ALVisionExtractor is a generic vision extractor. More...

#include <alvision/alvisionextractor.h>

Public Member Functions
	ALVisionExtractor (boost::shared_ptr< ALBroker > pBroker, const std::string &pName, int resolution=kQVGA, int colorspace=kBGRColorSpace, int framerate=30, int activecamera=-1)
	Create a generic vision extractor. More...

virtual	~ALVisionExtractor ()

virtual bool	setColorSpace (const int &colorSpace)
	Sets processed image colorspace on the fly. More...

virtual bool	setFrameRate (const int &framerate)
	Sets extractor framerate on the fly. More...

virtual bool	setFrameRate (const std::string &pSubscribedName, const int &framerate)

virtual bool	setResolution (const int &resolution)
	Sets processed image resolution on the fly. More...

virtual bool	setActiveCamera (const int &cameraId)
	Sets the camera from which the image is taken. More...

boost::shared_ptr < AL::ALVideoDeviceProxy >	getVideoDeviceProxy ()

int	getColorSpace ()

int	getFrameRate ()

int	getResolution ()

int	getActiveCamera ()

bool	isPaused ()

bool	isProcessing ()

QI_API_DEPRECATED void	setParameter (const std::string &paramName, const ALValue &paramValue)
	Set parameter value for resolution and pause. More...

virtual void	start ()=0
	Method which will be called before each subscription to the extractor. More...

virtual void	process (ALImage *img)=0
	Method which will be called each time the extractor gets an image. More...

void	pause (const bool &paused)
	Pause the extractor, without calling the stop method. More...

virtual void	stop ()=0
	Method which will be called when the module is unsubscribed. More...

int	getDefaultPeriod ()
	This method overrides the method inherited from ALExtractor. It computes the default period from the default framerate given in the constructor of the ALVisionExtractor. More...

int	getMinimumPeriod ()
	This method overrides the method inherited from ALExtractor. It computes the minimum period from the highest framerate supported by the selected camera. More...

int	getMaximumPeriod ()
	This method overrides the method inherited from ALExtractor. It computes the maximum period from the lowest framerate supported by the selected camera. More...

Public Member Functions inherited from AL::ALExtractor
	ALExtractor (boost::shared_ptr< ALBroker > pBroker, const std::string &pName)

virtual	~ALExtractor ()

virtual void	subscribe (const std::string &pSubscribedName, const int &pPeriod, const float &pPrecision)

virtual void	subscribe (const std::string &pSubscribedName)

virtual void	updatePeriod (const std::string &pSubscribedName, const int &pPeriod)

virtual void	updatePrecision (const std::string &pSubscribedName, const float &pPrecision)

virtual void	unsubscribe (const std::string &pSubscribedName)

virtual int	getCurrentPeriod ()

virtual float	getCurrentPrecision ()

virtual int	getMyPeriod (const std::string &pSubscribedName)

virtual float	getMyPrecision (const std::string &pSubscribedName)

ALValue	getSubscribersInfo ()

Protected Member Functions
void	xUpdateParameters (const int pPeriod, const float pPrecision)

void	setSubscriptionParameters (const std::vector< std::pair< int, int > > &parameters)

Protected Member Functions inherited from AL::ALExtractor
virtual float	getDefaultPrecision ()

virtual std::vector< std::string >	getOutputNames (void)

std::vector< std::string >	getEventList (void)

std::vector< std::string >	getMemoryKeyList (void)

void	declareEvent (const std::string &event)

void	declareMemoryKey (const std::string &key)

Detailed Description

ALVisionExtractor is a generic vision extractor.

ALVisionExtractor is an extractor dedicated to vision processing. It retrieves images from one of NAO's cameras, and gives them as input to a callback method process(). This method will be called each time an image is retrieved.

The parameters concerning the image retrieval (resolution, colorspace, camera and framerate) can be set either at the construction (which is recommended) if you do not have to change them, or on the fly using dedicated method.

Definition at line 37 of file alvisionextractor.h.

Constructor & Destructor Documentation

AL::ALVisionExtractor::ALVisionExtractor	(	boost::shared_ptr< ALBroker >	pBroker,
		const std::string &	pName,
		int	resolution = `kQVGA`,
		int	colorspace = `kBGRColorSpace`,
		int	framerate = `30`,
		int	activecamera = `-1`
	)

Create a generic vision extractor.

Parameters

[in]	pBroker	Broker use to register the vision extractor.
[in]	pName	Name of the Vision Extractor.
	resolution	Resolution of the images the extractor will process at module startup. Default value is 1 (QVGA resolution).
	colorspace	Colorspace of the images the extractor will process at module startup. Default value is BGR colorspace.
	framerate	Framerate of the images the extractor will process at module startup. Default value is 30.
[in]	activecamera	Index of the active camera -1 to use the default one.

virtual AL::ALVisionExtractor::~ALVisionExtractor ( )

virtual

Member Function Documentation

int AL::ALVisionExtractor::getActiveCamera ( )

int AL::ALVisionExtractor::getColorSpace ( )

int AL::ALVisionExtractor::getDefaultPeriod ( )

virtual

This method overrides the method inherited from ALExtractor. It computes the default period from the default framerate given in the constructor of the ALVisionExtractor.

For an ALVisionExtractor, there is no need to override this method: the default period can be chosen by setting the default framerate in the constructor.

Reimplemented from AL::ALExtractor.

int AL::ALVisionExtractor::getFrameRate ( )

int AL::ALVisionExtractor::getMaximumPeriod ( )

virtual

This method overrides the method inherited from ALExtractor. It computes the maximum period from the lowest framerate supported by the selected camera.

For an ALVisionExtractor, there is no need to override this method.

Reimplemented from AL::ALExtractor.

int AL::ALVisionExtractor::getMinimumPeriod ( )

virtual

This method overrides the method inherited from ALExtractor. It computes the minimum period from the highest framerate supported by the selected camera.

For an ALVisionExtractor, there is no need to override this method.

Reimplemented from AL::ALExtractor.

int AL::ALVisionExtractor::getResolution ( )

boost::shared_ptr<AL::ALVideoDeviceProxy> AL::ALVisionExtractor::getVideoDeviceProxy ( )

bool AL::ALVisionExtractor::isPaused ( )

bool AL::ALVisionExtractor::isProcessing ( )

void AL::ALVisionExtractor::pause ( const bool & paused )

Pause the extractor, without calling the stop method.

Parameters

paused true if the extractor must be paused, false else.

virtual void AL::ALVisionExtractor::process ( ALImage * img )

pure virtual

Method which will be called each time the extractor gets an image.

Parameters

img	Pointer to the image class, which is retrieved according to the extractor parameters (colorspace, framerate, resolution, camera).

virtual bool AL::ALVisionExtractor::setActiveCamera ( const int & cameraId )

virtual

Sets the camera from which the image is taken.

Parameters

cameraId Desired camera ID.

Returns: True if the camera has been successfully set.

virtual bool AL::ALVisionExtractor::setColorSpace ( const int & colorSpace )

virtual

Sets processed image colorspace on the fly.

Parameters

colorSpace Desired colorspace.

Returns: True if the colorspace has been successfully set.

virtual bool AL::ALVisionExtractor::setFrameRate ( const int & framerate )

virtual

Sets extractor framerate on the fly.

Parameters

framerate Desired extractor framerate.

Returns: True if the framerate has been successfully set.

virtual bool AL::ALVisionExtractor::setFrameRate	(	const std::string &	pSubscribedName,
		const int &	framerate
	)

virtual

QI_API_DEPRECATED void AL::ALVisionExtractor::setParameter	(	const std::string &	paramName,
		const ALValue &	paramValue
	)

Set parameter value for resolution and pause.

Parameters

paramName	Name of the parameter to set ("resolution" or "pause")
paramValue	ALValue array of the value to be set.

Deprecated:: Use setResolution or pause instead.

virtual bool AL::ALVisionExtractor::setResolution ( const int & resolution )

virtual

Sets processed image resolution on the fly.

Parameters

resolution Desired resolution.

Returns: True if the resolution has been successfully set.

void AL::ALVisionExtractor::setSubscriptionParameters ( const std::vector< std::pair< int, int > > & parameters )

protected

virtual void AL::ALVisionExtractor::start ( )

pure virtual

Method which will be called before each subscription to the extractor.

virtual void AL::ALVisionExtractor::stop ( )

pure virtual

Method which will be called when the module is unsubscribed.

void AL::ALVisionExtractor::xUpdateParameters	(	const int	pPeriod,
		const float	pPrecision
	)

protectedvirtual

Reimplemented from AL::ALExtractor.

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

/home/opennao/work/release-2.8/sdk/libnaoqi/libalvision/alvision/alvisionextractor.h

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation