IReaders

IReaders interface with the frame source and create FrameStructs.
Based on the config yaml the Sensor Stream Server will create an IReader to pull data and create FrameStructs.
If you want to add a new sensor interface, you will need to make an implementation of the IReader interface that can pull data from the hardware and create a FrameStruct.
​IReader Interface​
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#pragma once
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​
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#include "../structs/frame_struct.hpp"
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​
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class IReader {
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​
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public:
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  virtual ~IReader() {}
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​
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  virtual std::vector<std::shared_ptr<FrameStruct>> GetCurrentFrame() = 0;
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​
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  virtual std::vector<unsigned int> GetType() = 0;
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​
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  virtual bool HasNextFrame() = 0;
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​
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  virtual void NextFrame() = 0;
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​
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  virtual void Reset() = 0;
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​
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  virtual void GoToFrame(unsigned int frame_id) = 0;
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​
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  virtual unsigned int GetCurrentFrameId() = 0;
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​
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  virtual unsigned int GetFps() = 0;
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};
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How IReader is interacted with by Sensor Stream Server
Sensor Stream Server is what uses the IReader
When Sensor Stream Server is started it reads the config.yaml to understand reader_type
frames
which can then be MultiImageReader or ImageReader based on the parameter "path"
video
kinect
takes in parameters to build new ExtendedAzureConfig
iphone
It then creates an IReader using the parameters
It then asks for "GetType()" which the IReader will respond with and array of types
0 - color
1- depth
2 - ir
3 - confidence (iphone)
IReader knows how to respond based on the parameters it was passed when built
That will create IEncoders for each type
It then asks for "GetFps()"
IReader knows how to respond based on the parameters it was passed when built
It then calls "GetCurrentFrame()" which gets provides a frame struct
This is then encoded by the associated encoders
It then calls HasNextFrame() and then NextFrame(), otherwise it calls Reset()
Available IReader Implementations
​ImageReader​
​MultiImageReader​
​VideoFileReader​
​KinectReader​
​IPhoneReader​
OAK-D (coming soon!)

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FrameStruct

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Contents

IReader Interface

How IReader is interacted with by Sensor Stream Server

Available IReader Implementations

​IReader Interface​

How IReader is interacted with by Sensor Stream Server

Available IReader Implementations

IReader Interface