An image frame grabber device using OpenCV to capture images from cameras and AVI files. More...

#include <opencv/OpenCVGrabber.h>

Inheritance diagram for OpenCVGrabber:

Detailed Description

An image frame grabber device using OpenCV to capture images from cameras and AVI files.

Author: Eric Mislivec

Definition at line 45 of file OpenCVGrabber.h.

Public Member Functions
	OpenCVGrabber ()
	Create an OpenCV image grabber. More...

virtual	~OpenCVGrabber ()
	Destroy an OpenCV image grabber. More...

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

bool	close () override
	Close a grabber. More...

bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image) override
	Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

virtual bool	sendImage (const cv::Mat &frame, yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)
	Read an image from the grabber. More...

int	height () const override
	Get the height of images a grabber produces. More...

int	width () const override
	Get the width of images a grabber produces. More...

yarp::os::Stamp	getLastInputStamp () override
	Implements the IPreciselyTimed interface. More...

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

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 rgb image from the frame grabber, if required demosaicking/color reconstruction is applied. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

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

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

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

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

Protected Attributes
size_t	m_w
	Width of the images a grabber produces. More...

size_t	m_h
	Height of the images a grabber produces. More...

bool	m_loop
	Whether to loop or not. More...

bool	m_saidSize

bool	m_saidResize

bool	fromFile
	Whether reading from file or camera. More...

cv::VideoCapture	m_cap
	OpenCV image capture object. More...

bool	m_transpose

bool	m_flip_x

bool	m_flip_y

yarp::os::Property	m_config
	Saved copy of the device configuration. More...

yarp::os::Stamp	m_laststamp

Constructor & Destructor Documentation

◆ OpenCVGrabber()

OpenCVGrabber::OpenCVGrabber ( )

inline

Create an OpenCV image grabber.

This initializes members to reasonable default values, the real initialization is done in open().

Author: Eric Mislevic

Definition at line 60 of file OpenCVGrabber.h.

◆ ~OpenCVGrabber()

virtual OpenCVGrabber::~OpenCVGrabber ( )

inlinevirtual

Destroy an OpenCV image grabber.

Definition at line 74 of file OpenCVGrabber.h.

Member Function Documentation

◆ close()

bool OpenCVGrabber::close ( )

overridevirtual

Close a grabber.

This is called by yarp to free any allocated hardware or software resources when the driver instance is no longer needed.

Returns: True if the device was successfully closed. In any case the device will be unusable after this function is called.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 194 of file OpenCVGrabber.cpp.

◆ getImage()

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

overridevirtual

Get an rgb image from the frame grabber, if required demosaicking/color reconstruction is applied.

Parameters

image the image to be filled

Returns: true/false upon success/failure

Implements yarp::dev::IFrameGrabberImage.

Definition at line 257 of file OpenCVGrabber.cpp.

◆ getLastInputStamp()

yarp::os::Stamp OpenCVGrabber::getLastInputStamp ( )

inlineoverridevirtual

Implements the IPreciselyTimed interface.

Returns: the yarp::os::Stamp of the last image acquired

Implements yarp::dev::IPreciselyTimed.

Definition at line 98 of file OpenCVGrabber.h.

◆ height()

int OpenCVGrabber::height ( ) const

inlineoverridevirtual

Get the height of images a grabber produces.

Returns: The image height.

Implements yarp::dev::IFrameGrabberImage.

Definition at line 88 of file OpenCVGrabber.h.

◆ open()

bool OpenCVGrabber::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 74 of file OpenCVGrabber.cpp.

◆ sendImage()

bool OpenCVGrabber::sendImage	(	const cv::Mat &	frame,
		yarp::sig::ImageOf< yarp::sig::PixelRgb > &	image
	)

virtual

Read an image from the grabber.

Parameters

image The image to read. The image will be resized to the dimensions the grabber is using, and the captured image data will be written to it.

Returns: True if an image was successfully captured. If false returned, the image will be resized to the dimensions used by the grabber, but all pixels will be zeroed.

Definition at line 212 of file OpenCVGrabber.cpp.

◆ width()

int OpenCVGrabber::width ( ) const

inlineoverridevirtual

Get the width of images a grabber produces.

Returns: The image width.

Implements yarp::dev::IFrameGrabberImage.

Definition at line 92 of file OpenCVGrabber.h.

Member Data Documentation

◆ fromFile

bool OpenCVGrabber::fromFile

protected

Whether reading from file or camera.

Definition at line 114 of file OpenCVGrabber.h.

◆ m_cap

cv::VideoCapture OpenCVGrabber::m_cap

protected

OpenCV image capture object.

Definition at line 117 of file OpenCVGrabber.h.

◆ m_config

yarp::os::Property OpenCVGrabber::m_config

protected

Saved copy of the device configuration.

Definition at line 125 of file OpenCVGrabber.h.

◆ m_flip_x

bool OpenCVGrabber::m_flip_x

protected

Definition at line 121 of file OpenCVGrabber.h.

◆ m_flip_y

bool OpenCVGrabber::m_flip_y

protected

Definition at line 122 of file OpenCVGrabber.h.

◆ m_h

size_t OpenCVGrabber::m_h

protected

Height of the images a grabber produces.

Definition at line 105 of file OpenCVGrabber.h.

◆ m_laststamp

yarp::os::Stamp OpenCVGrabber::m_laststamp

protected

Definition at line 127 of file OpenCVGrabber.h.

◆ m_loop

bool OpenCVGrabber::m_loop

protected

Whether to loop or not.

Definition at line 108 of file OpenCVGrabber.h.

◆ m_saidResize

bool OpenCVGrabber::m_saidResize

protected

Definition at line 111 of file OpenCVGrabber.h.

◆ m_saidSize

bool OpenCVGrabber::m_saidSize

protected

Definition at line 110 of file OpenCVGrabber.h.

◆ m_transpose

bool OpenCVGrabber::m_transpose

protected

Definition at line 120 of file OpenCVGrabber.h.

◆ m_w

size_t OpenCVGrabber::m_w

protected

Width of the images a grabber produces.

Definition at line 103 of file OpenCVGrabber.h.

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

src/devices/opencv/OpenCVGrabber.h
src/devices/opencv/OpenCVGrabber.cpp

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ OpenCVGrabber()

◆ ~OpenCVGrabber()

Member Function Documentation

◆ close()

◆ getImage()

◆ getLastInputStamp()

◆ height()

◆ open()

◆ sendImage()

◆ width()

Member Data Documentation

◆ fromFile

◆ m_cap

◆ m_config

◆ m_flip_x

◆ m_flip_y

◆ m_h

◆ m_laststamp

◆ m_loop

◆ m_saidResize

◆ m_saidSize

◆ m_transpose

◆ m_w