CARMEN: camera/camera_hw_interface.h Source File

00001 /*********************************************************
00002  *
00003  * This source code is part of the Carnegie Mellon Robot
00004  * Navigation Toolkit (CARMEN)
00005  *
00006  * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
00007  * Roy, and Sebastian Thrun
00008  *
00009  * CARMEN is free software; you can redistribute it and/or 
00010  * modify it under the terms of the GNU General Public 
00011  * License as published by the Free Software Foundation; 
00012  * either version 2 of the License, or (at your option)
00013  * any later version.
00014  *
00015  * CARMEN is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied 
00017  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00018  * PURPOSE.  See the GNU General Public License for more 
00019  * details.
00020  *
00021  * You should have received a copy of the GNU General 
00022  * Public License along with CARMEN; if not, write to the
00023  * Free Software Foundation, Inc., 59 Temple Place, 
00024  * Suite 330, Boston, MA  02111-1307 USA
00025  *
00026  ********************************************************/
00027 
00028 
00030 // @{
00031 
00039 #ifndef CARMEN_CAMERA_HW_INTERFACE_H
00040 #define CARMEN_CAMERA_HW_INTERFACE_H
00041 
00042 #ifdef __cplusplus
00043 extern "C" {
00044 #endif
00045   
00046   typedef struct {
00047     int width;
00048     int height;
00049     int bytes_per_pixel;
00050     int image_size;
00051     char *image;
00052     int is_new;
00053     double timestamp;
00054   } carmen_camera_image_t;
00055   
00056   carmen_camera_image_t *carmen_camera_start(int argc, char **argv);
00057   void carmen_camera_grab_image(carmen_camera_image_t *image);
00058   void carmen_camera_shutdown(void);
00059 
00060 #ifdef __cplusplus
00061 }
00062 #endif
00063 
00064 #endif
00065 // @}