用c++写一个调用图漾网络深度相机拍照保存的代码

以下是示例代码：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <libusb.h>

#define VENDOR_ID 0x04b4
#define PRODUCT_ID 0x02f8

#define EP_OUT 0x02
#define EP_IN 0x81

#define CMD_SET_EXPOSURE 0x0b
#define CMD_SET_GAIN 0x0c
#define CMD_SET_RESOLUTION 0x0d
#define CMD_TAKE_PICTURE 0x83

#define RESOLUTION_640x480 0x0001
#define RESOLUTION_1280x720 0x0002
#define RESOLUTION_1920x1080 0x0003

libusb_device_handle *devh = NULL;
int timeout_ms = 5000;

int send_cmd(uint8_t cmd, const void *data, uint16_t len)
{
    uint8_t buf[64];
    memset(buf, 0, sizeof(buf));
    buf[0] = cmd;
    buf[1] = len & 0xff;
    buf[2] = (len >> 8) & 0xff;
    if (len > 0) {
        memcpy(buf + 3, data, len);
    }
    int actual;
    int res = libusb_bulk_transfer(devh, EP_OUT, buf, sizeof(buf), &actual, timeout_ms);
    if (res == 0 && actual != sizeof(buf)) {
        res = LIBUSB_ERROR_OTHER;
    }
    return res;
}

int recv_cmd(uint8_t *cmd, void *data, uint16_t *len)
{
    uint8_t buf[64];
    int actual;
    int res = libusb_bulk_transfer(devh, EP_IN, buf, sizeof(buf), &actual, timeout_ms);
    if (res == 0 && actual != sizeof(buf)) {
        res = LIBUSB_ERROR_OTHER;
    }
    if (res == 0) {
        *cmd = buf[0];
        *len = buf[1] | (buf[2] << 8);
        if (*len > 0 && *len <= sizeof(buf) - 3) {
            memcpy(data, buf + 3, *len);
        } else {
            *len = 0;
        }
    }
    return res;
}

int set_exposure(uint8_t exposure)
{
    return send_cmd(CMD_SET_EXPOSURE, &exposure, sizeof(exposure));
}

int set_gain(uint8_t gain)
{
    return send_cmd(CMD_SET_GAIN, &gain, sizeof(gain));
}

int set_resolution(uint16_t resolution)
{
    return send_cmd(CMD_SET_RESOLUTION, &resolution, sizeof(resolution));
}

int take_picture(const char *filename)
{
    FILE *fp = fopen(filename, "wb");
    if (!fp) {
        return -1;
    }
    int res = send_cmd(CMD_TAKE_PICTURE, NULL, 0);
    if (res == 0) {
        uint8_t cmd;
        uint16_t len;
        res = recv_cmd(&cmd, NULL, &len);
        if (res == 0 && cmd == CMD_TAKE_PICTURE && len <= 64*1024) {
            uint8_t buf[64*1024];
            uint16_t offset = 0;
            while (offset < len) {
                uint16_t count = len - offset;
                if (count > sizeof(buf)) {
                    count = sizeof(buf);
                }
                uint16_t actual;
                res = libusb_bulk_transfer(devh, EP_IN, buf, count, &actual, timeout_ms);
                if (res == 0 && actual != count) {
                    res = LIBUSB_ERROR_OTHER;
                }
                if (res == 0) {
                    size_t n = fwrite(buf, 1, actual, fp);
                    if (n != actual) {
                        res = -1;
                        break;
                    }
                    offset += actual;
                }
            }
        }
    }
    fclose(fp);
    return res;
}

int main(int argc, char *argv[])
{
    libusb_init(NULL);
    devh = libusb_open_device_with_vid_pid(NULL, VENDOR_ID, PRODUCT_ID);
    if (devh) {
        uint8_t exposure = 50; // set the exposure to 50ms
        uint8_t gain = 0x08; // set the gain to 8x
        uint16_t resolution = RESOLUTION_640x480; // set the resolution to 640x480
        set_exposure(exposure);
        set_gain(gain);
        set_resolution(resolution);
        take_picture("image.jpg");
        libusb_close(devh);
    }
    libusb_exit(NULL);
    return 0;
}

这是一个基于libusb库的示例代码，用于调用图漾网络深度相机进行拍照并保存图像。您需要根据自己的实际情况进行修改，并保证所使用的USB设备的厂商ID和产品ID与图漾网络深度相机一致。