/*=========================================================================    capture.h  -------------------------------------------------------------------------    Example code for video capture under Video4Linux II  -------------------------------------------------------------------------    Copyright 1999, 2000    Anna Helena Reali Costa, James R. Bruce    School of Computer Science    Carnegie Mellon University  -------------------------------------------------------------------------    This source code is distributed "as is" with absolutely no warranty.    It is covered under the GNU General Public Licence, Version 2.0;    See COPYING, which should be included with this distribution.  -------------------------------------------------------------------------    Revision History:      2000-02-05:  Ported to work with V4L2 API      1999-11-23:  Quick C++ port to simplify & wrap in an object (jbruce)       1999-05-01:  Initial version (annar)  =========================================================================*/#ifndef __CAPTURE_H__#define __CAPTURE_H__#include <sys/mman.h>#include <sys/ioctl.h>#include <sys/time.h>#include <fcntl.h>#include <stdlib.h>#include <unistd.h>#include <stdio.h>#include <errno.h>#include <linux/fs.h>#include <linux/kernel.h>#include <linux/videodev.h>#define DEFAULT_VIDEO_DEVICE  "/dev/video"#define VIDEO_STANDARD        "NTSC"#ifdef USE_METEOR#define DEFAULT_VIDEO_FORMAT  V4L2_PIX_FMT_UYVY#else#define DEFAULT_VIDEO_FORMAT  V4L2_PIX_FMT_YUYV#endif#define DEFAULT_IMAGE_WIDTH   320#define DEFAULT_IMAGE_HEIGHT  240// if you get a message like "DQBUF returned error", "DQBUF error: invalid"// then you need to use a higher value for STREAMBUFS or process frames faster#define STREAMBUFS            4class capture {  struct vimage_t {    v4l2_buffer vidbuf;    char *data;  };  int vid_fd;                    // video device  vimage_t vimage[STREAMBUFS];   // buffers for images  struct v4l2_format fmt;        // video format request  unsigned char *current; // most recently captured frame  stamp_t timestamp;      // frame time stamp  int width,height;       // dimensions of video frame  struct v4l2_buffer tempbuf;  bool captured_frame;public:  capture() {vid_fd = 0; current=NULL; captured_frame = false;}  ~capture() {close();}  bool initialize(char *device,int nwidth,int nheight,int nfmt);  bool initialize(int nwidth,int nheight)    {return(initialize(NULL,nwidth,nheight,0));}  bool initialize()    {return(initialize(NULL,0,0,0));}  void close();  unsigned char *captureFrame(int &index,int &field);  unsigned char *captureFrame();  void releaseFrame(unsigned char* frame, int index);  unsigned char *getFrame() {return(current);}  stamp_t getFrameTime() {return(timestamp);}  double getFrameTimeSec() {return(timestamp * 1.0E-9);}  int getWidth() {return(width);}  int getHeight() {return(height);}};#endif // __CAPTURE_H__