Mike Hamer
9297e938c7
Will now publish video frames as soon as received if fullspeed_video=true. Unfortunately to do this we needed to do a few dirty hacks, implying that our architecture is no longer so suitable for the future direction of the driver. We need to talk about an architectural redesign perhaps...
44 linhas
1.0 KiB
C
44 linhas
1.0 KiB
C
#ifndef _VIDEO_H_
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#define _VIDEO_H_
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#include "ardrone_sdk.h"
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#include "ardrone_driver.h"
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// The maximum memory allocation
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#define MAX_STREAM_WIDTH 640
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#define MAX_STREAM_HEIGHT 360
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/** Drone 1 */
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// Drone 1 Static Stream Size & PIP Stuff
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// PIP is not supported in AR-Drone SDK 2.0
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#define D1_STREAM_WIDTH 320
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#define D1_STREAM_HEIGHT 240
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//Vertical Camera standalone
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#define D1_VERTSTREAM_WIDTH 174
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#define D1_VERTSTREAM_HEIGHT 144
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// Vertical Camera in PIP
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#define D1_MODE2_PIP_WIDTH 87 //Huh?
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#define D1_MODE2_PIP_HEIGHT 72
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//Horizontal Camera in PIP
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#define D1_MODE3_PIP_WIDTH 58
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#define D1_MODE3_PIP_HEIGHT 42
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/** Drone 2 */
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// NO PIP, Both camera streams provide the same reseloution: Simple!
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#define D2_STREAM_WIDTH 640
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#define D2_STREAM_HEIGHT 360
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extern video_com_multisocket_config_t icc;
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extern const vp_api_stage_funcs_t vp_stages_export_funcs;
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extern unsigned char buffer[]; // size STREAM_WIDTH * STREAM_HEIGHT * 3
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extern long int current_frame_id; // this will be incremented for every frame
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extern long int current_navdata_id;
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#endif
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