format7.h
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00001 /* -*- mode: C++ -*- */
00002 /* $Id$ */
00003 
00004 /*********************************************************************
00005 * Software License Agreement (BSD License)
00006 *
00007 *  Copyright (c) 2010 Ken Tossell, Jack O'Quin
00008 *  All rights reserved.
00009 *
00010 *  Redistribution and use in source and binary forms, with or without
00011 *  modification, are permitted provided that the following conditions
00012 *  are met:
00013 *
00014 *   * Redistributions of source code must retain the above copyright
00015 *     notice, this list of conditions and the following disclaimer.
00016 *   * Redistributions in binary form must reproduce the above
00017 *     copyright notice, this list of conditions and the following
00018 *     disclaimer in the documentation and/or other materials provided
00019 *     with the distribution.
00020 *   * Neither the name of the author nor other contributors may be
00021 *     used to endorse or promote products derived from this software
00022 *     without specific prior written permission.
00023 *
00024 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00030 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00036 *********************************************************************/
00037 
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 /*** @brief Camera1394 Format7 class
00057  *
00058  *   Sets CameraInfo Format7 data from Config updates.  Tracks values
00059  *   and ranges, modifying configured values to those supported by the
00060  *   device.
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