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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 //! encodes the RLE processed image 00019 void encodeVisionRLE(char *buf,int num_runs,run *runs); 00020 //! helper function for encodeVisionRLE, encodes one run length 00021 inline char* encodeVisionRun(char *buf, run *run); 00022 00023 VisionSerializer(const VisionSerializer&); //!< don't call 00024 VisionSerializer& operator= (const VisionSerializer&); //!< don't call 00025 00026 Socket *visRaw; //!< socket to which raw vision images should be sent 00027 Socket *visRLE; //!< socket to which RLE images shoudl be sent 00028 }; 00029 00030 /*! @file 00031 * @brief Describes VisionSerializer, which encodes and transmits camera images 00032 * @author CMU RoboSoccer 2001-2002 (Creator) 00033 * @author alokl (Ported) 00034 * 00035 * @verbinclude CMPack_license.txt 00036 * 00037 * $Author: ejt $ 00038 * $Name: tekkotsu-1_4_1 $ 00039 * $Revision: 1.2 $ 00040 * $State: Exp $ 00041 * $Date: 2003/06/12 23:41:41 $ 00042 */ 00043 00044 #endif
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