video.h

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#ifndef ARDRONE_AUTONOMY_VIDEO_H
#define ARDRONE_AUTONOMY_VIDEO_H

#include <ardrone_autonomy/ardrone_sdk.h>
#include <ardrone_autonomy/ardrone_driver.h>
#include <stdint.h>

// The maximum memory allocation
#define MAX_STREAM_WIDTH 640
#define MAX_STREAM_HEIGHT 360

// Drone 1 Static Stream Size & PIP Stuff
// PIP is not supported in AR-Drone SDK 2.0
#define D1_STREAM_WIDTH 320
#define D1_STREAM_HEIGHT 240

// Vertical Camera standalone
#define D1_VERTSTREAM_WIDTH 174
#define D1_VERTSTREAM_HEIGHT 144

// Vertical Camera in PIP
#define D1_MODE2_PIP_WIDTH 87  // Huh?
#define D1_MODE2_PIP_HEIGHT 72

// Horizontal Camera in PIP
#define D1_MODE3_PIP_WIDTH 58
#define D1_MODE3_PIP_HEIGHT 42

// NO PIP, Both camera streams provide the same reseloution: Simple!
#define D2_STREAM_WIDTH 640
#define D2_STREAM_HEIGHT 360

extern video_com_multisocket_config_t icc;
extern const vp_api_stage_funcs_t vp_stages_export_funcs;
extern unsigned char buffer[];  // size STREAM_WIDTH * STREAM_HEIGHT * 3
extern int32_t current_frame_id;  // this will be incremented for every frame
extern int32_t current_navdata_id;
extern ros::Time shared_video_receive_time;

#endif  // ARDRONE_AUTONOMY_VIDEO_H