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diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_yuv2rgb.h b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_yuv2rgb.h
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+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_yuv2rgb.h
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+/**
+ *  @file   vp_stages_yuv2rgb.h
+ *  @brief  VP Stages. YUV to RGB converter stage declaration
+ */
+
+///////////////////////////////////////////////
+// INCLUDES
+
+#ifndef _VP_STAGES_YUV2RGB_INCLUDE_
+#define _VP_STAGES_YUV2RGB_INCLUDE_
+
+/** 
+ * @addtogroup VP_Stages
+ * @{ */
+
+/** 
+ * @defgroup vp_stages_yuv2rgb YUV-4:2:0p to RGB converter stage
+ *
+ * \section Brief
+ * \code
+ Gets in input a frame which type is vp_api_picture_t and format is planar YUV-4:2:0.
+ Converts it into RGB format : RGB-565 (16 bits), RGB24 or Alpha-RGB (32 bits)
+ Stores the result frame into the output buffer.
+ * \endcode
+ *
+ * \section History
+ *
+ * @{ */
+
+#include <VP_Api/vp_api.h>
+#include <VP_Api/vp_api_picture.h>
+
+///////////////////////////////////////////////
+// TYPEDEFS
+
+/** Select RGB format
+ */
+typedef enum _VP_STAGES_RGB_FORMAT
+{
+  VP_STAGES_RGB_FORMAT_MARKER_BEGIN = -1,
+  VP_STAGES_RGB_FORMAT_RGB565       = 0,
+  VP_STAGES_RGB_FORMAT_RGB24,
+  VP_STAGES_RGB_FORMAT_ARGB32,
+  VP_STAGES_RGB_FORMAT_MARKER_END
+} VP_STAGES_RGB_FORMAT;
+
+typedef enum _VP_STAGES_YUV2RGB_CONVERSION_MODE
+{
+  VP_STAGES_YUV2RGB_MODE_NORMAL = 0,
+  VP_STAGES_YUV2RGB_MODE_UPSIDE_DOWN,
+} VP_STAGES_YUV2RGB_CONVERSION_MODE;
+
+
+/**
+ *  @brief   Configuration structure for the YUV-4:2:0p to RGB-Alpha converter stage
+ */
+typedef struct _vp_stages_yuv2rgb_config_
+{
+  VP_STAGES_RGB_FORMAT rgb_format; //!< Select RGB format
+
+#ifdef USE_YUV2RGB_STRETCH
+  uint32_t*  hline0;
+  uint32_t*  hline1;
+  uint32_t*  vline;
+#endif  // < USE_YUV2RGB_STRETCH
+
+  VP_STAGES_YUV2RGB_CONVERSION_MODE mode;
+
+} vp_stages_yuv2rgb_config_t;
+
+
+/**
+ *  @var     vp_stages_YUV_to_RGB_t
+ *  @brief   Define pointer type to a YUV to RGB conversion function
+ */
+typedef void (*vp_stages_YUV_to_RGB_t)(vp_stages_yuv2rgb_config_t *cfg, vp_api_picture_t *picture, uint8_t *dst, uint32_t dst_rbytes);
+
+///////////////////////////////////////////////
+// FUNCTIONS
+
+void asm_yuvrgb565(uint8_t* dst, int32_t dst_rbytes, uint32_t* src, int y);
+
+/**
+ *  @fn      vp_stages_yuv2rgb_stage_open(vp_stages_yuv2rgb_config_t *)
+ *  @brief   Open the YUV to RGB converter stage.
+ *  @param   cfg  Stage configuration
+ *  @return  C_RESULT : VP_SUCCESS
+ */
+C_RESULT vp_stages_yuv2rgb_stage_open(vp_stages_yuv2rgb_config_t *cfg);
+
+
+/**
+ *  @fn      vp_stages_yuv2rgb_stage_transform(vp_stages_yuv2rgb_config_t *, vp_api_io_data_t *, vp_api_io_data_t *)
+ *  @brief   Apply a transform over the YUV to RGB converter stage.
+ *
+ *  Gets in input a vp_api_picture_t frame which contains the Y, U, and V arrays.\n
+ *  Calls internal generic function vp_stages_YUV_to_RGB.
+ *  @param   cfg  Stage configuration
+ *  @param   in   Input buffer : contains a vp_api_picture_t *
+ *  @param   out  Output buffer
+ *  @return  C_RESULT : VP_SUCCESS
+ *  @author  Julien Floret <julien.floret.ext\@parrot.com>
+ *  @date    Last modification  30/04/2007
+ */
+C_RESULT vp_stages_yuv2rgb_stage_transform(vp_stages_yuv2rgb_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
+
+
+/**
+ *  @fn      vp_stages_yuv2rgb_stage_close(vp_stages_yuv2rgb_config_t *)
+ *  @brief   Close the YUV to RGB converter stage.
+ *  @param   cfg  Stage configuration
+ *  @return  C_RESULT : VP_SUCCESS
+ */
+C_RESULT vp_stages_yuv2rgb_stage_close(vp_stages_yuv2rgb_config_t *cfg);
+
+// vp_stages_yuv2rgb
+/** @} */
+// VP_Stages
+/** @} */
+
+#endif // ! _VP_STAGES_YUV2RGB_INCLUDE_