void CameraHandle::openDevice() {
VRmDWORD libversion;
VRM_CHECK(VRmUsbCamGetVersion(&libversion));
ROS_INFO("VR Magic lib has version %d", libversion);
VRmDWORD size = 0;
ROS_INFO("Scanning for devices");
VRM_CHECK(VRmUsbCamGetDeviceKeyListSize(&size));
ROS_INFO("Found %d devices", size);
device = 0;
VRmDeviceKey* devKey = 0;
for (VRmDWORD i = 0; i < size && !device; ++i) {
VRM_CHECK(VRmUsbCamGetDeviceKeyListEntry(i, &devKey));
if (!devKey->m_busy) {
VRM_CHECK(VRmUsbCamOpenDevice(devKey, &device));
ROS_INFO("Found device: %s [%s]", devKey->mp_product_str, devKey->mp_manufacturer_str);
}
VRM_CHECK(VRmUsbCamFreeDeviceKey(&devKey));
}
ROS_INFO("Trying to open device");
if (!device) {
ROS_FATAL("No suitable VRmagic device found!");
exit(-1);
}
ROS_INFO("Device opened");
}
bool VRCam::init()
{
if (systemInited == true)
return false;
atexit(VRmUsbCamCleanup);
//更新设备列表
if (!VRmUsbCamUpdateDeviceKeyList()){
sendMsg("update Device failed");
return false;
}
//检查连接的设备
VRmDWORD size = 0;
if (!(VRmUsbCamGetDeviceKeyListSize(&size))){
sendMsg("Get Device Size failed");
return false;
}
if (size == 0){
sendMsg("0 Cam Connect");
return false;
}
sendMsg(tr("%1 Cam Find").arg(size));
//打开第一个可用的设备
VRmDeviceKey* p_device_key = 0;
for (VRmDWORD i = 0; i < size; ++i)
{
VRMEXECANDCHECK(VRmUsbCamGetDeviceKeyListEntry(i, &p_device_key));
if (!p_device_key->m_busy)
{
if (!(VRmUsbCamOpenDevice(p_device_key, &device)))
{
sendMsg("Open Cam Failed");
}
}
else
{
sendMsg("Device is busy now");
}
VRMEXECANDCHECK(VRmUsbCamFreeDeviceKey(&p_device_key));
}
if (!device)
{
return false;
}
//now get the first sensor port
VRMEXECANDCHECK(VRmUsbCamGetSensorPortListEntry(device, 0, &port));
// get the current source format
VRmImageFormat source_format;
VRMEXECANDCHECK(VRmUsbCamGetSourceFormatEx(device, port, &source_format));
const char *source_color_format_str;
VRMEXECANDCHECK(VRmUsbCamGetStringFromColorFormat(source_format.m_color_format, &source_color_format_str));
VRmDWORD number_of_target_formats, i;
VRMEXECANDCHECK(VRmUsbCamGetTargetFormatListSizeEx2(device, port, &number_of_target_formats));
for (i = 0; i < number_of_target_formats; ++i)
{
VRMEXECANDCHECK(VRmUsbCamGetTargetFormatListEntryEx2(device, port, i, &target_format));
if (target_format.m_color_format == VRM_ARGB_4X8)
break;
}
systemInited = true;
return true;
}
