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00001 #ifndef INCLUDED_VisionSerializer_h 00002 #define INCLUDED_VisionSerializer_h 00003 00004 #include "Vision.h" 00005 #include "VisionInterface.h" 00006 #include "Shared/Serializer.h" 00007 00008 //! Encodes and transmits camera images 00009 class VisionSerializer : public Serializer { 00010 public: 00011 VisionSerializer(); //!< constructor 00012 void serialize(); //!< encodes and sends current frame 00013 00014 private: 00015 //! encodes the original camera image 00016 void encodeVisionRaw(char *buf,CMVision::image_yuv<const uchar> &img, 00017 int scale); 00018 //! special encoding of the original camera image 00019 void encodeVisionRaw_YhalfUVquarter(char *buf, 00020 CMVision::image_yuv<const uchar> &img); 00021 //! encodes the RLE processed image 00022 void encodeVisionRLE(char *buf,int num_runs,run *runs); 00023 //! helper function for encodeVisionRLE, encodes one run length 00024 inline char* encodeVisionRun(char *buf, run *run); 00025 00026 VisionSerializer(const VisionSerializer&); //!< don't call 00027 VisionSerializer& operator= (const VisionSerializer&); //!< don't call 00028 00029 Socket *visRaw; //!< socket to which raw vision images should be sent 00030 Socket *visRLE; //!< socket to which RLE images shoudl be sent 00031 }; 00032 00033 /*! @file 00034 * @brief Describes VisionSerializer, which encodes and transmits camera images 00035 * @author CMU RoboSoccer 2001-2002 (Creator) 00036 * @author alokl (Ported) 00037 * 00038 * @verbinclude CMPack_license.txt 00039 * 00040 * $Author: alokl $ 00041 * $Name: tekkotsu-1_5 $ 00042 * $Revision: 1.3 $ 00043 * $State: Rel $ 00044 * $Date: 2003/07/28 06:53:10 $ 00045 */ 00046 00047 #endif
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