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+/**

+* @file			image_header.h

+* @brief		Image header definition

+* @author		Patrick Brunner - brunner@stettbacher.ch

+* @author		Patrick Roth - roth@stettbacher.ch

+* @version		1.1

+* @date			2016-03-01

+* @copyright	2012-2016 Stettbacher Signal Processing AG

+* 

+* @remarks

+*

+* <PRE>

+* This library is free software; you can redistribute it and/or

+* modify it under the terms of the GNU Lesser General Public

+* License as published by the Free Software Foundation; either

+* version 2.1 of the License, or (at your option) any later version.

+*

+* This library is distributed in the hope that it will be useful,

+* but WITHOUT ANY WARRANTY; without even the implied warranty of

+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

+* Lesser General Public License for more details.

+*

+* You should have received a copy of the GNU Lesser General Public

+* License along with this library; if not, write to the Free Software

+* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

+* </PRE>

+*

+*/

+

+

+#ifndef _IMAGE_HEADER_H

+#define _IMAGE_HEADER_H

+

+#include "o3000/o3000_portable.h"

+

+#define O3000_IMG_HEADER_VERSION			4		///< O-3000 image header version

+

+/**

+ * Image header size in bytes

+ * 

+ * @note The struct img_header_t defined below must be a multiple of 512 bytes.

+ * The macro @ref IMAGE_HEADER_SIZE just helps to verify the header size, as done with

+ * the assert command in image_header_init. Unfortunately, assertions in C can only

+ * be performed at runtime, not at compile-time...

+ */

+#define IMAGE_HEADER_SIZE	512

+

+/**

+ * Image data format.

+ * These are all possible values for the field format in struct img_header_t.

+ */

+enum enumDataFormat_t {

+	DF_RAW_MONO_8 = 0,		///< monochrome image with 8 bit per pixel

+	DF_RAW_MONO_12,			///< monochrome image with 12 bit per pixel

+	DF_RAW_BAYER_8,			///< bayer image with 8 bit per pixel

+	DF_RAW_BAYER_12,		///< bayer image with 12 bit per pixel

+	DF_HDR_MONO_20_COMP,	///< 20 bit HDR monochrome image compressed to 12 bits

+	DF_HDR_BAYER_20_COMP,	///< 20 bit HDR bayer image compressed to 12 bits

+};

+

+/**

+ * Bayer pattern color order.

+ * These are all possible values for the field bayer pattern in struct img_header_t.

+ * The individual values describe the order of the pixels in the image data array.

+ * Depending on the start coordinate, the pattern starts with a red, 

+ * green (2 possibilities), or blue pixel.

+ * The pattern then repeats every 2 pixels in the X- and Y-direction.

+ * 

+ * @code

+ *  X   |	Y   | 1st row      | 2nd row      | enum value

+ * -----+-------+--------------+--------------+-----------

+ * even | even	| Gr, R, Gr, R | B, Gb, B, Gb | BP_GR

+ *  odd | even	| R, Gr, R, Gr | Gb, B, Gb, B | BP_RG

+ * even |  odd	| B, Gb, B, Gb | Gr, R, Gr, R | BP_BG

+ *  odd |  odd	| Gb, B, Gb, B | R, Gr, R, Gr | BP_GB

+ * 1st row: first row data within the region of interest

+ * 

+ * R:  red pixel

+ * Gr: green pixel, adjacent to red pixel

+ * Gb: green pixel, adjacent to blue pixel

+ * B:  blue pixel

+ * @endcode

+ */

+enum enumBayerPattern_t {

+	BP_GR = 0,		///< first row: green-red-green-red-...

+	BP_RG,			///< first row: red-green-red-green-...

+	BP_BG,			///< first row: blue-green-blue-green-...

+	BP_GB,			///< first row: green-blue-green-blue-...

+};

+

+

+/**

+ * Image header (must be a multiple of 512 bytes)

+ * 

+ * @code

+ * 

+ * X/Y coordinate system

+ * 

+ *   +---------------------------------> x-axis

+ *   |0/0		1/0		2/0

+ *   |0/1		1/1		2/1

+ *   |

+ *   |        +-----------------+

+ *   |        |                 |        

+ *   |        |  field of view  |

+ *   |        |                 |

+ *   |        +-----------------+

+ *   v

+ * y-axis

+ * 

+ * @endcode

+ * 

+ * - upper left corner starts with coordinate 0/0

+ * - the image width defines the maximum horizontal view in x-direction

+ * - the image height defines the maximum vertical view y-direction

+ * 

+ * As the sensor data may contain embedded statistics which should be ignored

+ * by the application, image_start defines the offset in bytes of the actual image

+ * data.  The payload size contains the regular image size plus the size 

+ * of the embedded data. If there is no embedded data, image start offset 

+ * is 0 and the payload and image size are equal.

+ * 

+ * @note Embedded data not only contains statistics lines at the beginning, 

+ * but also at the end of the image. The field @ref bayer_pattern is defined for bayer-based

+ * data formats only (e.g. DF_RAW_BAYER_8).

+ */

+struct img_header_t {

+	

+	// since image header version 1

+	uint32_t	preamble[2]; 	///< constant preamble 											(8 bytes)

+	uint32_t	version;		///< header version number 										(4 bytes)

+	uint32_t	payload_size;	///< payload size (in bytes)									(4 bytes)

+	uint32_t	image_start;	///< image start offset (in bytes)										(4 bytes)

+	uint32_t	image_size;		///< image size (in bytes) 										(4 bytes)

+	uint32_t	width;			///< current image width (x-direction) (in pixels) 				(4 bytes)

+	uint32_t	height;			///< current image height (y-direction) (in pixels) 			(4 bytes)

+	uint32_t	format;			///< image data format (see @ref enumDataFormat_t)				(4 bytes)

+	uint32_t	frame_count;	///< frame sequence number 										(4 bytes)

+	

+	// since image header version 2

+	uint32_t	bayer_pattern;	///< bayer pattern color order (see @ref enumBayerPattern_t)	(4 bytes)

+	

+	// since image header version 3

+	uint32_t	datarate;		///< USB data rate in bytes per seconds							(4 bytes)

+	float		fps;			///< frames per seconds											(4 bytes)

+	

+	// since image header version 4

+	uint16_t	fov_x_start;	///< start x-cooredinate of current field of view				(2 bytes)

+	uint16_t	fov_x_end;		///< end x-cooredinate of current field of view					(2 bytes)

+	uint16_t	fov_y_start;	///< start y-cooredinate of current field of view				(2 bytes)

+	uint16_t	fov_y_end;		///< end y-cooredinate of current field of view					(2 bytes)

+	

+	uint8_t		padding[452];	///< padding bytes to fill header								(452 bytes)

+} __packed__;

+

+

+#endif // _IMAGE_HEADER_H