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

#include <opencvGrabber/OpenCVGrabber.h>

Inheritance diagram for OpenCVGrabber:

Public Member Functions
	OpenCVGrabber ()

virtual	~OpenCVGrabber ()

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

bool	close () override
	Close a grabber.

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

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

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

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

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::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 yarp::dev::IPreciselyTimed
virtual	~IPreciselyTimed ()

Public Member Functions inherited from OpenCVGrabber_ParamsParser
	OpenCVGrabber_ParamsParser ()

	~OpenCVGrabber_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 Attributes
bool	m_saidSize = false

bool	m_saidResize = false

bool	fromFile = false
	Whether reading from file or camera.

cv::VideoCapture	m_cap
	OpenCV image capture object.

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

yarp::os::Stamp	m_laststamp

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

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

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_movie_defaultValue = {""}

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

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

const std::string	m_framerate_defaultValue = {"-1"}

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

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

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

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

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

std::string	m_movie = {}

bool	m_loop = {false}

int	m_camera = {0}

double	m_framerate = {-1}

int	m_width = {0}

int	m_height = {0}

bool	m_flip_x = {false}

bool	m_flip_y = {false}

bool	m_transpose = {false}

Detailed Description

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

Parameters required by this device are shown in class: OpenCVGrabber_ParamsParser

Definition at line 28 of file OpenCVGrabber.h.

Constructor & Destructor Documentation

◆ OpenCVGrabber()

OpenCVGrabber::OpenCVGrabber ( )

inline

Definition at line 36 of file OpenCVGrabber.h.

◆ ~OpenCVGrabber()

virtual OpenCVGrabber::~OpenCVGrabber ( )

inlinevirtual

Definition at line 42 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 128 of file OpenCVGrabber.cpp.

◆ getImage()

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

overridevirtual

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.

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

Definition at line 146 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 56 of file OpenCVGrabber.h.

◆ height()

int OpenCVGrabber::height ( ) const

inlineoverridevirtual

Return the height of each frame.

Returns: image height

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 49 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 56 of file OpenCVGrabber.cpp.

◆ width()

int OpenCVGrabber::width ( ) const

inlineoverridevirtual

Return the width of each frame.

Returns: image width

Implements yarp::dev::IFrameGrabberImageBase.

Definition at line 50 of file OpenCVGrabber.h.

Member Data Documentation

◆ fromFile

bool OpenCVGrabber::fromFile = false

protected

Whether reading from file or camera.

Definition at line 64 of file OpenCVGrabber.h.

◆ m_cap

cv::VideoCapture OpenCVGrabber::m_cap

protected

OpenCV image capture object.

Definition at line 67 of file OpenCVGrabber.h.

◆ m_config

yarp::os::Property OpenCVGrabber::m_config

protected

Saved copy of the device configuration.

Definition at line 70 of file OpenCVGrabber.h.

◆ m_laststamp

yarp::os::Stamp OpenCVGrabber::m_laststamp

protected

Definition at line 72 of file OpenCVGrabber.h.

◆ m_saidResize

bool OpenCVGrabber::m_saidResize = false

protected

Definition at line 61 of file OpenCVGrabber.h.

◆ m_saidSize

bool OpenCVGrabber::m_saidSize = false

protected

Definition at line 60 of file OpenCVGrabber.h.

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

src/devices/opencvGrabber/OpenCVGrabber.h
src/devices/opencvGrabber/OpenCVGrabber.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OpenCVGrabber()

◆ ~OpenCVGrabber()

Member Function Documentation

◆ close()

◆ getImage()

◆ getLastInputStamp()

◆ height()

◆ open()

◆ width()

Member Data Documentation

◆ fromFile

◆ m_cap

◆ m_config

◆ m_laststamp

◆ m_saidResize

◆ m_saidSize