Should IFrameGrabber and IFrameGrabberRgb be deprecated?

[traversaro]

The IFrameGrabber and the IFrameGrabberRgb interfaces seem to have been superseded by the IFrameGrabberImage and the IFrameGrabberImageRaw interfaces since a long time, they are not used in any network driver (not even for back-compatibility) and can be found only in some devices in icub-main ( https://github.com/robotology/icub-main/search?q=IFrameGrabberRgb&unscoped_q=IFrameGrabberRgb), but all those devices also offer a variant that implements the modern interfaces IFrameGrabberImage and the IFrameGrabberImageRaw .

I am not an expert of this part of YARP, but I guess this interfaces can be safely deprecated and eventually removed from YARP.

@vtikha @barbalberto @drdanz @Nicogene @claudiofantacci

[Nicogene]

I found out that IFrameGrabberRgb and IFrameGrabber are used in dragonfly2 and usbCamera (icub-main devices).

@barbalberto , are they easily portables to IFrameGrabberImage and IFrameGrabberImageRaw?

If so we can deprecate the old ones as @traversaro suggested.

[traversaro]

dragonfly2 and usbCamera actually come in two versions, one using the old interfaces and another using the new one. It is a bit tricky to understand this because both devices are in the same source code file.

[barbalberto]

In my opinion they can be deprecated.
The only update required is in the usbCamera where the new interface is calling the old one of the lower level implementation.

It should propagate the new one and the low level device shall implement it here

Few changes are required, not a big deal.

[drdanz]

I made a quick test commenting out these interfaces, and I can confirm that they are completely unused in YARP.

[drdanz]

usbCamera is now in YARP, therefore we should update it before removing the interface