SoftBank Robotics documentation What's new in NAOqi 2.8?

ALVisionExtractor API

NAOqi Core - Overview | ALExtractor API | ALVisionExtractor API

Method list

Any ALVisionExtractor inherits methods from ALExtractor API and ALModule API. It also has the following specific methods:

Parameters update
Introspection
Deprecated methods
bool ALVisionExtractor::setFrameRate(const std::string& pSubscribedName, const int& framerate)

There are two overloads of this function:

Sets the extractor frame rate for a chosen subscriber.

Parameters:
  • pSubscribedName – Name of the subscriber.
  • framerate – New frame rate.
Returns:

True if the update succeeded, False otherwise.
bool ALVisionExtractor::setFrameRate(const int& framerate)

Sets the extractor frame rate for all the subscribers.

Parameters:
  • framerate – New frame rate.
Returns:

True if the update succeeded, False otherwise.
bool ALVisionExtractor::setResolution(const int& resolution)

Sets the image resolution for the extractor.

Parameters:
  • resolution – New resolution (see cameraresolution).
Returns:

True if the update succeeded, False otherwise.
bool ALVisionExtractor::setActiveCamera(const int& cameraId)

Sets the active camera for the extractor.

Parameters:
  • cameraId – ID of the camera (see cameraindex).
Returns:

True if the update successded, False otherwise.
void ALVisionExtractor::pause(const bool& paused)

Pauses or unpauses the extractor.

Parameters:
  • paused – True to pause the extractor, False to unpause it.
int ALVisionExtractor::getFrameRate()

Gets the current frame rate of the extractor.

Returns:Frame rate of the fastest subscriber.
int ALVisionExtractor::getResolution()

Gets the current image resolution.

Returns:Image resolution of the extractor.
int ALVisionExtractor::getActiveCamera()

Gets the current active camera used by the extractor.

Returns:Camera ID.
bool ALVisionExtractor::isPaused()

Gets the pause status of the extractor.

Returns:True if the extractor is pause, False otherwise.
bool ALVisionExtractor::isProcessing()

Gets the status of the extractor. An extractor is processing as long as it has at least one subscriber, regardless of its pause status.

Returns:True if the extractor is running, False otherwise.
void ALVisionExtractor::setParameter(const std::string& paramName, const AL::ALValue& paramValue)

Deprecated since version 1.20: use ALVisionExtractor::setResolution and ALVisionExtractor::pause instead.

Updates the value of a parameter of the extractor.

Parameters:
  • paramName – Name of the parameter (“resolution” or “pause”).
  • paramValue – New value of the parameter.