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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_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)
} __o3000_packed__;
#endif // _IMAGE_HEADER_H
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