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. More...

bool	close () override
	Close the DeviceDriver. More...

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

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. More...

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

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

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

bool	hasAudio () override

bool	hasVideo () override

bool	startRecording () override
	Start the recording. More...

bool	stopRecording () override
	Stop the recording. More...

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

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

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

bool	resetRecordingAudioBuffer () override

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

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

Public Member Functions inherited from yarp::dev::IFrameGrabberOf< yarp::sig::ImageOf< yarp::sig::PixelRgb > >
virtual bool	getImage (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image)=0
	Get an image from the frame grabber. 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 image from the frame grabber. More...

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

virtual int	height () const =0
	Return the height of each frame. More...

virtual int	width () const =0
	Return the width of each frame. More...

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

virtual bool	getSound (yarp::sig::Sound &sound, size_t min_number_of_samples, size_t max_number_of_samples, double max_samples_timeout_s)=0
	Get a sound from a device. More...

virtual bool	startRecording ()=0
	Start the recording. More...

virtual bool	stopRecording ()=0
	Stop the recording. More...

virtual bool	isRecording (bool &recording_enabled)=0
	Check if the recording has been enabled (e.g. More...

virtual bool	getRecordingAudioBufferMaxSize (yarp::dev::AudioBufferSize &size)=0

virtual bool	getRecordingAudioBufferCurrentSize (yarp::dev::AudioBufferSize &size)=0

virtual bool	resetRecordingAudioBuffer ()=0

virtual bool	setSWGain (double gain)=0
	Sets a software gain for the grabbed audio. More...

virtual bool	setHWGain (double gain)=0
	Sets the hardware gain of the grabbing device (if supported by the hardware) More...

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

virtual bool	getAudioVisual (yarp::sig::ImageOf< yarp::sig::PixelRgb > &image, yarp::sig::Sound &sound)=0
	Get an image and sound. More...

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

virtual bool	hasAudio ()=0

virtual bool	hasVideo ()=0

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

	~DeviceDriver () override

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

bool	close () override
	Close the DeviceDriver. More...

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

virtual void	setId (const std::string &id)
	Set the id for this device. 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	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

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

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

AVDictionary *	formatParamsVideo

AVDictionary *	formatParamsAudio

AVFormatContext *	pFormatCtx

AVFormatContext *	pFormatCtx2

AVFormatContext *	pAudioFormatCtx

AVPacket	packet

bool	active

double	startTime

bool	_hasAudio

bool	_hasVideo

bool	needRateControl

bool	shouldLoop

double	pace

bool	imageSync

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

int	m_w
	Width of the images a grabber produces. More...

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

int	m_channels

int	m_rate

void *	m_capture
	Opaque ffmpeg structure for image capture. More...

Detailed Description

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

Definition at line 34 of file FfmpegGrabber.h.

Constructor & Destructor Documentation

◆ FfmpegGrabber()

FfmpegGrabber::FfmpegGrabber ( )

inline

Definition at line 43 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 610 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 660 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 641 of file FfmpegGrabber.cpp.

◆ getRecordingAudioBufferCurrentSize()

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

inlineoverridevirtual

Implements yarp::dev::IAudioGrabberSound.

Definition at line 107 of file FfmpegGrabber.h.

◆ getRecordingAudioBufferMaxSize()

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

inlineoverridevirtual

Implements yarp::dev::IAudioGrabberSound.

Definition at line 103 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 650 of file FfmpegGrabber.cpp.

◆ hasAudio()

bool FfmpegGrabber::hasAudio ( )

inlineoverridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 83 of file FfmpegGrabber.h.

◆ hasVideo()

bool FfmpegGrabber::hasVideo ( )

inlineoverridevirtual

Implements yarp::dev::IAudioVisualStream.

Definition at line 87 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 75 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 99 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 458 of file FfmpegGrabber.cpp.

◆ openFile()

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

protected

Definition at line 450 of file FfmpegGrabber.cpp.

◆ openFirewire()

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

protected

Definition at line 434 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 111 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 115 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 119 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 91 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 95 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 77 of file FfmpegGrabber.h.

Member Data Documentation

◆ _hasAudio

bool FfmpegGrabber::_hasAudio

protected

Definition at line 134 of file FfmpegGrabber.h.

◆ _hasVideo

bool FfmpegGrabber::_hasVideo

protected

Definition at line 134 of file FfmpegGrabber.h.

◆ active

bool FfmpegGrabber::active

protected

Definition at line 132 of file FfmpegGrabber.h.

◆ formatParamsAudio

AVDictionary* FfmpegGrabber::formatParamsAudio

protected

Definition at line 127 of file FfmpegGrabber.h.

◆ formatParamsVideo

AVDictionary* FfmpegGrabber::formatParamsVideo

protected

Definition at line 126 of file FfmpegGrabber.h.

◆ imageSync

bool FfmpegGrabber::imageSync

protected

Definition at line 138 of file FfmpegGrabber.h.

◆ m_capture

void* FfmpegGrabber::m_capture

protected

Opaque ffmpeg structure for image capture.

Definition at line 152 of file FfmpegGrabber.h.

◆ m_channels

int FfmpegGrabber::m_channels

protected

Definition at line 148 of file FfmpegGrabber.h.

◆ m_h

int FfmpegGrabber::m_h

protected

Height of the images a grabber produces.

Definition at line 146 of file FfmpegGrabber.h.

◆ m_rate

int FfmpegGrabber::m_rate

protected

Definition at line 149 of file FfmpegGrabber.h.

◆ m_uri

std::string FfmpegGrabber::m_uri

protected

Uri of the images a grabber produces.

Definition at line 141 of file FfmpegGrabber.h.

◆ m_w

int FfmpegGrabber::m_w

protected

Width of the images a grabber produces.

Definition at line 144 of file FfmpegGrabber.h.

◆ needRateControl

bool FfmpegGrabber::needRateControl

protected

Definition at line 135 of file FfmpegGrabber.h.

◆ pace

double FfmpegGrabber::pace

protected

Definition at line 137 of file FfmpegGrabber.h.

◆ packet

AVPacket FfmpegGrabber::packet

protected

Definition at line 131 of file FfmpegGrabber.h.

◆ pAudioFormatCtx

AVFormatContext* FfmpegGrabber::pAudioFormatCtx

protected

Definition at line 130 of file FfmpegGrabber.h.

◆ pFormatCtx

AVFormatContext* FfmpegGrabber::pFormatCtx

protected

Definition at line 128 of file FfmpegGrabber.h.

◆ pFormatCtx2

AVFormatContext* FfmpegGrabber::pFormatCtx2

protected

Definition at line 129 of file FfmpegGrabber.h.

◆ shouldLoop

bool FfmpegGrabber::shouldLoop

protected

Definition at line 136 of file FfmpegGrabber.h.

◆ startTime

double FfmpegGrabber::startTime

protected

Definition at line 133 of file FfmpegGrabber.h.

◆ system_resource

void* FfmpegGrabber::system_resource

protected

Definition at line 124 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

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

◆ pace

◆ packet

◆ pAudioFormatCtx

◆ pFormatCtx

◆ pFormatCtx2

◆ shouldLoop

◆ startTime

◆ system_resource