00001 00025 #ifndef ARDRONE_AUTONOMY_VIDEO_H 00026 #define ARDRONE_AUTONOMY_VIDEO_H 00027 00028 #include <ardrone_autonomy/ardrone_sdk.h> 00029 #include <ardrone_autonomy/ardrone_driver.h> 00030 #include <stdint.h> 00031 00032 // The maximum memory allocation 00033 #define MAX_STREAM_WIDTH 640 00034 #define MAX_STREAM_HEIGHT 360 00035 00038 // Drone 1 Static Stream Size & PIP Stuff 00039 // PIP is not supported in AR-Drone SDK 2.0 00040 #define D1_STREAM_WIDTH 320 00041 #define D1_STREAM_HEIGHT 240 00042 00043 // Vertical Camera standalone 00044 #define D1_VERTSTREAM_WIDTH 174 00045 #define D1_VERTSTREAM_HEIGHT 144 00046 00047 // Vertical Camera in PIP 00048 #define D1_MODE2_PIP_WIDTH 87 // Huh? 00049 #define D1_MODE2_PIP_HEIGHT 72 00050 00051 // Horizontal Camera in PIP 00052 #define D1_MODE3_PIP_WIDTH 58 00053 #define D1_MODE3_PIP_HEIGHT 42 00054 00057 // NO PIP, Both camera streams provide the same reseloution: Simple! 00058 #define D2_STREAM_WIDTH 640 00059 #define D2_STREAM_HEIGHT 360 00060 00061 extern video_com_multisocket_config_t icc; 00062 extern const vp_api_stage_funcs_t vp_stages_export_funcs; 00063 extern unsigned char buffer[]; // size STREAM_WIDTH * STREAM_HEIGHT * 3 00064 extern int32_t current_frame_id; // this will be incremented for every frame 00065 extern int32_t current_navdata_id; 00066 extern ros::Time shared_video_receive_time; 00067 00068 #endif // ARDRONE_AUTONOMY_VIDEO_H