Add OpenCV dependency and update OpenCV interfaces.

This requires the wpilibsuite/opencv packages with PRs 1-3 applied.

build.gradle

@@ -111,6 +111,157 @@ ext.useWpiUtil = { project ->
 //    }
 }
 
+ext.getOpenCvPlatformPackage = { targetPlatform ->
+    if (targetPlatform.architecture.arm) {
+        return 'linux-arm'
+    } else if (targetPlatform.operatingSystem.linux) {
+        if (targetPlatform.architecture.amd64) {
+            return 'linux-x86_64'
+        } else {
+            return 'linux-' + targetPlatform.architecture.name
+        }
+    } else if (targetPlatform.operatingSystem.windows) {
+        if (targetPlatform.architecture.amd64) {
+            return 'windows-x86_64'
+        } else {
+            return 'windows-' + targetPlatform.architecture.name
+        }
+    } else if (targetPlatform.operatingSystem.macOsX) {
+        if (targetPlatform.architecture.amd64) {
+            return 'osx-x86_64'
+        } else {
+            return 'osx-' + targetPlatform.architecture.name
+        }
+    } else {
+        return targetPlatform.operatingSystem.name + '-' + targetPlatform.architecture.name
+    }
+}
+
+ext.useOpenCv = { project ->
+    def openCvUnzipLocation = "${project.buildDir}/opencv"
+
+    if (project.tasks.findByPath("unzipOpenCvHeaders") == null) {
+        // opencv-headers
+        def openCvHeadersDependency =
+            project.dependencies.create("org.opencv:opencv-headers:3.1.0@jar")
+        def openCvHeadersConfig = project.configurations.detachedConfiguration(openCvHeadersDependency)
+        openCvHeadersConfig.setTransitive(false)
+        def openCvHeaders = openCvHeadersConfig.files[0].canonicalFile
+
+        project.tasks.create(name: "unzipOpenCvHeaders", type: Copy) {
+            description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
+            group = 'OpenCv'
+            from zipTree(openCvHeaders)
+            into "${openCvUnzipLocation}/include"
+        }
+    }
+
+    if (project.includeJava) {
+        if (project.tasks.findByPath("unzipOpenCvJava") == null) {
+            // opencv-java
+            def openCvJavaDependency =
+                project.dependencies.create("org.opencv:opencv-java:3.1.0@jar")
+            def openCvJavaConfig = project.configurations.detachedConfiguration(openCvJavaDependency)
+            openCvJavaConfig.setTransitive(false)
+            def openCvJava = openCvJavaConfig.files[0].canonicalFile
+
+            project.tasks.create(name: "unzipOpenCvJava", type: Copy) {
+                description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
+                group = 'OpenCv'
+                from zipTree(openCvJava)
+                into "${openCvUnzipLocation}/java"
+            }
+        }
+    }
+
+    project.ext.openCv = openCvUnzipLocation
+    project.ext.openCvInclude = "$openCvUnzipLocation/include"
+
+    project.ext.addOpenCvLibraryLinks = { compileTask, linker, targetPlatform ->
+        def openCvPlatform = project.getOpenCvPlatformPackage(targetPlatform)
+
+        if (project.tasks.findByPath("unzipOpenCvNatives${openCvPlatform}") == null) {
+            // opencv-natives
+            def openCvNativesDependency =
+                project.dependencies.create("org.opencv:opencv-natives:3.1.0:${openCvPlatform}@jar")
+            def openCvNativesConfig = project.configurations.detachedConfiguration(openCvNativesDependency)
+            openCvNativesConfig.setTransitive(false)
+            def openCvNatives = openCvNativesConfig.files[0].canonicalFile
+
+            project.tasks.create(name: "unzipOpenCvNatives${openCvPlatform}", type: Copy) {
+                description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
+                group = 'OpenCv'
+                from zipTree(openCvNatives)
+                into "${project.openCv}/${openCvPlatform}"
+            }
+        }
+
+        if (project.includeJava) {
+            if (project.tasks.findByPath("unzipOpenCvJni${openCvPlatform}") == null) {
+                // opencv-jni
+                def openCvJniDependency =
+                    project.dependencies.create("org.opencv:opencv-jni:3.1.0:${openCvPlatform}@jar")
+                def openCvJniConfig = project.configurations.detachedConfiguration(openCvJniDependency)
+                openCvJniConfig.setTransitive(false)
+                def openCvJni = openCvJniConfig.files[0].canonicalFile
+
+                project.tasks.create(name: "unzipOpenCvJni${openCvPlatform}", type: Copy) {
+                    description = 'Unzips the OpenCV maven dependency so that the include files and libraries can be used'
+                    group = 'OpenCv'
+                    from zipTree(openCvJni)
+                    into "${project.openCv}/${openCvPlatform}"
+                }
+            }
+        }
+
+        compileTask.dependsOn "unzipOpenCvHeaders", "unzipOpenCvNatives${openCvPlatform}"
+        if (project.includeJava) {
+            compileTask.dependsOn "unzipOpenCvJava", "unzipOpenCvJni${openCvPlatform}"
+        }
+        if (targetPlatform.architecture.arm) {
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_calib3d.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_core.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_features2d.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_flann.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_highgui.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_imgcodecs.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_imgproc.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_ml.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_objdetect.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_photo.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_shape.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_stitching.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_superres.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_video.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_videoio.so"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_videostab.so"
+            linker.args "-ldl"
+            linker.args "-lz"
+        } else if (targetPlatform.operatingSystem.windows) {
+            linker.args "${project.openCv}/${openCvPlatform}/opencv_core.lib"
+        } else {
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_calib3d.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_core.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_features2d.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_flann.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_highgui.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_imgcodecs.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_imgproc.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_ml.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_objdetect.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_photo.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_shape.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_stitching.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_superres.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_video.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_videoio.a"
+            linker.args "${project.openCv}/${openCvPlatform}/libopencv_videostab.a"
+            linker.args "-ldl"
+            linker.args "-lz"
+        }
+    }
+}
+
 ext.setupDefines = { project, binaries ->
     binaries.all {
 	if (project.hasProperty('debug')) {
@@ -120,6 +271,7 @@ ext.setupDefines = { project, binaries ->
 	}
         tasks.withType(CppCompile) {
             project.addWpiUtilLibraryLinks(it, linker, targetPlatform)
+            project.addOpenCvLibraryLinks(it, linker, targetPlatform)
         }
     }
 }

cameraserver.gradle

@@ -36,7 +36,7 @@ def cameraserverSetupModel = { project ->
                             includes = ['**/*.cpp']
                         }
                         exportedHeaders {
-                            srcDirs = ["${rootDir}/include", project.wpiUtilInclude]
+                            srcDirs = ["${rootDir}/include", project.wpiUtilInclude, project.openCvInclude]
                             if (includeJava) {
                                 project.jniHeadersCameraServer.outputs.files.each { file ->
                                     srcDirs file.getPath()
@@ -181,6 +181,7 @@ if (buildArm) {
         cameraserverSetupExamplesModel(project)
         cameraserverZipTask(project)
         useWpiUtil(project)
+        useOpenCv(project)
     }
 }
 
@@ -201,6 +202,7 @@ project(':native') {
     cameraserverSetupExamplesModel(project)
     cameraserverZipTask(project)
     useWpiUtil(project)
+    useOpenCv(project)
 }
 
 task cameraserverSourceZip(type: Zip) {

include/cameraserver_cpp.h

@@ -134,7 +134,7 @@ void ReleaseSource(CS_Source source, CS_Status* status);
 //
 // OpenCV Source Functions
 //
-void PutSourceFrame(CS_Source source, cv::Mat* image, CS_Status* status);
+void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
 void NotifySourceError(CS_Source source, llvm::StringRef msg,
                        CS_Status* status);
 void SetSourceConnected(CS_Source source, bool connected, CS_Status* status);
@@ -178,7 +178,7 @@ void ReleaseSink(CS_Sink sink, CS_Status* status);
 //
 // OpenCV Sink Functions
 //
-uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat* image, CS_Status* status);
+uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
 std::string GetSinkError(CS_Sink sink, CS_Status* status);
 llvm::StringRef GetSinkError(CS_Sink sink, llvm::SmallVectorImpl<char>& buf,
                              CS_Status* status);

include/cameraserver_oo.h

@@ -214,7 +214,7 @@ class CvSource : public VideoSource {
   /// This is identical in behavior to calling PutImage(0, image) followed by
   /// NotifyFrame().
   /// @param image OpenCV image
-  void PutFrame(cv::Mat* image);
+  void PutFrame(cv::Mat& image);
 
   /// Signal sinks that an error has occurred.  This should be called instead
   /// of NotifyFrame when an error occurs.
@@ -340,7 +340,7 @@ class CvSink : public VideoSink {
   /// Wait for the next frame and get the image.
   /// @return Frame time, or 0 on error (call GetError() to obtain the error
   ///         message);
-  uint64_t GrabFrame(cv::Mat* image) const;
+  uint64_t GrabFrame(cv::Mat& image) const;
 
   /// Get error string.  Call this if WaitForFrame() returns 0 to determine
   /// what the error is.

include/cameraserver_oo.inl

@@ -182,7 +182,7 @@ inline CvSource::CvSource(llvm::StringRef name, VideoMode::PixelFormat format,
       CreateCvSource(name, VideoMode{format, width, height, fps}, &m_status);
 }
 
-inline void CvSource::PutFrame(cv::Mat* image) {
+inline void CvSource::PutFrame(cv::Mat& image) {
   m_status = 0;
   PutSourceFrame(m_handle, image, &m_status);
 }
@@ -284,7 +284,7 @@ inline CvSink::CvSink(llvm::StringRef name,
   m_handle = CreateCvSinkCallback(name, processFrame, &m_status);
 }
 
-inline uint64_t CvSink::GrabFrame(cv::Mat* image) const {
+inline uint64_t CvSink::GrabFrame(cv::Mat& image) const {
   m_status = 0;
   return GrabSinkFrame(m_handle, image, &m_status);
 }

src/cameraserver_c.cpp

@@ -10,6 +10,7 @@
 #include <cstddef>
 #include <cstdlib>
 
+#include "opencv2/core/core.hpp"
 #include "llvm/SmallString.h"
 
 #include "cameraserver_cpp.h"
@@ -183,7 +184,8 @@ void CS_ReleaseSource(CS_Source source, CS_Status* status) {
 
 void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
                        CS_Status* status) {
-  //TODO: return cs::PutSourceFrame(source, image, status);
+  auto mat = cv::cvarrToMat(image);
+  return cs::PutSourceFrame(source, mat, status);
 }
 
 void CS_NotifySourceError(CS_Source source, const char* msg,
@@ -269,7 +271,8 @@ void CS_ReleaseSink(CS_Sink sink, CS_Status* status) {
 
 uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image,
                           CS_Status* status) {
-  return 0;  // TODO: cs::GrabSinkFrame(sink, image, status);
+  auto mat = cv::cvarrToMat(image);
+  return cs::GrabSinkFrame(sink, mat, status);
 }
 
 char* CS_GetSinkError(CS_Sink sink, CS_Status* status) {

src/cameraserver_cpp.cpp

@@ -324,7 +324,7 @@ void ReleaseSource(CS_Source source, CS_Status* status) {
 // OpenCV Source Functions
 //
 
-void PutSourceFrame(CS_Source source, cv::Mat* image, CS_Status* status) {
+void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status) {
   // TODO
 }
 
@@ -475,7 +475,7 @@ void ReleaseSink(CS_Sink sink, CS_Status* status) {
 // OpenCV Sink Functions
 //
 
-uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat* image, CS_Status* status) {
+uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status) {
   return 0;  // TODO
 }
 

test/tests.gradle

@@ -13,7 +13,7 @@ model {
                         includes = ['**/*.cpp']
                     }
                     exportedHeaders {
-                        srcDirs = ["${rootDir}/include", "${rootDir}/src", "${rootDir}/wpiutil/include", "${rootDir}/gmock/include", "${rootDir}/gmock/gtest/include"]
+                        srcDirs = ["${rootDir}/include", "${rootDir}/src", "${rootDir}/gmock/include", "${rootDir}/gmock/gtest/include"]
                         includes = ['**/*.h']
                     }
                 }
@@ -23,6 +23,7 @@ model {
                 lib library: 'cameraserver', linkage: 'static'
                 tasks.withType(CppCompile) {
                    project.addWpiUtilLibraryLinks(it, linker, targetPlatform)
+                   project.addOpenCvLibraryLinks(it, linker, targetPlatform)
                 }
             }
         }