mirror of
https://github.com/wpilibsuite/allwpilib
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60 lines
2.1 KiB
Java
60 lines
2.1 KiB
Java
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.cscore;
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import org.opencv.core.Mat;
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import edu.wpi.cscore.VideoMode.PixelFormat;
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public class RawCVMatSource extends ImageSource {
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/**
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* Create an OpenCV source.
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*
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* @param name Source name (arbitrary unique identifier)
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* @param mode Video mode being generated
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*/
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public RawCVMatSource(String name, VideoMode mode) {
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super(CameraServerJNI.createRawSource(name,
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mode.pixelFormat.getValue(),
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mode.width,
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mode.height,
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mode.fps));
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}
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/**
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* Create an OpenCV source.
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*
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* @param name Source name (arbitrary unique identifier)
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* @param pixelFormat Pixel format
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* @param width width
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* @param height height
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* @param fps fps
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*/
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public RawCVMatSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
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super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
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}
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/**
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* Put an OpenCV image and notify sinks.
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*
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* <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
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* are supported. If the format, depth or channel order is different, use
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* Mat.convertTo() and/or cvtColor() to convert it first.
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*
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* @param image OpenCV image
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*/
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public void putFrame(Mat image) {
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int channels = image.channels();
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if (channels != 1 && channels != 3) {
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throw new VideoException("Unsupported Image Type");
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}
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int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
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CameraServerJNI.putRawSourceFrame(m_handle, image.dataAddr(), image.width(), image.height(), imgType, (int)image.total() * channels);
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}
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}
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