OpenCVGrabber.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * Copyright (C) 2006 Eric Mislivec
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef YARP_OPENCV_GRABBER_DEVICE_OPENCVGRABBER_H
#define YARP_OPENCV_GRABBER_DEVICE_OPENCVGRABBER_H
 
/*
 * A YARP frame grabber device driver using OpenCV to implement
 * image capture from cameras and AVI files.
 */
 
 
#include <yarp/os/Property.h>
#include <yarp/dev/FrameGrabberInterfaces.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/IPreciselyTimed.h>
 
#include <opencv2/highgui/highgui.hpp>
 
class OpenCVGrabber :
        public yarp::dev::IFrameGrabberImage,
        public yarp::dev::DeviceDriver,
        public yarp::dev::IPreciselyTimed
{
public:
 
    OpenCVGrabber() : IFrameGrabberImage(), DeviceDriver(),
        m_w(0),
        m_h(0),
        m_loop(false),
        m_saidSize(false),
        m_saidResize(false),
        fromFile(false),
        m_cap(),
        m_transpose(false),
        m_flip_x(false),
        m_flip_y(false)
    {}
 
    virtual ~OpenCVGrabber() { ; }
 
 
 
    bool open(yarp::os::Searchable & config) override;
 
    bool close() override;
 
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) override;
    virtual bool sendImage(const cv::Mat & frame, yarp::sig::ImageOf<yarp::sig::PixelRgb> & image);
 
 
    inline int height() const override { return m_h; }
 
    inline int width() const override { return m_w; }
 
    inline yarp::os::Stamp getLastInputStamp() override { return m_laststamp; }
 
protected:
 
    size_t m_w;
    size_t m_h;
 
    bool m_loop;
 
    bool m_saidSize;
    bool m_saidResize;
 
    bool fromFile;
 
    cv::VideoCapture m_cap;
 
    /* optional image modifiers */
    bool m_transpose;
    bool m_flip_x;
    bool m_flip_y;
 
    yarp::os::Property m_config;
 
    yarp::os::Stamp m_laststamp;
};
 
#endif // YARP_OPENCV_GRABBER_DEVICE_OPENCVGRABBER_H