Apollo 10.0
自动驾驶开放平台
sensor_image.proto
浏览该文件的文档.
1syntax = "proto2";
2
3package apollo.drivers;
4
6
7// Encoding of pixels -- channel meaning, ordering, size
9 RGB8 = 1001;
10 RGBA8 = 1002;
11 RGB16 = 1003;
12 RGBA16 = 1004;
13 BGR8 = 1005;
14 BGRA8 = 1006;
15 BGR16 = 1007;
16 BGRA16 = 1008;
17 MONO8 = 1009;
18 MONO16 = 1010;
19
20 // OpenCV CvMat types
21 TYPE_8UC1 = 2001;
22 TYPE_8UC2 = 2002;
23 TYPE_8UC3 = 2003;
24 TYPE_8UC4 = 2004;
25 TYPE_8SC1 = 2005;
26 TYPE_8SC2 = 2006;
27 TYPE_8SC3 = 2007;
28 TYPE_8SC4 = 2008;
29 TYPE_16UC1 = 2009;
30 TYPE_16UC2 = 2010;
31 TYPE_16UC3 = 2011;
32 TYPE_16UC4 = 2012;
33 TYPE_16SC1 = 2013;
34 TYPE_16SC2 = 2014;
35 TYPE_16SC3 = 2015;
36 TYPE_16SC4 = 2016;
37 TYPE_32SC1 = 2017;
38 TYPE_32SC2 = 2018;
39 TYPE_32SC3 = 2019;
40 TYPE_32SC4 = 2020;
41 TYPE_32FC1 = 2021;
42 TYPE_32FC2 = 2022;
43 TYPE_32FC3 = 2023;
44 TYPE_32FC4 = 2024;
45 TYPE_64FC1 = 2025;
46 TYPE_64FC2 = 2026;
47 TYPE_64FC3 = 2027;
48 TYPE_64FC4 = 2028;
49
50 // Bayer encodings
59
60 // Miscellaneous
61 // This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
62 // with an 8-bit depth
63 YUV422 = 4001;
64}
65
66message Image {
67 optional apollo.common.Header header = 1;
68 optional string frame_id = 2;
69 optional double measurement_time = 3;
70
71 optional uint32 height = 4; // image height, that is, number of rows
72 optional uint32 width = 5; // image width, that is, number of columns
73
74 optional string encoding = 6;
75 optional uint32 step = 7; // Full row length in bytes
76 optional bytes data = 8; // actual matrix data, size is (step * rows)
77}
78
80 optional apollo.common.Header header = 1;
81 optional string frame_id = 2;
82
83 // Specifies the format of the data
84 // Acceptable values: jpeg, png
85 optional string format = 3;
86 optional bytes data = 4; // Compressed image buffer
87 optional double measurement_time = 5;
88 optional uint32 frame_type = 6;
89 optional uint32 width = 7;
90 optional uint32 height = 8;
91}
apollo::common
class register implement
Definition arena_queue.h:37