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/*=====================================================================
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
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/**
* @file
* @brief Brief Description
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef CAMERAVIEW_H
#define CAMERAVIEW_H
#include <QImage>
#include <QGLWidget>
#include "UASInterface.h"
class CameraView : public QGLWidget
{
Q_OBJECT
public:
CameraView(int width = 640, int height = 480, int depth = 8, int channels = 1, QWidget* parent = NULL);
~CameraView();
void setImageSize(int width, int height, int depth, int channels);
void paintGL();
void resizeGL(int w, int h);
public slots:
void addUAS(UASInterface* uas);
void startImage(int imgid, int width, int height, int depth, int channels);
void setPixels(int imgid, const unsigned char* imageData, int length, unsigned int startIndex);
void finishImage();
void saveImage();
void saveImage(QString fileName);
protected:
// Image buffers
unsigned char* rawBuffer1;
unsigned char* rawBuffer2;
unsigned char* rawImage;
unsigned int rawLastIndex;
unsigned int rawExpectedBytes;
unsigned int bytesPerLine;
bool imageStarted;
static const unsigned char initialColor = 0;
QImage* image; ///< Double buffer image
QImage glImage; ///< Displayed image
int receivedDepth;
int receivedChannels;
int receivedWidth;
int receivedHeight;
QMap<int, QImage*> images; ///< Reference to the received images
int imageId; ///< ID of the currently displayed image