BoBRobotics::Video::ODK2 Class Reference

A thin wrapper for reading cylindrically unwrapped data from Opteran DevKit. More...

#include <odk2.h>

Inheritance diagram for BoBRobotics::Video::ODK2:

Public Member Functions
	ODK2 (const std::string &hostIP="192.168.2.1", const std::string &remoteIP="192.168.2.9")
	Create a new video stream, using the default given by OpenCV.
virtual std::string	getCameraName () const override
	Get the name of this type of camera as a (short) string. More...
virtual cv::Size	getOutputSize () const override
	Get the current output resolution of this video stream. More...
virtual bool	readFrame (cv::Mat &outFrame) override
	Try to read a frame in colour from this video source. More...
virtual bool	needsUnwrapping () const override
	Whether this video source needs unwrapping with an ImgProc::OpenCVUnwrap360. More...
std::array< degree_t, 3 >	getEulerAngles () const
	Get Euler angles from ODK2 IMU.
Public Member Functions inherited from BoBRobotics::Video::Input
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.

Additional Inherited Members
Static Public Attributes inherited from BoBRobotics::Video::Input
static constexpr const char *	DefaultCameraName = "unknown_camera"

Detailed Description

A thin wrapper for reading cylindrically unwrapped data from Opteran DevKit.

Member Function Documentation

getCameraName()

virtual std::string BoBRobotics::Video::ODK2::getCameraName ( ) const

inlineoverridevirtual

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 from BoBRobotics::Video::Input.

getOutputSize()

virtual cv::Size BoBRobotics::Video::ODK2::getOutputSize ( ) const

inlineoverridevirtual

Get the current output resolution of this video stream.

Implements BoBRobotics::Video::Input.

needsUnwrapping()

virtual bool BoBRobotics::Video::ODK2::needsUnwrapping ( ) const

inlineoverridevirtual

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

Reimplemented from BoBRobotics::Video::Input.

readFrame()

bool BoBRobotics::Video::ODK2::readFrame ( cv::Mat &  outFrame )

overridevirtual

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

Implements BoBRobotics::Video::Input.

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

• include/video/odk2/odk2.h
• src/video/odk2/odk2.cc