Apollo
10.0
自动驾驶开放平台
sensor_image.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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package
apollo.drivers;
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import
"
modules/common_msgs/basic_msgs/header.proto
";
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// Encoding of pixels -- channel meaning, ordering, size
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enum
PixelFormat
{
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RGB8
= 1001;
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RGBA8
= 1002;
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RGB16
= 1003;
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RGBA16
= 1004;
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BGR8
= 1005;
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BGRA8
= 1006;
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BGR16
= 1007;
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BGRA16
= 1008;
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MONO8
= 1009;
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MONO16
= 1010;
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// OpenCV CvMat types
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TYPE_8UC1
= 2001;
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TYPE_8UC2
= 2002;
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TYPE_8UC3
= 2003;
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TYPE_8UC4
= 2004;
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TYPE_8SC1
= 2005;
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TYPE_8SC2
= 2006;
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TYPE_8SC3
= 2007;
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TYPE_8SC4
= 2008;
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TYPE_16UC1
= 2009;
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TYPE_16UC2
= 2010;
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TYPE_16UC3
= 2011;
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TYPE_16UC4
= 2012;
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TYPE_16SC1
= 2013;
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TYPE_16SC2
= 2014;
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TYPE_16SC3
= 2015;
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TYPE_16SC4
= 2016;
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TYPE_32SC1
= 2017;
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TYPE_32SC2
= 2018;
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TYPE_32SC3
= 2019;
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TYPE_32SC4
= 2020;
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TYPE_32FC1
= 2021;
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TYPE_32FC2
= 2022;
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TYPE_32FC3
= 2023;
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TYPE_32FC4
= 2024;
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TYPE_64FC1
= 2025;
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TYPE_64FC2
= 2026;
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TYPE_64FC3
= 2027;
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TYPE_64FC4
= 2028;
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// Bayer encodings
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BAYER_RGGB8
= 3001;
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BAYER_BGGR8
= 3002;
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BAYER_GBRG8
= 3003;
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BAYER_GRBG8
= 3004;
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BAYER_RGGB16
= 3005;
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BAYER_BGGR16
= 3006;
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BAYER_GBRG16
= 3007;
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BAYER_GRBG16
= 3008;
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// Miscellaneous
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// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
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// with an 8-bit depth
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YUV422
= 4001;
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}
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message
Image
{
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optional
apollo
.
common
.
Header
header = 1;
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optional
string
frame_id = 2;
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optional
double
measurement_time = 3;
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optional uint32 height = 4;
// image height, that is, number of rows
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optional uint32 width = 5;
// image width, that is, number of columns
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optional
string
encoding = 6;
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optional uint32 step = 7;
// Full row length in bytes
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optional bytes data = 8;
// actual matrix data, size is (step * rows)
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}
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message
CompressedImage
{
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optional
apollo
.
common
.
Header
header = 1;
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optional
string
frame_id = 2;
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// Specifies the format of the data
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// Acceptable values: jpeg, png
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optional
string
format = 3;
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optional bytes data = 4;
// Compressed image buffer
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optional
double
measurement_time = 5;
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optional uint32 frame_type = 6;
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optional uint32 width = 7;
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optional uint32 height = 8;
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}
header.proto
apollo::common
apollo::common
apollo::drivers::PixelFormat
PixelFormat
Definition
sensor_image.proto:8
apollo::drivers::TYPE_16UC2
@ TYPE_16UC2
Definition
sensor_image.proto:30
apollo::drivers::TYPE_32FC2
@ TYPE_32FC2
Definition
sensor_image.proto:42
apollo::drivers::BAYER_GBRG16
@ BAYER_GBRG16
Definition
sensor_image.proto:57
apollo::drivers::BAYER_BGGR8
@ BAYER_BGGR8
Definition
sensor_image.proto:52
apollo::drivers::TYPE_16UC4
@ TYPE_16UC4
Definition
sensor_image.proto:32
apollo::drivers::TYPE_64FC2
@ TYPE_64FC2
Definition
sensor_image.proto:46
apollo::drivers::TYPE_32FC3
@ TYPE_32FC3
Definition
sensor_image.proto:43
apollo::drivers::TYPE_8SC4
@ TYPE_8SC4
Definition
sensor_image.proto:28
apollo::drivers::TYPE_16UC1
@ TYPE_16UC1
Definition
sensor_image.proto:29
apollo::drivers::TYPE_16UC3
@ TYPE_16UC3
Definition
sensor_image.proto:31
apollo::drivers::BGRA8
@ BGRA8
Definition
sensor_image.proto:14
apollo::drivers::TYPE_8SC2
@ TYPE_8SC2
Definition
sensor_image.proto:26
apollo::drivers::RGBA8
@ RGBA8
Definition
sensor_image.proto:10
apollo::drivers::TYPE_8UC3
@ TYPE_8UC3
Definition
sensor_image.proto:23
apollo::drivers::BAYER_GRBG16
@ BAYER_GRBG16
Definition
sensor_image.proto:58
apollo::drivers::TYPE_8SC1
@ TYPE_8SC1
Definition
sensor_image.proto:25
apollo::drivers::BAYER_GRBG8
@ BAYER_GRBG8
Definition
sensor_image.proto:54
apollo::drivers::TYPE_8SC3
@ TYPE_8SC3
Definition
sensor_image.proto:27
apollo::drivers::BAYER_RGGB16
@ BAYER_RGGB16
Definition
sensor_image.proto:55
apollo::drivers::BAYER_BGGR16
@ BAYER_BGGR16
Definition
sensor_image.proto:56
apollo::drivers::RGB16
@ RGB16
Definition
sensor_image.proto:11
apollo::drivers::TYPE_32FC4
@ TYPE_32FC4
Definition
sensor_image.proto:44
apollo::drivers::TYPE_16SC2
@ TYPE_16SC2
Definition
sensor_image.proto:34
apollo::drivers::TYPE_8UC2
@ TYPE_8UC2
Definition
sensor_image.proto:22
apollo::drivers::TYPE_32SC1
@ TYPE_32SC1
Definition
sensor_image.proto:37
apollo::drivers::BAYER_RGGB8
@ BAYER_RGGB8
Definition
sensor_image.proto:51
apollo::drivers::TYPE_8UC4
@ TYPE_8UC4
Definition
sensor_image.proto:24
apollo::drivers::TYPE_32SC4
@ TYPE_32SC4
Definition
sensor_image.proto:40
apollo::drivers::TYPE_16SC3
@ TYPE_16SC3
Definition
sensor_image.proto:35
apollo::drivers::RGBA16
@ RGBA16
Definition
sensor_image.proto:12
apollo::drivers::YUV422
@ YUV422
Definition
sensor_image.proto:63
apollo::drivers::BGRA16
@ BGRA16
Definition
sensor_image.proto:16
apollo::drivers::BGR16
@ BGR16
Definition
sensor_image.proto:15
apollo::drivers::TYPE_64FC4
@ TYPE_64FC4
Definition
sensor_image.proto:48
apollo::drivers::MONO16
@ MONO16
Definition
sensor_image.proto:18
apollo::drivers::TYPE_64FC1
@ TYPE_64FC1
Definition
sensor_image.proto:45
apollo::drivers::TYPE_64FC3
@ TYPE_64FC3
Definition
sensor_image.proto:47
apollo::drivers::BGR8
@ BGR8
Definition
sensor_image.proto:13
apollo::drivers::BAYER_GBRG8
@ BAYER_GBRG8
Definition
sensor_image.proto:53
apollo::drivers::TYPE_32SC3
@ TYPE_32SC3
Definition
sensor_image.proto:39
apollo::drivers::TYPE_16SC4
@ TYPE_16SC4
Definition
sensor_image.proto:36
apollo::drivers::TYPE_32SC2
@ TYPE_32SC2
Definition
sensor_image.proto:38
apollo::drivers::TYPE_16SC1
@ TYPE_16SC1
Definition
sensor_image.proto:33
apollo::drivers::MONO8
@ MONO8
Definition
sensor_image.proto:17
apollo::drivers::TYPE_32FC1
@ TYPE_32FC1
Definition
sensor_image.proto:41
apollo::drivers::RGB8
@ RGB8
Definition
sensor_image.proto:9
apollo::drivers::TYPE_8UC1
@ TYPE_8UC1
Definition
sensor_image.proto:21
apollo
class register implement
Definition
arena_queue.h:37
syntax
syntax
Definition
sensor_image.proto:1
apollo::common::Header
Definition
header.proto:7
apollo::drivers::CompressedImage
Definition
sensor_image.proto:79
apollo::drivers::Image
Definition
sensor_image.proto:66
modules
common_msgs
sensor_msgs
sensor_image.proto