A.R.Drone Developer Guide - Abstract
A.R.Drone Developer Guide - Abstract
A.R.Drone Developer Guide - Abstract
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44<br />
RGB image Y image CB image CR image<br />
The 16x16 image is finally stored in the memory as 6 blocks of 8x8 values:<br />
• 4 blocks (Y0, Y1, Y2 and Y3) to form the 16x16 pixels Y image of the luma component<br />
(corresponding to a greyscale version of the original 16x16 RGB image).<br />
• 2 blocks of down-sampled chroma components (computed from the original 16x16 RGB<br />
image):<br />
– Cb: blue-difference component (8x8 values)<br />
– Cr: red-difference component (8x8 values)<br />
7.2.1.1 Layer of images<br />
16<br />
16<br />
Y0 Y1<br />
Y2 Y3<br />
8<br />
8<br />
CB CR<br />
For each picture, data correspond to an image header followed by data blocks groups and an<br />
ending code (EOS, end of sequence).<br />
The composition of each block-layer is resumed here:
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