BoBRobotics::Video::Input Class Reference

An abstract class representing a video input stream. More...

#include <input.h>

Inheritance diagram for BoBRobotics::Video::Input:

Public Member Functions
ImgProc::OpenCVUnwrap360	createUnwrapper (const cv::Size &unwrapRes) const
	Create an ImgProc::OpenCVUnwrap360 object for this video stream. More...
virtual std::string	getCameraName () const
	Get the name of this type of camera as a (short) string. More...
virtual units::frequency::hertz_t	getFrameRate () const
virtual cv::Size	getOutputSize () const =0
	Get the current output resolution of this video stream. More...
virtual bool	needsUnwrapping () const
	Whether this video source needs unwrapping with an ImgProc::OpenCVUnwrap360. More...
virtual void	setOutputSize (const cv::Size &)
	Set the output resolution of this video stream. More...
virtual bool	readFrame (cv::Mat &outFrame)=0
	Try to read a frame in colour from this video source. More...
virtual bool	readGreyscaleFrame (cv::Mat &outFrame)
	Try to read a frame in greyscale from this video source. More...
void	readFrameSync (cv::Mat &outFrame)
	Read a frame synchronously, blocking until a new frame is received.
void	readGreyscaleFrameSync (cv::Mat &outFrame)
void	write (cv::FileStorage &fs) const
	Allows OpenCV to serialise info about this Input.

Static Public Attributes
static constexpr const char *	DefaultCameraName = "unknown_camera"

Detailed Description

An abstract class representing a video input stream.

Member Function Documentation

createUnwrapper()

ImgProc::OpenCVUnwrap360 BoBRobotics::Video::Input::createUnwrapper

(

const cv::Size &

unwrapRes

)

const

Create an ImgProc::OpenCVUnwrap360 object for this video stream.

Parameters

unwrapRes

The resolution of the unwrapped image

getCameraName()

std::string BoBRobotics::Video::Input::getCameraName ( ) const

virtual

Get the name of this type of camera as a (short) string.

Note that this is used to load the appropriate unwrapping parameters (we look for a file called [camera name].yaml).

Reimplemented in BoBRobotics::AntWorld::RenderTargetInput, BoBRobotics::Robots::Gazebo::Camera, BoBRobotics::Robots::UAV::Bebop::VideoStream, BoBRobotics::Video::NetSource, BoBRobotics::Video::ODK2, BoBRobotics::Video::OpenCVInput, BoBRobotics::Video::OpenGL, BoBRobotics::Video::RandomInput< GeneratorType >, and BoBRobotics::Video::RPiCamera.

getOutputSize()

virtual cv::Size BoBRobotics::Video::Input::getOutputSize ( ) const

pure virtual

Get the current output resolution of this video stream.

Implemented in BoBRobotics::AntWorld::RenderTargetInput, BoBRobotics::Robots::Gazebo::Camera, BoBRobotics::Robots::UAV::Bebop::VideoStream, BoBRobotics::Video::NetSource, BoBRobotics::Video::ODK2, BoBRobotics::Video::OpenCVInput, BoBRobotics::Video::OpenGL, BoBRobotics::Video::RandomInput< GeneratorType >, and BoBRobotics::Video::RPiCamera.

needsUnwrapping()

bool BoBRobotics::Video::Input::needsUnwrapping ( ) const

virtual

Whether this video source needs unwrapping with an ImgProc::OpenCVUnwrap360.

Reimplemented in BoBRobotics::AntWorld::RenderTargetInput, BoBRobotics::Robots::Gazebo::Camera, BoBRobotics::Video::NetSource, BoBRobotics::Video::ODK2, BoBRobotics::Video::OpenGL, BoBRobotics::Video::RandomInput< GeneratorType >, and BoBRobotics::Video::RPiCamera.

readFrame()

virtual bool BoBRobotics::Video::Input::readFrame ( cv::Mat &  outFrame )

pure virtual

Try to read a frame in colour from this video source.

The output frame should have type CV_8UC3.

Returns

Whether a new frame was read

Implemented in BoBRobotics::Robots::UAV::Bebop::VideoStream, BoBRobotics::Video::NetSource, BoBRobotics::AntWorld::Camera, BoBRobotics::AntWorld::RenderTargetInput, BoBRobotics::Robots::Gazebo::Camera, BoBRobotics::Video::ODK2, BoBRobotics::Video::OpenCVInput, BoBRobotics::Video::OpenGL, BoBRobotics::Video::RandomInput< GeneratorType >, and BoBRobotics::Video::RPiCamera.

readGreyscaleFrame()

bool BoBRobotics::Video::Input::readGreyscaleFrame ( cv::Mat &  outFrame )

virtual

Try to read a frame in greyscale from this video source.

The output frame should have type CV_8UC.

Returns

Whether a new frame was read

Reimplemented in BoBRobotics::Video::RandomInput< GeneratorType >.

setOutputSize()

virtual void BoBRobotics::Video::Input::setOutputSize ( const cv::Size &  )

virtual

Set the output resolution of this video stream.

Reimplemented in BoBRobotics::Video::RPiCamera, BoBRobotics::Video::OpenCVInput, and BoBRobotics::Video::RandomInput< GeneratorType >.

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

• include/video/input.h
• src/video/input.cc