This service provides a means to share image or video data captured from a camera or video device. More...

#include <visualsensor.h>

Inheritance diagram for JAUS::VisualSensor:

Public Member Functions
	VisualSensor (const bool sharedImage=true)
	Constructor.
	~VisualSensor ()
	Destructor.
void	SetCameraCount (const Byte cameraCount)
	Sets how many cameras are supported by this serivice so that subscribers can query video data.
bool	SetCurrentFrame (const unsigned char *rawImage, const unsigned int width, const unsigned int height, const unsigned char channels, const Byte cameraID, const unsigned int frameNumber, const double frameRateHz)
	Sets the current frame from a camera.
bool	SetCurrentFrameCompressed (const unsigned char *compImage, const unsigned int compImageSize, const unsigned int width, const unsigned int height, const unsigned char channels, const Byte cameraID, const unsigned int frameNumber, const double frameRateHz, const Image::Format format)
	Sets the current frame from a camera using an already compressed format.
bool	SetCurrentFrame (const unsigned char *rawImage, const unsigned int width, const unsigned int height, const unsigned char channels, const Byte cameraID, const double frameRateHz)
	Sets the current frame from a camera.
virtual bool	GenerateEvent (const Events::Subscription &info) const
	Generates an event for the given information.
virtual bool	IsEventSupported (const Events::Type type, const double requestedPeriodicRate, const Message *queryMessage, double &confirmedPeriodicRate, std::string &errorMessage) const
	Checks if the event is supported by the Service.
virtual bool	IsDiscoverable () const
virtual void	Receive (const Message *message)
	Processes message received by the Service. If not supported, then message is passed to inheriting services.
virtual Message *	CreateMessage (const UShort messageCode) const
	Attempts to create the message desired. Only message supported by this Service can be created by this Service.
bool	SetCompressionQualityJPEG (const int quality)
	Sets quality for JPEG compression.
Static Public Attributes
static const std::string	Name = "urn:jaus:jss:jpp:extras:VisualSensor"
	String name of the Service.

Detailed Description

This service provides a means to share image or video data captured from a camera or video device.

The Visual Sensor service is independent of the type of device the data comes from. It is up to the user to implement their own video capture software to get image data from a camera. This service only packages the data in a JAUS Message and transmits to subscribers.

This service currently only supports JPEG compression.

An example subscriber is the Video Subscriber service.

Definition at line 69 of file visualsensor.h.

Constructor & Destructor Documentation

VisualSensor::VisualSensor ( const bool sharedImage = true )

Constructor.

Parameters:

[in] sharedImage If true, images are shaved to a shared memory buffer, for sharing image data on a single host computer (e.g. VideoSubsriber, SharedImage).

Definition at line 59 of file visualsensor.cpp.

VisualSensor::~VisualSensor ( )

Destructor.

Definition at line 74 of file visualsensor.cpp.

Member Function Documentation

Message * VisualSensor::CreateMessage ( const UShort messageCode ) const [virtual]

Attempts to create the message desired. Only message supported by this Service can be created by this Service.

This Service supports the following message: Query Image, Report Image

Parameters:

[in] messageCode Message to create.

Returns:: Pointer to newly allocated Message data, NULL if message is not supported by the Service.

Implements JAUS::Service.

Definition at line 522 of file visualsensor.cpp.

bool VisualSensor::GenerateEvent ( const Events::Subscription & info ) const [virtual]

Generates an event for the given information.

Parameters:

[in] info The event information (ID, Sequence #, etc.) for generation.

Returns:: True if event generated, otherwise false.

Implements JAUS::Events::Child.

Definition at line 373 of file visualsensor.cpp.

virtual bool JAUS::VisualSensor::IsDiscoverable ( ) const [inline, virtual]

Implements JAUS::Service.

Definition at line 113 of file visualsensor.h.

bool VisualSensor::IsEventSupported	(	const Events::Type	type,
		const double	requestedPeriodicRate,
		const Message *	queryMessage,
		double &	confirmedPeriodicRate,
		std::string &	errorMessage
	)		const `[virtual]`

Checks if the event is supported by the Service.

Parameters:

[in]	type	The event type (Periodic/EveryChange).
[in]	requestedPeriodicRate	If type == Periodic, then this is the desired update rate.
[in]	queryMessage	The query message associated with the event.
[out]	confirmedPeriodicRate	This is the confirmed periodic rate supported by the Service.
[out]	errorMessage	If not supported, this is an optional error message.

Returns:: True if event supported, otherwise false.

Implements JAUS::Events::Child.

Definition at line 417 of file visualsensor.cpp.

void VisualSensor::Receive ( const Message * message ) [virtual]

Processes message received by the Service. If not supported, then message is passed to inheriting services.

This Service supports the following message: Query Image, Report Image

Parameters:

[in] message Message data to process.

Reimplemented from JAUS::Service.

Definition at line 469 of file visualsensor.cpp.

void VisualSensor::SetCameraCount ( const Byte cameraCount )

Sets how many cameras are supported by this serivice so that subscribers can query video data.

Parameters:

[in] cameraCount Number of cameras connected to Visual Sensor service.

Definition at line 97 of file visualsensor.cpp.

bool VisualSensor::SetCompressionQualityJPEG ( const int quality )

Sets quality for JPEG compression.

By default, quality is -1 or best.

Parameters:

[in] quality The compression quality. Set to -1 for default, 0 worst and 100 best (but larger size).

Returns:: True on success, false on failure.

Definition at line 559 of file visualsensor.cpp.

bool VisualSensor::SetCurrentFrame	(	const unsigned char *	rawImage,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned char	channels,
		const Byte	cameraID,
		const unsigned int	frameNumber,
		const double	frameRateHz
	)

Sets the current frame from a camera.

Parameters:

[in]	rawImage	Raw image data in BGR format with 0,0 being the top left corner of the image.
[in]	width	Width of image in pixels.
[in]	height	Height of the image in pixels.
[in]	channels	Number of channels in the image.
[in]	cameraID	The camera ID number.
[in]	frameNumber	The frame sequence number.
[in]	frameRateHz	The update frequency of the camera.

Returns:: True on success, false on failure.

Definition at line 159 of file visualsensor.cpp.

bool VisualSensor::SetCurrentFrame	(	const unsigned char *	rawImage,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned char	channels,
		const Byte	cameraID,
		const double	frameRateHz
	)

Sets the current frame from a camera.

Parameters:

[in]	rawImage	Raw image data in BGR format with 0,0 being the top left corner of the image.
[in]	width	Width of image in pixels.
[in]	height	Height of the image in pixels.
[in]	channels	Number of channels in the image.
[in]	cameraID	The camera ID number.
[in]	frameRateHz	The update frequency of the camera.

Returns:: True on success, false on failure.

Definition at line 118 of file visualsensor.cpp.

bool VisualSensor::SetCurrentFrameCompressed	(	const unsigned char *	compImage,
		const unsigned int	compImageSize,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned char	channels,
		const Byte	cameraID,
		const unsigned int	frameNumber,
		const double	frameRateHz,
		const Image::Format	format
	)

Sets the current frame from a camera using an already compressed format.

Parameters:

[in]	compImage	Compressed image data.
[in]	compImageSize	Compressed image size in bytes.
[in]	width	Width of image in pixels.
[in]	height	Height of the image in pixels.
[in]	channels	Number of channels in the image.
[in]	cameraID	The camera ID number.
[in]	frameNumber	The frame sequence number.
[in]	frameRateHz	The update frequency of the camera.
[in]	format	Compressed image format.

Returns:: True on success, false on failure.

Definition at line 272 of file visualsensor.cpp.

Member Data Documentation

const std::string VisualSensor::Name = "urn:jaus:jss:jpp:extras:VisualSensor" [static]

String name of the Service.

Definition at line 72 of file visualsensor.h.

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

jaus++/2.0/include/jaus/extras/video/visualsensor.h
jaus++/2.0/src/jaus/extras/video/visualsensor.cpp

JAUS::VisualSensor Class Reference

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation