Example for fakeFrameGrabber (fakeFrameGrabber_basic)

Instantiates fakeFrameGrabber device implemented by FakeFrameGrabber.

Collaboration diagram for Example for fakeFrameGrabber (fakeFrameGrabber_basic):

Instantiates fakeFrameGrabber device implemented by FakeFrameGrabber.

# start up a fake image source of size 640x480, with 4 images per second
device fakeFrameGrabber
width 640
height 480
period 0.25

If this text is saved in a file called fakeFrameGrabber_basic.ini then the device can be created by doing:

yarpdev --file fakeFrameGrabber_basic.ini

Of course, the configuration could be passed just as command line options, or as a yarp::os::Property object in a program:

Property p;
p.fromConfigFile("fakeFrameGrabber_basic.ini");
// of course you could construct the Property object on-the-fly
PolyDriver dev;
dev.open(p);
if (dev.isValid()) { /* use the device via view method */ }

Here is a list of properties checked when starting up a device based on this configuration file. Note that which properties are checked can depend on whether other properties are present. In some cases properties can also vary between operating systems. So this is just an example

PROPERTY	DESCRIPTION	DEFAULT
device
fakeFrameGrabber_rpc_port	rpc port for the fakeFrameGrabber	/fakeFrameGrabber/rpc
width	desired width of test image	320
height	desired height of test image	240
horizontalFov	desired horizontal fov of test image	1.0
verticalFov	desired vertical fov of test image	2.0
mirror	mirroring disabled by default	0
syncro	syncronize producer and consumer, so that all images are used once and only once	0
topIsLow	explicitly set the topIsLow field in the images	1
physFocalLength	Physical focal length of the fakeFrameGrabber	3.0
focalLengthX	Horizontal component of the focal length of the fakeFrameGrabber	4.0
focalLengthY	Vertical component of the focal length of the fakeFrameGrabber	5.0
principalPointX	X coordinate of the principal point of the fakeFrameGrabber	6.0
principalPointY	Y coordinate of the principal point of the fakeFrameGrabber	7.0
rectificationMatrix	Matrix that describes the lens' distortion(fake)	1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0
distortionModel	Reference to group of parameters describing the distortion model of the camera	FishEye
k1	Radial distortion coefficient of the lens(fake)	8.0
k2	Radial distortion coefficient of the lens(fake)	9.0
k3	Radial distortion coefficient of the lens(fake)	10.0
t1	Tangential distortion of the lens(fake)	11.0
t2	Tangential distortion of the lens(fake)	12.0
freq	rate of test images in Hz
period	period of test images in seconds
mode	bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], none [none], time test[time]	line
src
timestamp	should write the timestamp in the first bytes of the image
noise	Should add noise to the image (uses snr)
snr	Signal noise ratio ([0.0-1.0] default 0.5)	0.5
bayer	should emit bayer test image?
mono	should emit a monochrome image?

See also

FakeFrameGrabber