error_t uvc_any2rgb(uvc_frame_t *in, uvc_frame_t *out);
-
-uvc_error_t uvc_yuyv2bgr(uvc_frame_t *in, uvc_frame_t *out);
-uvc_error_t uvc_uyvy2bgr(uvc_frame_t *in, uvc_frame_t *out);
-uvc_error_t uvc_any2bgr(uvc_frame_t *in, uvc_frame_t *out);
-
-#ifdef LIBUVC_HAS_JPEG
-uvc_error_t uvc_mjpeg2rgb(uvc_frame_t *in, uvc_frame_t *out);
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // !def(LIBUVC_H)
-
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