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Public Member Functions
AL::ALVisionExtractor Class Reference

ALVisionExtractor is a generic vision extractor. More...

#include <alvision/alvisionextractor.h>

List of all members.

Public Member Functions

 ALVisionExtractor (boost::shared_ptr< ALBroker > pBroker, const std::string &pName, int resolution=kQVGA, int colorspace=kBGRColorSpace, int framerate=30)
 Create a generic vision extractor.
bool setColorSpace (const int &colorSpace)
 Sets processed image colorspace on the fly.
bool setFrameRate (const int &framerate)
 Sets extractor framerate on the fly.
bool setResolution (const int &resolution)
 Sets processed image resolution on the fly.
bool setActiveCamera (const int &cameraId)
 Sets the camera from which the image is taken.
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.
virtual void start ()=0
 Method which will be called before each subscription to the extractor.
virtual void process (ALImage *img)=0
 Method which will be called each time the extractor gets an image.
void pause (const bool &paused)
 Pause the extractor, without calling the stop method.
virtual void stop ()=0
 Method which will be called when the module is unsubscribed.
- Public Member Functions inherited from AL::ALExtractor
 ALExtractor (boost::shared_ptr< ALBroker > pBroker, const std::string &pName)
virtual void subscribe (const std::string &pSubscribedName, const int &pPeriod, const float &pPrecision)
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 ()
virtual std::string httpGet ()

Additional Inherited Members

- Protected Member Functions inherited from AL::ALExtractor
virtual int getDefaultPeriod ()
virtual float getDefaultPrecision ()
std::vector< std::string > getOutputNames (void)

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 36 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 
)

Create a generic vision extractor.

Parameters:
resolutionResolution of the images the extractor will process at module startup. Default value is 1 (QVGA resolution).
colorspaceColorspace of the images the extractor will process at module startup. Default value is BGR colorspace.
framerateFramerate of the images the extractor will process at module startup. Default value is 30.

Member Function Documentation

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

Pause the extractor, without calling the stop method.

Parameters:
pausedtrue 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:
imgPointer to the image class, which is retrieved according to the extractor parameters (colorspace, framerate, resolution, camera).
bool AL::ALVisionExtractor::setActiveCamera ( const int &  cameraId)

Sets the camera from which the image is taken.

Parameters:
resolutionDesired camera ID.
Returns:
True if the camera has been successfully set.
bool AL::ALVisionExtractor::setColorSpace ( const int &  colorSpace)

Sets processed image colorspace on the fly.

Parameters:
colorspaceDesired colorspace.
Returns:
True if the colorspace has been successfully set.
bool AL::ALVisionExtractor::setFrameRate ( const int &  framerate)

Sets extractor framerate on the fly.

Parameters:
framerateDesired extractor framerate.
Returns:
True if the framerate has been successfully set.
QI_API_DEPRECATED void AL::ALVisionExtractor::setParameter ( const std::string &  paramName,
const ALValue &  paramValue 
)

Set parameter value for resolution and pause.

Parameters:
paramNameName of the parameter to set ("resolution" or "pause")
paramValueALValue array of the value to be set.
Deprecated:
Use setResolution or pause instead.
bool AL::ALVisionExtractor::setResolution ( const int &  resolution)

Sets processed image resolution on the fly.

Parameters:
resolutionDesired resolution.
Returns:
True if the resolution has been successfully set.

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