emm
1、网购了一个便宜的双目相机，没有什么函数可以调用来设置双目模式还是单目模式，只能通过UVC协议来进行相机的模式切换，研究了一下好像可以结合libusb库发送相关指令来实现，但是没有研究出来怎么使用C++，C#实现，后续有时间再看
2、原文链接：https://www.jianshu.com/p/2ce302d588a0
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嗯，好久不写博客，因为我在忙（bu）着（xiang）写（chao）论文。为我的心理健康着想，我决定搞点东西玩玩。于是我去某宝买了这个：
实际上这个是一种型号为DS-3DW300的日产3d摄像头，每个头最大分辨率为640x480，最大帧率为30fps，彩色。
焊好usb连接线并连接到ubuntu，用lsusb命令获取其usb描述符信息，可以发现：
$ lsusb -d 18e3:5031 -v ... bFunctionClass 14 Video ... 好嘛，uvc啊，直接拿Cheese打开：
你大爷的。。果然不用官方软件（CHUSEI 3D Camera）就只能打开一个头啊，而且那个软件是windows独占的。
没办法，开心的Hack吧
既然是UVC协议，先考虑SELECTOR_UNIT中有多个输入的情况。呃。。。瞄了一眼刚才lsusb获取的信息发现：
bNrInPins 1
好吧，去他大爷的uvc，还是从官方软件下手吧。切换到windows下，用BusHound抓取在软件中切换双摄像头时，usb总线上的数据：
Bus Hound 6.01 capture on Windows Vista Service Pack 1 (x64). Complements of www.perisoft.net double
Device - Device ID (followed by the endpoint for USB devices)
(26) USB 视频设备
Length - Total transfer length
Phase - Phase Type
CTL USB control transfer
IN Data in transfer
OUT Data out transfer
Data - Hex dump of the data transferred
Descr - Description of the phase
Cmd… - Position in the captured data
Driver - Driver that submitted the command
ntoskrnl : NT Kernel & System 6.1.7601.19135 (win7sp1_gdr.160121-1718)
Device Length Phase Data Description Cmd.Phase.Ofs(rep) Driver
26.0 CTL a1 85 00 08 00 06 02 00 GET LEN 1.1.0 ntoskrnl
26.0 2 IN 02 00 … 1.2.0
26.0 CTL 21 01 00 08 00 06 02 00 SET CUR 2.1.0 ntoskrnl
26.0 2 OUT 50 ff P. 2.2.0
26.0 CTL a1 85 00 0f 00 06 02 00 GET LEN 3.1.0 ntoskrnl
26.0 2 IN 02 00 … 3.2.0
26.0 CTL 21 01 00 0f 00 06 02 00 SET CUR 4.1.0 ntoskrnl
26.0 2 OUT 00 f6 … 4.2.0
…
26.0 2 OUT 76 c3 v. 32.2.0
26.0 CTL a1 85 00 0a 00 06 02 00 GET LEN 33.1.0 ntoskrnl
26.0 2 IN 02 00 … 33.2.0
26.0 CTL 21 01 00 0a 00 06 02 00 SET CUR 34.1.0 ntoskrnl
26.0 2 OUT 04 00 … 34.2.0
嘿，SET CUR。。。翻出UVC协议来看了一眼，果然所有的输出数据都是SET CUR的格式。后面我又抓去了左、右以及红蓝模式切换时的数据，发现这4种情况下总线上的数据都是一样的，只有最后一个SET CUR分别穿出的是1234。
也就是说，只要我们自己构造出相应的SET CUR指令流，就可以实现摄像头工作方式的切换了！于是乎就有了下面这段脚本：
# need pyusb and python binding for opencv # also need libusb installed import cv2 import usb.core cam=cv2.VideoCapture(0)
dev = usb.core.find(idVendor=0x18e3, idProduct=0x5031)
# simulate the SET_CUR sequence
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x50,0xff])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0xf6])
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x25,0x00])
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x5f,0xfe])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x03])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x02])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x12])
dev.ctrl_transfer(0x21,0x01,0x0f00,0x0600,[0x00,0x04])
dev.ctrl_transfer(0x21,0x01,0x0800,0x0600,[0x76,0xc3])
k=0
while (k!=ord(‘q’)):
ret,frame=cam.read()
cv2.imshow(“cam_test”,frame)
k<span class="token operator">=</span>cv2<span class="token punctuation">.</span>waitKey<span class="token punctuation">(</span><span class="token number">18</span><span class="token punctuation">)</span><span class="token operator">&</span><span class="token number">0xFF</span>
kv<span class="token operator">=</span>k<span class="token operator">-</span><span class="token builtin">ord</span><span class="token punctuation">(</span><span class="token string">'0'</span><span class="token punctuation">)</span>
<span class="token comment"># print(kv)</span>
<span class="token comment"># if press 1,2,3 or 4, change the 3d camera mode</span>
<span class="token keyword">if</span> kv <span class="token keyword">in</span> <span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">,</span><span class="token number">2</span><span class="token punctuation">,</span><span class="token number">3</span><span class="token punctuation">,</span><span class="token number">4</span><span class="token punctuation">]</span><span class="token punctuation">:</span>
dev<span class="token punctuation">.</span>ctrl_transfer<span class="token punctuation">(</span><span class="token number">0x21</span><span class="token punctuation">,</span><span class="token number">0x01</span><span class="token punctuation">,</span><span class="token number">0x0a00</span><span class="token punctuation">,</span><span class="token number">0x0600</span><span class="token punctuation">,</span><span class="token punctuation">[</span>kv<span class="token punctuation">,</span><span class="token number">0x00</span><span class="token punctuation">]</span><span class="token punctuation">)</span>
运行脚本并按下“4”，结果如下：
可以的，把两张图压缩一半然后当成一张图通过UVC传输，跟我做的那个双摄像头差不多，不过我是利用YUV格式来隐藏两张灰度图（还是我的强一点哈哈哈哈哈哈哈哈哈(｡ì _ í｡)）。
玩完收工，憋论文去～～
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