00001 #ifndef _VIDEO_H_ 00002 #define _VIDEO_H_ 00003 00004 #include <ardrone_autonomy/ardrone_sdk.h> 00005 #include <ardrone_autonomy/ardrone_driver.h> 00006 00007 // The maximum memory allocation 00008 #define MAX_STREAM_WIDTH 640 00009 #define MAX_STREAM_HEIGHT 360 00010 00013 // Drone 1 Static Stream Size & PIP Stuff 00014 // PIP is not supported in AR-Drone SDK 2.0 00015 #define D1_STREAM_WIDTH 320 00016 #define D1_STREAM_HEIGHT 240 00017 00018 //Vertical Camera standalone 00019 #define D1_VERTSTREAM_WIDTH 174 00020 #define D1_VERTSTREAM_HEIGHT 144 00021 00022 // Vertical Camera in PIP 00023 #define D1_MODE2_PIP_WIDTH 87 //Huh? 00024 #define D1_MODE2_PIP_HEIGHT 72 00025 00026 //Horizontal Camera in PIP 00027 #define D1_MODE3_PIP_WIDTH 58 00028 #define D1_MODE3_PIP_HEIGHT 42 00029 00032 // NO PIP, Both camera streams provide the same reseloution: Simple! 00033 #define D2_STREAM_WIDTH 640 00034 #define D2_STREAM_HEIGHT 360 00035 00036 extern video_com_multisocket_config_t icc; 00037 extern const vp_api_stage_funcs_t vp_stages_export_funcs; 00038 extern unsigned char buffer[]; // size STREAM_WIDTH * STREAM_HEIGHT * 3 00039 extern long int current_frame_id; // this will be incremented for every frame 00040 extern long int current_navdata_id; 00041 00042 #endif 00043