BoBRobotics::Video::OpenCVInput Class Reference

A thin wrapper for reading from any video source supported by OpenCV. More...

#include <opencvinput.h>

Inheritance diagram for BoBRobotics::Video::OpenCVInput:

Public Member Functions
	OpenCVInput ()
	Create a new video stream, using the default given by OpenCV.
template<class T >
	OpenCVInput (T device, const std::string &cameraName=DefaultCameraName)
	Create a video stream for a specific device. More...
template<class T >
	OpenCVInput (T device, const cv::Size &outSize, const std::string &cameraName=DefaultCameraName)
	Create a video stream for a specific device and a specified resolution. More...
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 units::frequency::hertz_t	getFrameRate () const override
virtual bool	readFrame (cv::Mat &outFrame) override
	Try to read a frame in colour from this video source. More...
virtual void	setOutputSize (const cv::Size &outSize) override
	Set the output resolution of this video stream. More...
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 from any video source supported by OpenCV.

Constructor & Destructor Documentation

OpenCVInput() [1/2]

template<class T >

BoBRobotics::Video::OpenCVInput::OpenCVInput ( T  device, const std::string &  cameraName = DefaultCameraName  )

inline

Create a video stream for a specific device.

Parameters

device	Integer or string representation of device (passed to cv::VideoCapture's constructor)
cameraName	The short name to use for this camera (see getCameraName())

OpenCVInput() [2/2]

template<class T >

BoBRobotics::Video::OpenCVInput::OpenCVInput ( T  device, const cv::Size &  outSize, const std::string &  cameraName = DefaultCameraName  )

inline

Create a video stream for a specific device and a specified resolution.

Parameters

device	Integer or string representation of device (passed to cv::VideoCapture's constructor)
outSize	Output resolution of camera
cameraName	The short name to use for this camera (see getCameraName())

Member Function Documentation

getCameraName()

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

overridevirtual

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.

getFrameRate()

units::frequency::hertz_t BoBRobotics::Video::OpenCVInput::getFrameRate ( ) const

overridevirtual

Reimplemented from BoBRobotics::Video::Input.

getOutputSize()

cv::Size BoBRobotics::Video::OpenCVInput::getOutputSize ( ) const

overridevirtual

Get the current output resolution of this video stream.

Implements BoBRobotics::Video::Input.

readFrame()

bool BoBRobotics::Video::OpenCVInput::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.

setOutputSize()

void BoBRobotics::Video::OpenCVInput::setOutputSize ( const cv::Size &  )

overridevirtual

Set the output resolution of this video stream.

Reimplemented from BoBRobotics::Video::Input.

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

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