MengNan-Li/libuvc

libuvc is a cross-platform library for USB video devices, built atop libusb. It enables fine-grained control over USB video devices exporting the standard USB Video Class (UVC) interface, enabling developers to write drivers for previously unsupported devices, or just access UVC devices in a generic fashion.

Getting and Building libuvc

Prerequisites: You will need libusb and CMake installed.

To build, you can just run these shell commands:

git clone https://github.com/libuvc/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install

and you're set! If you want to change the build configuration, you can edit CMakeCache.txt in the build directory, or use a CMake GUI to make the desired changes.

There is also BUILD_EXAMPLE and BUILD_TEST options to enable the compilation of example and uvc_test programs. To use them, replace the cmake .. command above with cmake .. -DBUILD_TEST=ON -DBUILD_EXAMPLE=ON. Then you can start them with ./example and ./uvc_test respectively. Note that you need OpenCV to build the later (for displaying image).

Developing with libuvc

The documentation for libuvc can currently be found at https://int80k.com/libuvc/doc/.

Happy hacking!

Lucien

1. 修改了get_mode: Invalid mode (-51) ：libuvc/libuvc#242
2. master中为了避免overflow，stream.c把比frame多余的字节舍掉了，这样读到的datasize = widthheight2，imu的数据就丢掉了

  if (data_len > 0) {
    // 注释掉下面
    //if (strmh->got_bytes + data_len > strmh->cur_ctrl.dwMaxVideoFrameSize)
    //  data_len = strmh->cur_ctrl.dwMaxVideoFrameSize - strmh->got_bytes; /* Avoid overflow. */
    memcpy(strmh->outbuf + strmh->got_bytes, payload + header_len, data_len);
    strmh->got_bytes += data_len;
    if (header_info & (1 << 1) || strmh->got_bytes == strmh->cur_ctrl.dwMaxVideoFrameSize) {
      /* The EOF bit is set, so publish the complete frame */
      _uvc_swap_buffers(strmh);
    }
  }