fp_perception::OpenCVDriver Class Reference

OpenCVDriver class for handling video input from a camera using OpenCV. More...

#include <opencv_vision_driver.hpp>

Inheritance diagram for fp_perception::OpenCVDriver:

Collaboration diagram for fp_perception::OpenCVDriver:

Public Member Functions
	OpenCVDriver ()
	~OpenCVDriver () override
void	initialize (const rclcpp::Node::SharedPtr &node) override
	Initialize the driver.
void	deinitialize () override
	Stop driver streaming.
vision_frame	captureFrame () override
	Get the latest image data from the driver.
void	test () override
	Test function to check the driver functionality by writing the image to a file This function creates a "test" directory if it doesn't exist and saves the captured image.
Public Member Functions inherited from fp_perception::DriverBase
virtual	~DriverBase ()=default
virtual std::string	getName () const
	Get the name of the driver.
void	check_directory (std::string folder_name)
	Check if the test directory exists, create it if not.
const std::filesystem::path	check_file (const std::string &file_name)

Protected Member Functions
void	produce_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &status)
Protected Member Functions inherited from fp_perception::DriverBase
void	initialize_base (const rclcpp::Node::SharedPtr &node)
	Initializer base driver in place of constructor due to plugin semantics.
bool	diagnostics_enabled () const
void	enable_diagnostics (const std::string &hardware_id, const std::string &task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)> task, std::chrono::milliseconds period=std::chrono::seconds(1))
void	disable_diagnostics ()

Protected Attributes
int	device_id
cv::VideoCapture	capture_device
std::atomic< uint64_t >	successful_capture_count_ { 0 }
std::atomic< uint64_t >	capture_failure_count_ { 0 }
Protected Attributes inherited from fp_perception::DriverBase
rclcpp::Node::SharedPtr	node_
	ROS node for the driver.
std::string	name_
	Name of the driver.
std::mutex	buffer_mutex_
	Mutex to protect access to the driver data.
std::condition_variable	buffer_cv_
	Condition variable to notify when new data is available.
std::atomic< bool >	is_running_ { false }
	Flag to indicate if the driver thread is running.
bool	diagnostics_enabled_ { false }
	Flag to enable standard ROS diagnostics publishing.
std::unique_ptr< diagnostic_updater::Updater >	diagnostics_updater_
rclcpp::TimerBase::SharedPtr	diagnostics_timer_

Detailed Description

OpenCVDriver class for handling video input from a camera using OpenCV.

This class is responsible for managing the video input from a camera using OpenCV. It provides methods to start and stop the video stream, as well as retrieve image data.

Constructor & Destructor Documentation

OpenCVDriver()

fp_perception::OpenCVDriver::OpenCVDriver ( )

inline

~OpenCVDriver()

fp_perception::OpenCVDriver::~OpenCVDriver ( )

inlineoverride

Member Function Documentation

captureFrame()

vision_frame fp_perception::OpenCVDriver::captureFrame ( )

inlineoverridevirtual

Get the latest image data from the driver.

Returns

vision_frame The latest frame captured from the camera.

Exceptions

fp_perception_exception

if not implemented in derived classes

Implements fp_perception::VisionSourceDriver.

deinitialize()

void fp_perception::OpenCVDriver::deinitialize ( )

inlineoverridevirtual

Stop driver streaming.

Implements fp_perception::DriverBase.

initialize()

void fp_perception::OpenCVDriver::initialize ( const rclcpp::Node::SharedPtr &  node )

inlineoverridevirtual

Initialize the driver.

This function should be overridden in derived classes to provide specific initialization.

Parameters

node	Shared pointer to the ROS node

Reimplemented from fp_perception::DriverBase.

produce_diagnostics()

void fp_perception::OpenCVDriver::produce_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprotected

test()

void fp_perception::OpenCVDriver::test ( )

inlineoverridevirtual

Test function to check the driver functionality by writing the image to a file This function creates a "test" directory if it doesn't exist and saves the captured image.

Reimplemented from fp_perception::DriverBase.

Member Data Documentation

capture_device

cv::VideoCapture fp_perception::OpenCVDriver::capture_device

protected

capture_failure_count_

std::atomic<uint64_t> fp_perception::OpenCVDriver::capture_failure_count_ { 0 }

protected

device_id

int fp_perception::OpenCVDriver::device_id

protected

successful_capture_count_

std::atomic<uint64_t> fp_perception::OpenCVDriver::successful_capture_count_ { 0 }

protected

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

• fp_perception_driver_vision/include/fp_perception_driver_vision/opencv_vision_driver.hpp