ffmpeg_grabber: An image frame grabber device using ffmpeg to capture images from AVI files. More...

#include <ffmpeg/FfmpegGrabber.h>

Inheritance diagram for FfmpegGrabber:

Public Member Functions
	FfmpegGrabber ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get an image from the frame grabber.

bool	getSound (yarp::sig::Sound &sound, size_t min_number_of_samples, size_t max_number_of_samples, double max_samples_timeout_s) override
	Get a sound from a device.

int	height () const override
	Return the height of each frame.

int	width () const override
	Return the width of each frame.

virtual bool	getAudioVisual (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image, yarp::sig::Sound &sound) override
	Get an image and sound.

bool	hasAudio () override

bool	hasVideo () override

bool	startRecording () override
	Start the recording.

bool	stopRecording () override
	Stop the recording.

bool	isRecording (bool &recording_enabled) override
	Check if the recording has been enabled (e.g.

bool	getRecordingAudioBufferMaxSize (yarp::sig::AudioBufferSize &) override

bool	getRecordingAudioBufferCurrentSize (yarp::sig::AudioBufferSize &) override

bool	resetRecordingAudioBuffer () override

bool	setHWGain (double gain) override
	Sets the hardware gain of the grabbing device (if supported by the hardware)

bool	setSWGain (double gain) override
	Sets a software gain for the grabbed audio.

Public Member Functions inherited from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
virtual bool	getImageCrop (cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)
	Get a crop of the image from the frame grabber.

Public Member Functions inherited from yarp::dev::IFrameGrabberImageBase
virtual	~IFrameGrabberImageBase ()
	Destructor.

Public Member Functions inherited from yarp::dev::IAudioGrabberSound
virtual	~IAudioGrabberSound ()
	Destructor.

Public Member Functions inherited from yarp::dev::IAudioVisualGrabber
virtual	~IAudioVisualGrabber ()
	Destructor.

Public Member Functions inherited from yarp::dev::IAudioVisualStream
virtual	~IAudioVisualStream ()
	Destructor.

virtual bool	hasRawVideo ()

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from FfmpegGrabber_ParamsParser
	FfmpegGrabber_ParamsParser ()

	~FfmpegGrabber_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Member Functions
bool	openFirewire (yarp::os::Searchable &config, AVFormatContext **ppFormatCtx)

bool	openV4L (yarp::os::Searchable &config, AVFormatContext ppFormatCtx, AVFormatContext ppFormatCtx2)

bool	openFile (AVFormatContext *ppFormatCtx, const char fname)

Protected Attributes
void *	system_resource = nullptr

AVDictionary *	formatParamsVideo = nullptr

AVDictionary *	formatParamsAudio = nullptr

AVFormatContext *	pFormatCtx = nullptr

AVFormatContext *	pFormatCtx2 = nullptr

AVFormatContext *	pAudioFormatCtx = nullptr

AVPacket	packet

bool	active

double	startTime

bool	_hasAudio = false

bool	_hasVideo = false

bool	needRateControl

bool	imageSync

std::string	m_uri
	Uri of the images a grabber produces.

int	m_w = 0
	Width of the images a grabber produces.

int	m_h = 0
	Height of the images a grabber produces.

int	m_channels = 0

int	m_rate = 0

void *	m_capture = nullptr
	Opaque ffmpeg structure for image capture.

Additional Inherited Members
Public Attributes inherited from FfmpegGrabber_ParamsParser
const std::string	m_device_classname = {"FfmpegGrabber"}

const std::string	m_device_name = {"ffmpeg_grabber"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_source_defaultValue = {"default.avi"}

const std::string	m_loop_defaultValue = {"true"}

const std::string	m_sync_defaultValue = {"image"}

const std::string	m_nodelay_defaultValue = {"false"}

const std::string	m_pace_defaultValue = {"1.0"}

const std::string	m_v4l_defaultValue = {"false"}

const std::string	m_v4l1_defaultValue = {"false"}

const std::string	m_v4l2_defaultValue = {"false"}

const std::string	m_ieee1394_defaultValue = {"false"}

const std::string	m_v4ldevice_defaultValue = {"/dev/video0"}

const std::string	m_audio_defaultValue = {"/dev/dsp"}

const std::string	m_audio_rate_defaultValue = {"44100"}

const std::string	m_channels_defaultValue = {"1"}

const std::string	m_time_base_num_defaultValue = {"1"}

const std::string	m_time_base_den_defaultValue = {"29"}

const std::string	m_channel_defaultValue = {"0"}

const std::string	m_standard_defaultValue = {""}

const std::string	m_width_defaultValue = {"640"}

const std::string	m_height_defaultValue = {"480"}

const std::string	m_devname_defaultValue = {"/dev/dv1394"}

std::string	m_source = {"default.avi"}

bool	m_loop = {true}

std::string	m_sync = {"image"}

bool	m_nodelay = {false}

double	m_pace = {1.0}

bool	m_v4l = {false}

bool	m_v4l1 = {false}

bool	m_v4l2 = {false}

bool	m_ieee1394 = {false}

std::string	m_v4ldevice = {"/dev/video0"}

std::string	m_audio = {"/dev/dsp"}

int	m_audio_rate = {44100}

int	m_channels = {1}

int	m_time_base_num = {1}

int	m_time_base_den = {29}

int	m_channel = {0}

std::string	m_standard = {}

int	m_width = {640}

int	m_height = {480}

std::string	m_devname = {"/dev/dv1394"}

Detailed Description

ffmpeg_grabber: An image frame grabber device using ffmpeg to capture images from AVI files.

Parameters required by this device are shown in class: FfmpegGrabber_ParamsParser

Definition at line 38 of file FfmpegGrabber.h.

Constructor & Destructor Documentation

◆ FfmpegGrabber()

FfmpegGrabber::FfmpegGrabber ( )

inline

Definition at line 48 of file FfmpegGrabber.h.

Member Function Documentation

◆ close()

bool FfmpegGrabber::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 569 of file FfmpegGrabber.cpp.

◆ getAudioVisual()

bool FfmpegGrabber::getAudioVisual	(	yarp::sig::ImageOf< yarp::sig::PixelRgb > &	image,
		yarp::sig::Sound &	sound
	)

overridevirtual

Get an image and sound.

Parameters

image	the image to be filled
sound	the sound to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IAudioVisualGrabber.

Definition at line 619 of file FfmpegGrabber.cpp.

◆ getImage()

bool FfmpegGrabber::getImage ( yarp::sig::ImageOf< yarp::sig::PixelRgb > & image )

overridevirtual

Get an image from the frame grabber.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >.

Definition at line 600 of file FfmpegGrabber.cpp.

◆ getRecordingAudioBufferCurrentSize()

bool FfmpegGrabber::getRecordingAudioBufferCurrentSize ( yarp::sig::AudioBufferSize & )

inlineoverridevirtual

Implements yarp::dev::IAudioGrabberSound.

Definition at line 97 of file FfmpegGrabber.h.

◆ getRecordingAudioBufferMaxSize()

bool FfmpegGrabber::getRecordingAudioBufferMaxSize ( yarp::sig::AudioBufferSize & )

inlineoverridevirtual

Implements yarp::dev::IAudioGrabberSound.

Definition at line 93 of file FfmpegGrabber.h.

◆ getSound()

bool FfmpegGrabber::getSound	(	yarp::sig::Sound &	sound,
		size_t	min_number_of_samples,
		size_t	max_number_of_samples,
		double	max_samples_timeout_s
	)

overridevirtual

Get a sound from a device.

Examples: getSound(s, 0, 100, 0.1); returns a sound whose size can vary between 0 and 100, with a maximum blocking time of 0.1 getSound(s, 100, 100, 0.0); returns a sound with exact size of 100. It may block forever (more specifically, until sound size is at least 100). getSound(s, 100, 100000, 0.0); returns a sound with a minimum size of 0, while trying to transfer all the internal buffer. It may block forever (more specifically, until sound size is at least 100).

Parameters

sound	the sound to be filled
min_number_of_samples.	The function will block until the driver is able to collect at least min_number_of_samples. If set to zero, the function may return empty sounds.
max_number_of_samples.	The function will block until the driver is either able to collect max_number_of_samples or the timeout expires.
max_samples_timeout_s.	The timeout (in seconds) to retrieve max_number_of_samples.

Returns: true upon success, false for an invalid set of parameters, such as max_number_of_samples<min_number_of_samples, etc.

Implements yarp::dev::IAudioGrabberSound.

Definition at line 609 of file FfmpegGrabber.cpp.

◆ hasAudio()

bool FfmpegGrabber::hasAudio ( )

inlineoverridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 73 of file FfmpegGrabber.h.

◆ hasVideo()

bool FfmpegGrabber::hasVideo ( )

inlineoverridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 77 of file FfmpegGrabber.h.

◆ height()

int FfmpegGrabber::height ( ) const

inlineoverridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 65 of file FfmpegGrabber.h.

◆ isRecording()

bool FfmpegGrabber::isRecording ( bool & recording_enabled )

inlineoverridevirtual

Check if the recording has been enabled (e.g.

via startRecording()/stopRecording())

Parameters

recording_enabled the status of the device

Returns: true/false upon success/failure

Implements yarp::dev::IAudioGrabberSound.

Definition at line 89 of file FfmpegGrabber.h.

◆ open()

bool FfmpegGrabber::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 435 of file FfmpegGrabber.cpp.

◆ openFile()

bool FfmpegGrabber::openFile	(	AVFormatContext **	ppFormatCtx,
		const char *	fname
	)

protected

Definition at line 427 of file FfmpegGrabber.cpp.

◆ openFirewire()

bool FfmpegGrabber::openFirewire	(	yarp::os::Searchable &	config,
		AVFormatContext **	ppFormatCtx
	)

protected

Definition at line 414 of file FfmpegGrabber.cpp.

◆ openV4L()

bool FfmpegGrabber::openV4L	(	yarp::os::Searchable &	config,
		AVFormatContext **	ppFormatCtx,
		AVFormatContext **	ppFormatCtx2
	)

protected

Definition at line 326 of file FfmpegGrabber.cpp.

◆ resetRecordingAudioBuffer()

bool FfmpegGrabber::resetRecordingAudioBuffer ( )

inlineoverridevirtual

Implements yarp::dev::IAudioGrabberSound.

Definition at line 101 of file FfmpegGrabber.h.

◆ setHWGain()

bool FfmpegGrabber::setHWGain ( double gain )

inlineoverridevirtual

Sets the hardware gain of the grabbing device (if supported by the hardware)

Parameters

gain	the audio gain (1.0 is the default value)

Returns: true/false upon success/failure

Implements yarp::dev::IAudioGrabberSound.

Definition at line 105 of file FfmpegGrabber.h.

◆ setSWGain()

bool FfmpegGrabber::setSWGain ( double gain )

inlineoverridevirtual

Sets a software gain for the grabbed audio.

Parameters

gain	the audio gain (1.0 is the default value)

Returns: true/false upon success/failure

Implements yarp::dev::IAudioGrabberSound.

Definition at line 109 of file FfmpegGrabber.h.

◆ startRecording()

bool FfmpegGrabber::startRecording ( )

inlineoverridevirtual

Start the recording.

Returns: true/false upon success/failure

Implements yarp::dev::IAudioGrabberSound.

Definition at line 81 of file FfmpegGrabber.h.

◆ stopRecording()

bool FfmpegGrabber::stopRecording ( )

inlineoverridevirtual

Stop the recording.

Returns: true/false upon success/failure

Implements yarp::dev::IAudioGrabberSound.

Definition at line 85 of file FfmpegGrabber.h.

◆ width()

int FfmpegGrabber::width ( ) const

inlineoverridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 67 of file FfmpegGrabber.h.

Member Data Documentation

◆ _hasAudio

bool FfmpegGrabber::_hasAudio = false

protected

Definition at line 124 of file FfmpegGrabber.h.

◆ _hasVideo

bool FfmpegGrabber::_hasVideo = false

protected

Definition at line 125 of file FfmpegGrabber.h.

◆ active

bool FfmpegGrabber::active

protected

Definition at line 122 of file FfmpegGrabber.h.

◆ formatParamsAudio

AVDictionary* FfmpegGrabber::formatParamsAudio = nullptr

protected

Definition at line 117 of file FfmpegGrabber.h.

◆ formatParamsVideo

AVDictionary* FfmpegGrabber::formatParamsVideo = nullptr

protected

Definition at line 116 of file FfmpegGrabber.h.

◆ imageSync

bool FfmpegGrabber::imageSync

protected

Definition at line 127 of file FfmpegGrabber.h.

◆ m_capture

void* FfmpegGrabber::m_capture = nullptr

protected

Opaque ffmpeg structure for image capture.

Definition at line 141 of file FfmpegGrabber.h.

◆ m_channels

int FfmpegGrabber::m_channels = 0

protected

Definition at line 137 of file FfmpegGrabber.h.

◆ m_h

int FfmpegGrabber::m_h = 0

protected

Height of the images a grabber produces.

Definition at line 135 of file FfmpegGrabber.h.

◆ m_rate

int FfmpegGrabber::m_rate = 0

protected

Definition at line 138 of file FfmpegGrabber.h.

◆ m_uri

std::string FfmpegGrabber::m_uri

protected

Uri of the images a grabber produces.

Definition at line 130 of file FfmpegGrabber.h.

◆ m_w

int FfmpegGrabber::m_w = 0

protected

Width of the images a grabber produces.

Definition at line 133 of file FfmpegGrabber.h.

◆ needRateControl

bool FfmpegGrabber::needRateControl

protected

Definition at line 126 of file FfmpegGrabber.h.

◆ packet

AVPacket FfmpegGrabber::packet

protected

Definition at line 121 of file FfmpegGrabber.h.

◆ pAudioFormatCtx

AVFormatContext* FfmpegGrabber::pAudioFormatCtx = nullptr

protected

Definition at line 120 of file FfmpegGrabber.h.

◆ pFormatCtx

AVFormatContext* FfmpegGrabber::pFormatCtx = nullptr

protected

Definition at line 118 of file FfmpegGrabber.h.

◆ pFormatCtx2

AVFormatContext* FfmpegGrabber::pFormatCtx2 = nullptr

protected

Definition at line 119 of file FfmpegGrabber.h.

◆ startTime

double FfmpegGrabber::startTime

protected

Definition at line 123 of file FfmpegGrabber.h.

◆ system_resource

void* FfmpegGrabber::system_resource = nullptr

protected

Definition at line 114 of file FfmpegGrabber.h.

The documentation for this class was generated from the following files:

src/devices/ffmpeg/FfmpegGrabber.h
src/devices/ffmpeg/FfmpegGrabber.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FfmpegGrabber()

Member Function Documentation

◆ close()

◆ getAudioVisual()

◆ getImage()

◆ getRecordingAudioBufferCurrentSize()

◆ getRecordingAudioBufferMaxSize()

◆ getSound()

◆ hasAudio()

◆ hasVideo()

◆ height()

◆ isRecording()

◆ open()

◆ openFile()

◆ openFirewire()

◆ openV4L()

◆ resetRecordingAudioBuffer()

◆ setHWGain()

◆ setSWGain()

◆ startRecording()

◆ stopRecording()

◆ width()

Member Data Documentation

◆ _hasAudio

◆ _hasVideo

◆ active

◆ formatParamsAudio

◆ formatParamsVideo

◆ imageSync

◆ m_capture

◆ m_channels

◆ m_h

◆ m_rate

◆ m_uri

◆ m_w

◆ needRateControl

◆ packet

◆ pAudioFormatCtx

◆ pFormatCtx

◆ pFormatCtx2

◆ startTime

◆ system_resource