exampleRemoteGrabber.py

 
 
 
 
import yarp
yarp.Network.init() # Check for YARP network
 
if not yarp.Network.checkNetwork():
    print('Could not connect to YARP network. Please try running YARP server.')
    quit()
 
# Create and configure driver
options = yarp.Property()
options.put('device','frameGrabber_nwc_yarp')
options.put('remote', '/grabber')
options.put('local','/python/grabber')
 
dd = yarp.PolyDriver(options)
 
if not dd.isValid():
    print('[error] Please launch camera side')
    quit()
 
# View grabber interfaces
grabberControls = dd.viewIFrameGrabberControls()
grabber = dd.viewIFrameGrabberImage()
 
# Check if a feature exists
print(grabberControls.hasFeature(yarp.YARP_FEATURE_GAIN))
 
# Get the current value of a feature
gain = grabberControls.getFeature(yarp.YARP_FEATURE_GAIN)
print(gain)
 
# Set a new value for a feature
grabberControls.setFeature(yarp.YARP_FEATURE_GAIN, 10)
 
# Obtain an image
yarp.delay(0.5) # May have to previously wait
yarpImg = yarp.ImageRgb()
grabber.getImage(yarpImg)
 
# Close device and disconnect from the YARP network
dd.close()
yarp.Network.fini()