uvc_camera: uvc_camera: uvc

00001 // The uvc_cam package provides a simple interface to webcams visible through
00002 // the uvcvideo driver. It includes code adapted from 'guvcview', which in
00003 // turn adapted some code from 'luvcview'.
00004 // Copyright (C) 2009 Morgan Quigley
00005 //
00006 // This program is free software; you can redistribute it and/or
00007 // modify it under the terms of the GNU General Public License
00008 // as published by the Free Software Foundation; either version 2
00009 // of the License, or (at your option) any later version.
00010 
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU General Public License for more details.
00015 
00016 // You should have received a copy of the GNU General Public License
00017 // along with this program; if not, write to the Free Software
00018 // Foundation, Inc.,
00019 // 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00021 
00022 #ifndef UVC_CAM_H
00023 #define UVC_CAM_H
00024 
00025 #include <string>
00026 #include <linux/videodev2.h>
00027 #include <stdint.h>
00028 
00029 namespace uvc_cam
00030 {
00031 
00032 enum v4l2_uvc_exposure_auto_type
00033 {
00034         V4L2_UVC_EXPOSURE_MANUAL = 1,
00035         V4L2_UVC_EXPOSURE_AUTO = 2,
00036         V4L2_UVC_EXPOSURE_SHUTTER_PRIORITY = 4,
00037         V4L2_UVC_EXPOSURE_APERTURE_PRIORITY = 8
00038 };
00039 
00040 
00041 static const int exp_vals[]=
00042 {
00043         V4L2_UVC_EXPOSURE_MANUAL,
00044         V4L2_UVC_EXPOSURE_AUTO,
00045         V4L2_UVC_EXPOSURE_SHUTTER_PRIORITY,
00046         V4L2_UVC_EXPOSURE_APERTURE_PRIORITY
00047 };
00048 
00049 
00050 
00051 #define CSU32 const static uint32_t
00052 
00053 class Cam
00054 {
00055 public:
00056   enum mode_t { MODE_RGB, MODE_MJPG, MODE_YUYV } mode;
00057   Cam(const char *device, mode_t _mode = MODE_RGB,
00058       int _width = 640, int _height = 480, int _fps = 30);
00059   ~Cam();
00060   static void enumerate();
00061   int grab(unsigned char **frame, uint32_t &bytes_used);
00062   void release(unsigned buf_idx);
00063   bool set_auto_white_balance(bool on);
00064   void set_motion_thresholds(int lum, int count);
00065   void set_control(uint32_t id, int val);
00066 private:
00067   std::string device;
00068   int fd, motion_threshold_luminance, motion_threshold_count;
00069   unsigned width, height, fps;
00070   v4l2_format fmt;
00071   v4l2_capability cap;
00072   v4l2_streamparm streamparm;
00073   v4l2_requestbuffers rb;
00074   v4l2_buffer buf;
00075   v4l2_timecode timecode;
00076   static const unsigned NUM_BUFFER = 2;
00077   void *mem[NUM_BUFFER];
00078   unsigned buf_length;
00079   unsigned char *rgb_frame, *last_yuv_frame;
00080 
00081   /*------------------------- new camera class controls ---------------------*/
00082   CSU32 V4L2_CTRL_CLASS_USER_NEW = 0x00980000;
00083   CSU32 V4L2_CID_BASE_NEW = V4L2_CTRL_CLASS_USER_NEW | 0x900;
00084   CSU32 V4L2_CID_POWER_LINE_FREQUENCY_NEW = V4L2_CID_BASE_NEW + 24;
00085   CSU32 V4L2_CID_HUE_AUTO_NEW = V4L2_CID_BASE_NEW + 25;
00086   CSU32 V4L2_CID_WHITE_BALANCE_TEMPERATURE_NEW = V4L2_CID_BASE_NEW + 26;
00087   CSU32 V4L2_CID_SHARPNESS_NEW = V4L2_CID_BASE_NEW + 27;
00088   CSU32 V4L2_CID_BACKLIGHT_COMPENSATION_NEW = V4L2_CID_BASE_NEW + 28;
00089   CSU32 V4L2_CID_LAST_NEW = V4L2_CID_BASE_NEW + 29;
00090 
00091   CSU32 V4L2_CTRL_CLASS_CAMERA_NEW = 0x009A0000;        /* Camera class controls */
00092   CSU32 V4L2_CID_CAMERA_CLASS_BASE_NEW = V4L2_CTRL_CLASS_CAMERA_NEW | 0x900;
00093   CSU32 V4L2_CID_EXPOSURE_AUTO_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 1;
00094   CSU32 V4L2_CID_EXPOSURE_ABSOLUTE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 2;
00095   CSU32 V4L2_CID_EXPOSURE_AUTO_PRIORITY_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW+3;
00096   CSU32 V4L2_CID_PAN_RELATIVE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 4;
00097   CSU32 V4L2_CID_TILT_RELATIVE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 5;
00098   CSU32 V4L2_CID_PAN_RESET_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 6;
00099   CSU32 V4L2_CID_TILT_RESET_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 7;
00100   CSU32 V4L2_CID_PAN_ABSOLUTE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 8;
00101   CSU32 V4L2_CID_TILT_ABSOLUTE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 9;
00102   CSU32 V4L2_CID_FOCUS_ABSOLUTE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 10;
00103   CSU32 V4L2_CID_FOCUS_RELATIVE_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 11;
00104   CSU32 V4L2_CID_FOCUS_AUTO_NEW = V4L2_CID_CAMERA_CLASS_BASE_NEW + 12;
00105   CSU32 V4L2_CID_CAMERA_CLASS_LAST = V4L2_CID_CAMERA_CLASS_BASE_NEW + 13;
00106 
00107   /*--------------- old private class controls ------------------------------*/
00108   CSU32 V4L2_CID_PRIVATE_BASE_OLD = 0x08000000;
00109   CSU32 V4L2_CID_BACKLIGHT_COMPENSATION_OLD = V4L2_CID_PRIVATE_BASE_OLD + 0;
00110   CSU32 V4L2_CID_POWER_LINE_FREQUENCY_OLD = V4L2_CID_PRIVATE_BASE_OLD + 1;
00111   CSU32 V4L2_CID_SHARPNESS_OLD = V4L2_CID_PRIVATE_BASE_OLD + 2;
00112   CSU32 V4L2_CID_HUE_AUTO_OLD = V4L2_CID_PRIVATE_BASE_OLD + 3;
00113   CSU32 V4L2_CID_FOCUS_AUTO_OLD = V4L2_CID_PRIVATE_BASE_OLD + 4;
00114   CSU32 V4L2_CID_FOCUS_ABSOLUTE_OLD = V4L2_CID_PRIVATE_BASE_OLD + 5;
00115   CSU32 V4L2_CID_FOCUS_RELATIVE_OLD = V4L2_CID_PRIVATE_BASE_OLD + 6;
00116   CSU32 V4L2_CID_PAN_RELATIVE_OLD = V4L2_CID_PRIVATE_BASE_OLD + 7;
00117   CSU32 V4L2_CID_TILT_RELATIVE_OLD = V4L2_CID_PRIVATE_BASE_OLD + 8;
00118   CSU32 V4L2_CID_PANTILT_RESET_OLD = V4L2_CID_PRIVATE_BASE_OLD + 9;
00119   CSU32 V4L2_CID_EXPOSURE_AUTO_OLD = V4L2_CID_PRIVATE_BASE_OLD + 10;
00120   CSU32 V4L2_CID_EXPOSURE_ABSOLUTE_OLD = V4L2_CID_PRIVATE_BASE_OLD + 11;
00121   CSU32 V4L2_CID_WHITE_BALANCE_TEMP_AUTO_OLD    = V4L2_CID_PRIVATE_BASE_OLD+12;
00122   CSU32 V4L2_CID_WHITE_BALANCE_TEMP_OLD = V4L2_CID_PRIVATE_BASE_OLD + 13;
00123   CSU32 V4L2_CID_PRIVATE_LAST = V4L2_CID_WHITE_BALANCE_TEMP_OLD + 1;
00124   // dynamic controls
00125   CSU32 UVC_CTRL_DATA_TYPE_RAW = 0;
00126   CSU32 UVC_CTRL_DATA_TYPE_SIGNED       = 1;
00127   CSU32 UVC_CTRL_DATA_TYPE_UNSIGNED     = 2;
00128   CSU32 UVC_CTRL_DATA_TYPE_BOOLEAN = 3;
00129   CSU32 UVC_CTRL_DATA_TYPE_ENUM = 4;
00130   CSU32 UVC_CTRL_DATA_TYPE_BITMASK = 5;
00131   CSU32 V4L2_CID_BASE_EXTCTR = 0x0A046D01;
00132   CSU32 V4L2_CID_BASE_LOGITECH = V4L2_CID_BASE_EXTCTR;
00133   //CSU32 V4L2_CID_PAN_RELATIVE_LOGITECH = V4L2_CID_BASE_LOGITECH;
00134   //CSU32 V4L2_CID_TILT_RELATIVE_LOGITECH = V4L2_CID_BASE_LOGITECH + 1;
00135   CSU32 V4L2_CID_PANTILT_RESET_LOGITECH = V4L2_CID_BASE_LOGITECH + 2;
00136   CSU32 V4L2_CID_FOCUS_LOGITECH = V4L2_CID_BASE_LOGITECH + 3;
00137   CSU32 V4L2_CID_LED1_MODE_LOGITECH = V4L2_CID_BASE_LOGITECH + 4;
00138   CSU32 V4L2_CID_LED1_FREQUENCY_LOGITECH = V4L2_CID_BASE_LOGITECH + 5;
00139   CSU32 V4L2_CID_DISABLE_PROCESSING_LOGITECH = V4L2_CID_BASE_LOGITECH + 0x70;
00140   CSU32 V4L2_CID_RAW_BITS_PER_PIXEL_LOGITECH = V4L2_CID_BASE_LOGITECH + 0x71;
00141   CSU32 V4L2_CID_LAST_EXTCTR = V4L2_CID_RAW_BITS_PER_PIXEL_LOGITECH;
00142 
00143 };
00144 
00145 }
00146 
00147 #endif
00148
uvc_cam.h
