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Diffstat (limited to 'image_header.h')
| -rw-r--r-- | image_header.h | 157 |
1 files changed, 157 insertions, 0 deletions
diff --git a/image_header.h b/image_header.h new file mode 100644 index 0000000..dd752e7 --- /dev/null +++ b/image_header.h @@ -0,0 +1,157 @@ +/**
+* @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
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