image_compression_ffmpeg: This portmonitor uses Ffmpeg to compress and decompress video streams with a specified codec. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/src/portmonitors/image_compression_ffmpeg/ffmpegPortmonitor.h>

Inheritance diagram for FfmpegMonitorObject:

Public Member Functions
bool	create (const yarp::os::Property &options) override
	This function is called when the object is created and it is used to initialize all its attributes.

void	destroy (void) override
	This function is called when the execution is terminated and the object is destroyed.

bool	setparam (const yarp::os::Property &params) override
	This will be called when the portmonitor carrier parameters are set via YARP admin port.

bool	getparam (yarp::os::Property &params) override
	This will be called when the portmonitor carrier parameters are requested via YARP admin port.

bool	accept (yarp::os::Things &thing) override
	This function is used by the port monitor to decide if an incoming packet can be accepted (it tries to cast it to the right type).

yarp::os::Things &	update (yarp::os::Things &thing) override
	This function is the one that manipulates the incoming packet.

Public Member Functions inherited from yarp::os::MonitorObject
virtual	~MonitorObject ()

virtual void	trig ()
	This will be called when one of the peer connections to the same import port receives data.

virtual yarp::os::Things &	updateReply (yarp::os::Things &thing)
	The updateReply makes it possible to modify a reply from a port when the portmonitor object is attached to a two-ways connection (e.g., RPC).

Public Attributes
yarp::os::Things	th
	The object returned by the "update" function; it can be a yarp::os::Bottle (sender side) or a yarp::sig::Image (receiver side).

yarp::os::Bottle	data
	The bottle that is filled with compressed image and all the information needed for decompression (it will be sent from sender to receiver).

yarp::sig::FlexImage	imageOut
	The final decompressed image that will be sent to the original destination.

yarp::sig::Image	imageBottleBuffer
	The final decompressed image that will be sent to the original destination.

bool	senderSide
	Boolean variable that tells if the current execution is in sender side or not.

const AVCodec *	codec
	Ffmpeg structure containing all codec information needed for compression / decompression.

AVCodecContext *	codecContext = NULL
	Ffmpeg structure containing all codec context information needed for compression / decompression.

AVPixelFormat	pixelFormat {AV_PIX_FMT_YUV420P}
	Ffmpeg pixel format.

bool	firstTime
	Boolean variable used to check if the current call to the "compression" (or "decompression") function is the first one or not.

bool	printStatistics
	Boolean variable used to check whether the bandwidth statistics should be printed.

double	previousFrameTime
	Seconds since epoch of the previous frame;.

double	bandwidthRunningAverage
	Variable storing the current bandwidth average for statistics.

double	lagRunningAverage
	Variable storing the current lag for statistics.

int	statisticsCounter
	Utility counter for printing statistics.

double	previousStatisticPrintTime
	Utility variable to store the time in which the last time the statistics have been printed.

std::map< std::string, std::string >	paramsMap
	Structure that maps every parameter inserted from command line into its value (both as strings).

Protected Member Functions
int	compress (yarp::sig::Image img, AVPacket pkt)
	This function performs all the compression actions on the incoming Image and saves the resulting compressed data into the AVPacket passed as parameter.

int	decompress (AVPacket *pkt, int w, int h, int pixelCode)
	This function decompresses the incoming AVPacket passed as parameter and saves decompressed data into the attribute imageOut (yarp::sig::FlexImage).

bool	getParamsFromCommandLine (std::string carrierString, const AVCodec *&codecOut, AVPixelFormat &pixelFormatOut, int &frameRate)
	This function parses the command line parameters from a string containing the entire command used to execute the program and saves the parameters into the attribute paramsMap (std::map<std::string, std::string>).

int	setCommandLineParams ()
	This function iterates over the attribute paramsMap and sets all the specified parameters into the attribute codecContext.

void	updateStatistics (yarp::os::Bottle &inputBottle, double currentLag)
	Print some network statistics.

Detailed Description

image_compression_ffmpeg: This portmonitor uses Ffmpeg to compress and decompress video streams with a specified codec.

Definition at line 33 of file ffmpegPortmonitor.h.

Member Function Documentation

◆ accept()

bool FfmpegMonitorObject::accept ( yarp::os::Things & thing )

overridevirtual

This function is used by the port monitor to decide if an incoming packet can be accepted (it tries to cast it to the right type).

The accepted packets are then handled by the function "update"; the others are discarded.

Parameters

thing The incoming packet; must be a yarp::sig::Image in sender side, must be a yarp::sig::Bottle in receiver side.

Returns: true If the packet was successfully cast.; false Otherwise.

Reimplemented from yarp::os::MonitorObject.

Definition at line 193 of file ffmpegPortmonitor.cpp.

◆ compress()

int FfmpegMonitorObject::compress	(	yarp::sig::Image *	img,
		AVPacket *	pkt
	)

protected

This function performs all the compression actions on the incoming Image and saves the resulting compressed data into the AVPacket passed as parameter.

Parameters

img	The incoming image.
pkt	The packet containing all the compressed data.

Returns: int 0 on success, -1 otherwise.

Definition at line 415 of file ffmpegPortmonitor.cpp.

◆ create()

bool FfmpegMonitorObject::create ( const yarp::os::Property & options )

overridevirtual

This function is called when the object is created and it is used to initialize all its attributes.

It is called both on sender and receiver side, and it performs different initializations basing on side check.

Parameters

options Parameters passed to the object to initialize it (e.g. command line parameters).

Returns: true If the creation was successful and all needed variables are correctly initialized.; false Otherwise.

Reimplemented from yarp::os::MonitorObject.

Definition at line 68 of file ffmpegPortmonitor.cpp.

◆ decompress()

int FfmpegMonitorObject::decompress	(	AVPacket *	pkt,
		int	w,
		int	h,
		int	pixelCode
	)

protected

This function decompresses the incoming AVPacket passed as parameter and saves decompressed data into the attribute imageOut (yarp::sig::FlexImage).

Parameters

pkt	The incoming packet containing all the compressed data.
w	The width of the image (in pixels).
h	The height of the image (in pixels).
pixelCode	The YARP pixel format code of the image.

Returns: int 0 on success, -1 otherwise.

Definition at line 576 of file ffmpegPortmonitor.cpp.

◆ destroy()

void FfmpegMonitorObject::destroy ( void )

overridevirtual

This function is called when the execution is terminated and the object is destroyed.

It frees the memory allocated during the "create" function.

Reimplemented from yarp::os::MonitorObject.

Definition at line 166 of file ffmpegPortmonitor.cpp.

◆ getparam()

bool FfmpegMonitorObject::getparam ( yarp::os::Property & params )

overridevirtual

This will be called when the portmonitor carrier parameters are requested via YARP admin port.

Parameters

params The Property

Returns: Returns true of any parameter is available

Reimplemented from yarp::os::MonitorObject.

Definition at line 187 of file ffmpegPortmonitor.cpp.

◆ getParamsFromCommandLine()

bool FfmpegMonitorObject::getParamsFromCommandLine	(	std::string	carrierString,
		const AVCodec *&	codecOut,
		AVPixelFormat &	pixelFormatOut,
		int &	frameRate
	)

protected

This function parses the command line parameters from a string containing the entire command used to execute the program and saves the parameters into the attribute paramsMap (std::map<std::string, std::string>).

Parameters

carrierString	The entire command used to execute the program.
codecId	The codec for video compression / decompression.

Returns: int 0 on success, -1 otherwise.

Definition at line 707 of file ffmpegPortmonitor.cpp.

◆ setCommandLineParams()

int FfmpegMonitorObject::setCommandLineParams ( )

protected

This function iterates over the attribute paramsMap and sets all the specified parameters into the attribute codecContext.

Returns: int 0 on success, -1 otherwise.

Definition at line 894 of file ffmpegPortmonitor.cpp.

◆ setparam()

bool FfmpegMonitorObject::setparam ( const yarp::os::Property & params )

overridevirtual

This will be called when the portmonitor carrier parameters are set via YARP admin port.

Parameters

params The Property

Returns: Returns true if parameters are correctly set

Reimplemented from yarp::os::MonitorObject.

Definition at line 181 of file ffmpegPortmonitor.cpp.

◆ update()

yarp::os::Things & FfmpegMonitorObject::update ( yarp::os::Things & thing )

overridevirtual

This function is the one that manipulates the incoming packet.

In sender side, it takes the Image and sends it to the "compress" function. Then it fills a Bottle containing the compressed Image and all the information needed for decompression. In receiver side, it takes the incoming Bottle and unpacks it; then it sends all compressed data to the "decompress" function; it finally creates a new Image object filled with decompressed data.

Parameters

thing The incoming packet; it is a yarp::sig::Image in sender side, a yarp::sig::Bottle in receiver side.

Returns: yarp::os::Things& The newly created object; it is a yarp::sig::Bottle in sender side (containing compressed data to be sent to receiver); it is a yarp::sig::FlexImage in receiver side (to be sent to the original destination).

Reimplemented from yarp::os::MonitorObject.

Definition at line 259 of file ffmpegPortmonitor.cpp.

◆ updateStatistics()

void FfmpegMonitorObject::updateStatistics	(	yarp::os::Bottle &	inputBottle,
		double	currentLag
	)

protected

Print some network statistics.

Definition at line 224 of file ffmpegPortmonitor.cpp.

Member Data Documentation

◆ bandwidthRunningAverage

double FfmpegMonitorObject::bandwidthRunningAverage

Variable storing the current bandwidth average for statistics.

Definition at line 182 of file ffmpegPortmonitor.h.

◆ codec

const AVCodec* FfmpegMonitorObject::codec

Ffmpeg structure containing all codec information needed for compression / decompression.

Definition at line 148 of file ffmpegPortmonitor.h.

◆ codecContext

AVCodecContext* FfmpegMonitorObject::codecContext = NULL

Ffmpeg structure containing all codec context information needed for compression / decompression.

Definition at line 154 of file ffmpegPortmonitor.h.

◆ data

yarp::os::Bottle FfmpegMonitorObject::data

The bottle that is filled with compressed image and all the information needed for decompression (it will be sent from sender to receiver).

Definition at line 124 of file ffmpegPortmonitor.h.

◆ firstTime

bool FfmpegMonitorObject::firstTime

Boolean variable used to check if the current call to the "compression" (or "decompression") function is the first one or not.

Definition at line 166 of file ffmpegPortmonitor.h.

◆ imageBottleBuffer

yarp::sig::Image FfmpegMonitorObject::imageBottleBuffer

The final decompressed image that will be sent to the original destination.

Definition at line 136 of file ffmpegPortmonitor.h.

◆ imageOut

yarp::sig::FlexImage FfmpegMonitorObject::imageOut

The final decompressed image that will be sent to the original destination.

Definition at line 130 of file ffmpegPortmonitor.h.

◆ lagRunningAverage

double FfmpegMonitorObject::lagRunningAverage

Variable storing the current lag for statistics.

Definition at line 187 of file ffmpegPortmonitor.h.

◆ paramsMap

std::map<std::string, std::string> FfmpegMonitorObject::paramsMap

Structure that maps every parameter inserted from command line into its value (both as strings).

Definition at line 203 of file ffmpegPortmonitor.h.

◆ pixelFormat

AVPixelFormat FfmpegMonitorObject::pixelFormat {AV_PIX_FMT_YUV420P}

Ffmpeg pixel format.

Definition at line 160 of file ffmpegPortmonitor.h.

◆ previousFrameTime

double FfmpegMonitorObject::previousFrameTime

Seconds since epoch of the previous frame;.

Definition at line 177 of file ffmpegPortmonitor.h.

◆ previousStatisticPrintTime

double FfmpegMonitorObject::previousStatisticPrintTime

Utility variable to store the time in which the last time the statistics have been printed.

Definition at line 197 of file ffmpegPortmonitor.h.

◆ printStatistics

bool FfmpegMonitorObject::printStatistics

Boolean variable used to check whether the bandwidth statistics should be printed.

Definition at line 172 of file ffmpegPortmonitor.h.

◆ senderSide

bool FfmpegMonitorObject::senderSide

Boolean variable that tells if the current execution is in sender side or not.

Definition at line 142 of file ffmpegPortmonitor.h.

◆ statisticsCounter

int FfmpegMonitorObject::statisticsCounter

Utility counter for printing statistics.

Definition at line 192 of file ffmpegPortmonitor.h.

◆ th

yarp::os::Things FfmpegMonitorObject::th

The object returned by the "update" function; it can be a yarp::os::Bottle (sender side) or a yarp::sig::Image (receiver side).

Definition at line 118 of file ffmpegPortmonitor.h.

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

src/portmonitors/image_compression_ffmpeg/ffmpegPortmonitor.h
src/portmonitors/image_compression_ffmpeg/ffmpegPortmonitor.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ accept()

◆ compress()

◆ create()

◆ decompress()

◆ destroy()

◆ getparam()

◆ getParamsFromCommandLine()

◆ setCommandLineParams()

◆ setparam()

◆ update()

◆ updateStatistics()

Member Data Documentation

◆ bandwidthRunningAverage

◆ codec

◆ codecContext

◆ data

◆ firstTime

◆ imageBottleBuffer

◆ imageOut

◆ lagRunningAverage

◆ paramsMap

◆ pixelFormat

◆ previousFrameTime

◆ previousStatisticPrintTime

◆ printStatistics

◆ senderSide

◆ statisticsCounter

◆ th