video.h
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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


ardrone_autonomy
Author(s): Mani Monajjemi, Mani Monajjemi
autogenerated on Fri Dec 9 2016 03:36:59