Add internal types

samples/uvc/camera.cc

@@ -10,6 +10,8 @@
 #include <mutex>
 
 #include "mynteye/mynteye.h"
+
+#include "internal/types.h"
 #include "uvc/uvc.h"
 
 struct glog_init {
@@ -66,13 +68,14 @@ int main(int argc, char *argv[]) {
   size_t n = mynteye_devices.size();
   LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
 
+  LOG(INFO) << "MYNT EYE devices: ";
   for (size_t i = 0; i < n; i++) {
     auto device = mynteye_devices[i];
     auto name = uvc::get_video_name(*device);
     auto vid = uvc::get_vendor_id(*device);
     auto pid = uvc::get_product_id(*device);
-    LOG(INFO) << "index: " << i << ", name: " << name << ", vid: " << vid
-              << ", pid: " << pid;
+    LOG(INFO) << "  index: " << i << ", name: " << name << ", vid: 0x"
+              << std::hex << vid << ", pid: 0x" << std::hex << pid;
   }
 
   std::shared_ptr<uvc::device> device = nullptr;
@@ -101,7 +104,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frames]() { return frames.empty(); };
 
   uvc::set_device_mode(
-      *device, 752, 480, 0, 25,
+      *device, 752, 480, static_cast<int>(Format::YUYV), 25,
       [&mtx, &cv, &frames, &frame_ready](const void *data) {
         // reinterpret_cast<const std::uint8_t *>(data);
         std::unique_lock<std::mutex> lock(mtx);

src/internal/types.h

@@ -0,0 +1,25 @@
+#ifndef MYNTEYE_INTERNAL_TYPES_H_  // NOLINT
+#define MYNTEYE_INTERNAL_TYPES_H_
+#pragma once
+
+#include <cstdint>
+
+#include "mynteye/mynteye.h"
+
+#define FOURCC(a, b, c, d)                          \
+  ((std::uint32_t)(a) | ((std::uint32_t)(b) << 8) | \
+   ((std::uint32_t)(c) << 16) | ((std::uint32_t)(d) << 24))  // NOLINT
+
+MYNTEYE_BEGIN_NAMESPACE
+
+/**
+ * @ingroup enumerations
+ * @brief Formats define how each stream can be encoded.
+ */
+enum class Format : std::uint32_t {
+  YUYV = FOURCC('Y', 'U', 'Y', 'V'),
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_INTERNAL_TYPES_H_ NOLINT

src/types.h

@@ -1,26 +0,0 @@
-#ifndef MYNTEYE_TYPES_H_  // NOLINT
-#define MYNTEYE_TYPES_H_
-#pragma once
-
-#include "mynteye/mynteye.h"
-
-MYNTEYE_BEGIN_NAMESPACE
-
-template <class T>
-class big_endian {
-  T be_value;
-
- public:
-  operator T() const {  // convert to T from big to little endian
-    T le_value = 0;
-    for (unsigned int i = 0; i < sizeof(T); ++i) {
-      reinterpret_cast<char *>(&le_value)[i] =
-          reinterpret_cast<const char *>(&be_value)[sizeof(T) - i - 1];
-    }
-    return le_value;
-  }
-};
-
-MYNTEYE_END_NAMESPACE
-
-#endif  // MYNTEYE_TYPES_H_ NOLINT

src/uvc/uvc-v4l2.cc

@@ -19,8 +19,6 @@
 #include <string>
 #include <thread>
 
-#include "types.h"  // NOLINT
-
 MYNTEYE_BEGIN_NAMESPACE
 
 namespace uvc {
@@ -231,8 +229,7 @@ struct device {
     fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
     fmt.fmt.pix.width = width;
     fmt.fmt.pix.height = height;
-    // fmt.fmt.pix.pixelformat = format;
-    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
+    fmt.fmt.pix.pixelformat = format;
     fmt.fmt.pix.field = V4L2_FIELD_NONE;
     // fmt.fmt.pix.field       = V4L2_FIELD_INTERLACED;
     if (xioctl(fd, VIDIOC_S_FMT, &fmt) < 0)
@@ -451,10 +448,9 @@ void set_control(
 }
 
 void set_device_mode(
-    device &device, int width, int height, uint32_t fourcc, int fps,  // NOLINT
+    device &device, int width, int height, int fourcc, int fps,  // NOLINT
     video_channel_callback callback) {
-  device.set_format(
-      width, height, (const big_endian<int> &)fourcc, fps, callback);
+  device.set_format(width, height, fourcc, fps, callback);
 }
 
 void start_streaming(device &device, int /*num_transfer_bufs*/) {  // NOLINT

src/uvc/uvc.h

@@ -47,7 +47,7 @@ void set_control(
 typedef std::function<void(const void *frame)> video_channel_callback;
 
 void set_device_mode(
-    device &device, int width, int height, uint32_t fourcc, int fps,  // NOLINT
+    device &device, int width, int height, int fourcc, int fps,  // NOLINT
     video_channel_callback callback);
 void start_streaming(device &device, int num_transfer_bufs);  // NOLINT
 void stop_streaming(device &device);                          // NOLINT