grabber: Export a frame grabber to the network. More...

#include <ServerFrameGrabber/ServerFrameGrabber.h>

Inheritance diagram for ServerFrameGrabber:

Public Member Functions
	ServerFrameGrabber ()=default

	ServerFrameGrabber (const ServerFrameGrabber &)=delete

	ServerFrameGrabber (ServerFrameGrabber &&)=delete

ServerFrameGrabber &	operator= (const ServerFrameGrabber &)=delete

ServerFrameGrabber &	operator= (ServerFrameGrabber &&)=delete

	~ServerFrameGrabber () override=default

bool	close () override
	Close the DeviceDriver. More...

bool	open (yarp::os::Searchable &config) override
	Configure with a set of options. More...

virtual bool	respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply) override
	Respond to a message. More...

bool	getDatum (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override

bool	getDatum (yarp::sig::ImageOf< yarp::sig::PixelMono > &image) override

bool	getDatum (yarp::dev::ImageRgbSound &imageSound) override

virtual bool	getDatum (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image, yarp::sig::Sound &sound) override

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

virtual bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelMono > &image)

virtual bool	getAudioVisual (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image, yarp::sig::Sound &sound) override
	Get an image and sound. More...

int	height () const override
	Return the height of each frame. More...

int	width () const override
	Return the width of each frame. More...

bool	startService () override
	Initiate the service, whatever it is. More...

bool	stopService () override
	Shut down the service, whatever it is. More...

bool	updateService () override
	Give the service the chance to run for a while. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::DeviceResponder
	DeviceResponder ()
	Constructor. More...

void	addUsage (const char txt, const char explain=nullptr)
	Add information about a message that the respond() method understands. More...

void	addUsage (const yarp::os::Bottle &bot, const char *explain=nullptr)
	Add information about a message that the respond() method understands. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Handler for reading messages from the network, and passing them on to the respond() method. More...

void	onRead (yarp::os::Bottle &v) override
	Alternative handler for reading messages from the network, and passing them on to the respond() method. More...

void	makeUsage ()
	Regenerate usage information. More...

void	attach (yarp::os::TypedReader< yarp::os::Bottle > &source)
	Attach this object to a source of messages. More...

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::TypedReaderCallback< yarp::os::Bottle >
virtual	~TypedReaderCallback ()
	Destructor. More...

virtual void	onRead (yarp::os::Bottle &datum)
	Callback method. More...

virtual void	onRead (yarp::os::Bottle &datum, const yarp::os::TypedReader< yarp::os::Bottle > &reader)
	Callback method. More...

Public Member Functions inherited from yarp::dev::IFrameGrabberImage
virtual	~IFrameGrabberImage ()
	Destructor. More...

virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)
	Get a crop of the rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

Public Member Functions inherited from yarp::dev::IAudioVisualGrabber
virtual	~IAudioVisualGrabber ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IService
virtual	~IService ()

Detailed Description

grabber: Export a frame grabber to the network.

Provides the IFrameGrabberImage, IFrameGrabberControls, and IAudioGrabberSound interfaces. The corresponding client is a RemoteFrameGrabber.

The network interface is a single Port. Images are streamed out from that Port – RemoteFrameGrabber uses this stream to provide the IFrameGrabberImage interface. The IFrameGrabberControls functionality is provided via RPC.

Here's a command-line example:

[terminal A] yarpdev --device fakeFrameGrabber --width 8 --height 8 --name /grabber --framerate 30
[terminal B] yarp read /read
[terminal C] yarp connect /grabber /read
[terminal C] echo "[get] [gain]" | yarp rpc /grabber

The yarpdev line starts a FakeFrameGrabber wrapped in a ServerFrameGrabber. Parameters are: –width, –height set the size of the frame in pixels –name portname set the name of the output port –framerate set the frequency (Hz) at which images will be read and broadcast to the network; if the parameter is not set images are provided at the maximum speed supported by the device. Notice that the maximum frame rate is determined by the device.

After the "yarp connect" line, image descriptions will show up in terminal B (you could view them with the yarpview application). The "yarp rpc" command should query the gain (0.0 for the test grabber).

Command (text form)	Response	Code equivalent
[set] [bri] 1.0	none	setBrightness()
[set] [gain] 1.0	none	setGain()
[set] [shut] 1.0	none	setShutter()
[get] [bri]	[is] [bri] 1.0	getBrightness()
[get] [gain]	[is] [gain] 1.0	getGain()
[get] [shut]	[is] [shut] 1.0	getShutter()

Definition at line 79 of file ServerFrameGrabber.h.

Constructor & Destructor Documentation

◆ ServerFrameGrabber() [1/3]

ServerFrameGrabber::ServerFrameGrabber ( )

default

◆ ServerFrameGrabber() [2/3]

ServerFrameGrabber::ServerFrameGrabber ( const ServerFrameGrabber & )

delete

◆ ServerFrameGrabber() [3/3]

ServerFrameGrabber::ServerFrameGrabber ( ServerFrameGrabber && )

delete

◆ ~ServerFrameGrabber()

ServerFrameGrabber::~ServerFrameGrabber ( )

overridedefault

Member Function Documentation

◆ close()

bool ServerFrameGrabber::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 26 of file ServerFrameGrabber.cpp.

◆ getAudioVisual()

bool ServerFrameGrabber::getAudioVisual	(	yarp::sig::ImageOf< yarp::sig::PixelRgb > &	image,
		yarp::sig::Sound &	sound
	)

overridevirtual

Get an image and sound.

Parameters

image	the image to be filled
sound	the sound to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IAudioVisualGrabber.

Definition at line 458 of file ServerFrameGrabber.cpp.

◆ getDatum() [1/4]

bool ServerFrameGrabber::getDatum ( yarp::dev::ImageRgbSound & imageSound )

override

Definition at line 435 of file ServerFrameGrabber.cpp.

◆ getDatum() [2/4]

bool ServerFrameGrabber::getDatum ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image )

override

Definition at line 430 of file ServerFrameGrabber.cpp.

◆ getDatum() [3/4]

bool ServerFrameGrabber::getDatum ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

override

Definition at line 425 of file ServerFrameGrabber.cpp.

◆ getDatum() [4/4]

bool ServerFrameGrabber::getDatum	(	yarp::sig::ImageOf< yarp::sig::PixelRgb > &	image,
		yarp::sig::Sound &	sound
	)

overridevirtual

Definition at line 440 of file ServerFrameGrabber.cpp.

◆ getImage() [1/2]

bool ServerFrameGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelMono > & image )

virtual

Definition at line 452 of file ServerFrameGrabber.cpp.

◆ getImage() [2/2]

bool ServerFrameGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

overridevirtual

Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberImage.

Definition at line 446 of file ServerFrameGrabber.cpp.

◆ height()

int ServerFrameGrabber::height ( ) const

overridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImage.

Definition at line 465 of file ServerFrameGrabber.cpp.

◆ open()

bool ServerFrameGrabber::open ( yarp::os::Searchable & config )

overridevirtual

Configure with a set of options.

These are:

subdevice	Common name of device to wrap (e.g. "fakeFrameGrabber").
name	Port name to assign to this server (default /grabber).

Parameters

config The options to use

Returns: true iff the object could be configured.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 40 of file ServerFrameGrabber.cpp.

◆ operator=() [1/2]

ServerFrameGrabber& ServerFrameGrabber::operator= ( const ServerFrameGrabber & )

delete

◆ operator=() [2/2]

ServerFrameGrabber& ServerFrameGrabber::operator= ( ServerFrameGrabber && )

delete

◆ respond()

bool ServerFrameGrabber::respond	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply
	)

overridevirtual

Respond to a message.

Parameters

command	the message
reply	the response

Returns: true if there was no critical failure

Reimplemented from yarp::dev::DeviceResponder.

Definition at line 196 of file ServerFrameGrabber.cpp.

◆ startService()

bool ServerFrameGrabber::startService ( )

overridevirtual

Initiate the service, whatever it is.

The service should then run by itself, without any further interaction with its creator until stopService() is called.

Returns: true if the service started and needs no help running. If false is returned, the service expects updateService() to be called repeatedly until that function too returns false. This is useful for devices that don't want to manage their own service threads.

Reimplemented from yarp::dev::IService.

Definition at line 484 of file ServerFrameGrabber.cpp.

◆ stopService()

bool ServerFrameGrabber::stopService ( )

overridevirtual

Shut down the service, whatever it is.

Returns: true iff the service shut down ok.

Reimplemented from yarp::dev::IService.

Definition at line 479 of file ServerFrameGrabber.cpp.

◆ updateService()

bool ServerFrameGrabber::updateService ( )

overridevirtual

Give the service the chance to run for a while.

This is an alternative to calling startService(). It is more appropriate in a single-threaded environment.

Returns: true iff the service is willing to run some more. A return value of false means that the service would like to stop.

Reimplemented from yarp::dev::IService.

Definition at line 493 of file ServerFrameGrabber.cpp.

◆ width()

int ServerFrameGrabber::width ( ) const

overridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImage.

Definition at line 472 of file ServerFrameGrabber.cpp.

The documentation for this class was generated from the following files:

src/devices/ServerFrameGrabber/ServerFrameGrabber.h
src/devices/ServerFrameGrabber/ServerFrameGrabber.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ServerFrameGrabber() [1/3]

◆ ServerFrameGrabber() [2/3]

◆ ServerFrameGrabber() [3/3]

◆ ~ServerFrameGrabber()

Member Function Documentation

◆ close()

◆ getAudioVisual()

◆ getDatum() [1/4]

◆ getDatum() [2/4]

◆ getDatum() [3/4]

◆ getDatum() [4/4]

◆ getImage() [1/2]

◆ getImage() [2/2]

◆ height()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ respond()

◆ startService()

◆ stopService()

◆ updateService()

◆ width()