Video format for camera eyes iCubLyon01

[pfdominey]

Greetings,
We are consdiering using an MRI compatible stereo head-mounted display. We want to send the video from the camera eyes to the input of thedivice. The manufacturer wants to have some detail on the video format. What can i tell them?
Thanks
cheers
Peter

[pattacini]

Hi @pfdominey

I'm not really into the video stream things, but I can tell that YARP allows for providing in real-time the images from the cameras straight away. Thus, YARP works at the image level from point A (cameras in the eye bulbs) to point B (the laptop) and makes available images at different resolutions (320x240, 640x480...) and at different rates (e.g., 10, 15, 30 fps) depending on the hardware, the user configuration and the bandwidth, with, optionally, different types of compressions (e.g., lossy, lossless, bayer, h264) implemented as YARP plugins.

You can't directly interface a YARP image stream with an external device because of the YARP internal protocol.
Instead, one can develop a proxy that does the following:

1. Open a YARP port to receive the image streams.
2. If needed, process the images to do e.g. up/down-sampling, rescaling, color conversion...
3. Use the resulting images to feed the external device (the HUD) with the protocol required by the endpoint, over the dedicated transfer layer (e.g., UDP/TCP sockets).

To this purpose, the proxy will need to compile against YARP and a C++ library devoted to for example video-streaming.

Given the flexibility of the YARP world, maybe the question is what are the requirements of your head-mounted display?

Let me tag other people in the know who may chime in:
@randaz81 @vtikha