format7.h
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00001 /* -*- mode: C++ -*- */
00002 /* $Id: format7.h 35691 2011-02-02 04:28:58Z joq $ */
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
00027 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035 *  POSSIBILITY OF SUCH DAMAGE.
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 "camera1394stereo/Camera1394StereoConfig.h"
00047 typedef camera1394stereo::Camera1394StereoConfig 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   {};
00075   ~Format7() {};
00076 
00078   bool active(void)
00079   {
00080     return active_;
00081   }
00082   bool start(dc1394camera_t *camera, dc1394video_mode_t mode,
00083              Config &newconfig);
00084   void stop(void);
00085   void unpackData(sensor_msgs::Image &image, uint8_t *capture_buffer);
00086   bool checkCameraInfo(const sensor_msgs::CameraInfo &cinfo);
00087   void setOperationalParameters(sensor_msgs::CameraInfo &cinfo);
00088 
00089 private:
00090 
00091   bool active_;
00092   dc1394color_coding_t coding_;
00093   uint32_t maxWidth_;
00094   uint32_t maxHeight_;
00095 
00097   sensor_msgs::RegionOfInterest roi_;
00098 
00100   uint32_t binning_x_;
00101   uint32_t binning_y_;
00102 
00104   dc1394color_filter_t BayerPattern_;
00105 };
00106 
00107 #endif // _FORMAT7_H_


camera1394stereo
Author(s): Joan Pau Beltran
autogenerated on Thu Jun 6 2019 21:29:10