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)

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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.

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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:

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.

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Member Function Documentation

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).

bool AL::ALVisionExtractor::setActiveCamera

(

const int &

cameraId

)

Sets the camera from which the image is taken.

Parameters:

resolution

Desired 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:

colorspace

Desired colorspace.

Returns:

True if the colorspace has been successfully set.

bool AL::ALVisionExtractor::setFrameRate

(

const int &

framerate

)

Sets extractor framerate on the fly.

Parameters:

framerate

Desired 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:

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.

bool AL::ALVisionExtractor::setResolution

(

const int &

resolution

)

Sets processed image resolution on the fly.

Parameters:

resolution

Desired resolution.

Returns:

True if the resolution has been successfully set.

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

• alvision/alvisionextractor.h