OpenCVGrabber.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-FileCopyrightText: 2006 Eric Mislivec
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_OPENCV_GRABBER_DEVICE_OPENCVGRABBER_H
#define YARP_OPENCV_GRABBER_DEVICE_OPENCVGRABBER_H
 
#include <yarp/os/Property.h>
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/IPreciselyTimed.h>
#include "OpenCVGrabber_ParamsParser.h"
 
#include <opencv2/videoio.hpp>
 
class OpenCVGrabber :
        public yarp::dev::IFrameGrabberImage,
        public yarp::dev::DeviceDriver,
        public yarp::dev::IPreciselyTimed,
        public OpenCVGrabber_ParamsParser
{
public:
 
    OpenCVGrabber() :
        m_saidSize(false),
        m_saidResize(false),
        fromFile(false),
        m_cap()
    {}
    virtual ~OpenCVGrabber() { ; }
 
 
    bool open(yarp::os::Searchable & config) override;
    bool close() override;
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) override;
 
    inline int height() const override { return m_height; }
    inline int width() const override { return m_width; }
 
    inline yarp::os::Stamp getLastInputStamp() override { return m_laststamp; }
 
protected:
 
    bool m_saidSize = false;
    bool m_saidResize = false;
 
    bool fromFile = false;
 
    cv::VideoCapture m_cap;
 
    yarp::os::Property m_config;
 
    yarp::os::Stamp m_laststamp;
};
 
#endif // YARP_OPENCV_GRABBER_DEVICE_OPENCVGRABBER_H