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. More...

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

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

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

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). More...

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

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

virtual bool	create (const yarp::os::Property &options)
	This will be called when the dll is properly loaded by the portmonitor carrier. More...

virtual void	destroy ()
	This will be called when the portmonitor object destroyes. More...

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

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

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

virtual bool	accept (yarp::os::Things &thing)
	This will be called when the data reach the portmonitor object. More...

virtual yarp::os::Things &	update (yarp::os::Things &thing)
	After data get accpeted in the accept() callback, an instance of that is given to the update function where the data can be accessed and modified. More...

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). More...

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). More...

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). More...

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

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

std::string	codecName
	The string containing codec name. More...

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

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

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

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

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. More...

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). More...

int	getParamsFromCommandLine (std::string carrierString, AVCodecID &codecId)
	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>). More...

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

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 141 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 293 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 66 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 445 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 117 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 135 of file ffmpegPortmonitor.cpp.

◆ getParamsFromCommandLine()

int FfmpegMonitorObject::getParamsFromCommandLine	(	std::string	carrierString,
		AVCodecID &	codecId
	)

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 572 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 629 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 129 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 168 of file ffmpegPortmonitor.cpp.

Member Data Documentation

◆ codec

const AVCodec* FfmpegMonitorObject::codec

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

Definition at line 143 of file ffmpegPortmonitor.h.

◆ codecContext

AVCodecContext* FfmpegMonitorObject::codecContext = NULL

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

Definition at line 149 of file ffmpegPortmonitor.h.

◆ codecName

std::string FfmpegMonitorObject::codecName

The string containing codec name.

Definition at line 137 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 119 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 155 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 125 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 161 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 131 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 113 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()

Member Data Documentation

◆ codec

◆ codecContext

◆ codecName

◆ data

◆ firstTime

◆ imageOut

◆ paramsMap

◆ senderSide

◆ th