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#ifndef _XB3_H_
#define _XB3_H_

//####################################################################
// Includes:
//####################################################################

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <signal.h>
//=============================================================================
// PGR Includes
//=============================================================================
#include "pgr_registers.h"
#include "pgr_stereocam.h"

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}



typedef struct{
         int use_shm;
        char dummymode;
        char debugmode;
}TYPE_flg;





void handler_short_stereomask_change(char *a, char *b, char *c);
void handler_wide_stereomask_change(char *a, char *b, char *c);
int convert_triclopscolorimage_2_iplimage(TriclopsColorImage *TI, IplImage *IPL);




#ifdef _XB3_CPP_


IplImage *image,*uimage,*pimage;
double filltime; //image timestamp

TriclopsInput  colorInput;
unsigned char* pucRightRGB              = NULL;
unsigned char* pucLeftRGB               = NULL;
unsigned char* pucCenterRGB             = NULL;

TriclopsError e;
TriclopsImage16 depthImage16;
unsigned char* pucGreenBuffer;
unsigned char* pucRGBBuffer;
unsigned char* pucDeInterlacedBuffer;
PGRStereoCamera_t stereoCamera;
dc1394camera_t*         camera;
dc1394error_t   err;

dc1394_t * d;
dc1394camera_list_t * list;
unsigned int nThisCam;

char file_shortcal[255] = "config/short.cal";
char file_widecal[255]  = "config/wide.cal";


//xb3_3dpointcloud_message pc_msg;
//xb3_3dpointcloud_message pc_msg1;

TriclopsColorImage shortRectifiedColor;
TriclopsColorImage wideRectifiedColor;





IplImage* RightCamera;
IplImage* CenterCamera;
IplImage* LeftCamera;
IplImage *Ileft;
IplImage *Iright;
IplImage *InvalidStereoMask;
IplImage *DicardedStereoMask;
IplImage *ShortDisparityImage;
IplImage *WideDisparityImage;


#endif

#endif

---

xb3
Author(s): Miguel Oliveira, Tiago Talhada
autogenerated on Wed Jul 23 04:35:09 2014