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00038 #ifndef _FORMAT7_H_
00039 #define _FORMAT7_H_
00040
00041 #include <sensor_msgs/CameraInfo.h>
00042 #include <sensor_msgs/Image.h>
00043
00044 #include <dc1394/dc1394.h>
00045
00046 #include "camera1394/Camera1394Config.h"
00047 typedef camera1394::Camera1394Config Config;
00048
00056
00057
00058
00059
00060
00061
00062
00063 class Format7
00064 {
00065 public:
00066
00067 Format7():
00068 active_(false),
00069 coding_(DC1394_COLOR_CODING_MONO8),
00070 maxWidth_(0),
00071 maxHeight_(0),
00072 binning_x_(0),
00073 binning_y_(0),
00074 BayerPattern_((dc1394color_filter_t) DC1394_COLOR_FILTER_NUM)
00075 {};
00076 ~Format7() {};
00077
00079 bool active(void)
00080 {
00081 return active_;
00082 }
00083 bool start(dc1394camera_t *camera, dc1394video_mode_t mode,
00084 Config &newconfig);
00085 void stop(void);
00086 void unpackData(sensor_msgs::Image &image, uint8_t *capture_buffer);
00087 bool checkCameraInfo(const sensor_msgs::CameraInfo &cinfo);
00088 void setOperationalParameters(sensor_msgs::CameraInfo &cinfo);
00089
00090 private:
00091 dc1394color_filter_t findBayerPattern(const char* bayer);
00092
00093 bool active_;
00094 dc1394color_coding_t coding_;
00095 uint32_t maxWidth_;
00096 uint32_t maxHeight_;
00097
00099 sensor_msgs::RegionOfInterest roi_;
00100
00102 uint32_t binning_x_;
00103 uint32_t binning_y_;
00104
00106 dc1394color_filter_t BayerPattern_;
00107 };
00108
00109 #endif // _FORMAT7_H_
camera1394
Author(s): Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy
autogenerated on Wed Aug 26 2015 10:56:59