[wpiutil,cscore] Move VideoMode.PixelFormat to wpiutil (#6097)

This tracks the RawFrame move.

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -14,7 +14,6 @@ import edu.wpi.first.cscore.VideoEvent;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoListener;
 import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import edu.wpi.first.cscore.VideoSink;
 import edu.wpi.first.cscore.VideoSource;
 import edu.wpi.first.networktables.BooleanEntry;
@@ -27,6 +26,7 @@ import edu.wpi.first.networktables.StringArrayPublisher;
 import edu.wpi.first.networktables.StringArrayTopic;
 import edu.wpi.first.networktables.StringEntry;
 import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.util.PixelFormat;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -686,7 +686,7 @@ public final class CameraServer {
    */
   public static MjpegServer addSwitchedCamera(String name) {
     // create a dummy CvSource
-    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
+    CvSource source = new CvSource(name, PixelFormat.kMJPEG, 160, 120, 30);
     MjpegServer server = startAutomaticCapture(source);
     synchronized (CameraServer.class) {
       m_fixedSources.put(server.getHandle(), source.getHandle());
@@ -801,7 +801,7 @@ public final class CameraServer {
    * @return OpenCV source for the MJPEG stream
    */
   public static CvSource putVideo(String name, int width, int height) {
-    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height, 30);
+    CvSource source = new CvSource(name, PixelFormat.kMJPEG, width, height, 30);
     startAutomaticCapture(source);
     return source;
   }

cscore/src/main/java/edu/wpi/first/cscore/CvSink.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.cscore;
 
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.util.PixelFormat;
 import org.opencv.core.Mat;
 
 /**

cscore/src/main/java/edu/wpi/first/cscore/CvSource.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.util.PixelFormat;
 import org.opencv.core.Mat;
 
 /**
@@ -32,7 +33,7 @@ public class CvSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public CvSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public CvSource(String name, PixelFormat pixelFormat, int width, int height, int fps) {
     super(CameraServerCvJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
   }
 

cscore/src/main/java/edu/wpi/first/cscore/VideoMode.java

@@ -4,38 +4,12 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.util.PixelFormat;
 import java.util.Objects;
 
 /** Video mode. */
 @SuppressWarnings("MemberName")
 public class VideoMode {
-  public enum PixelFormat {
-    kUnknown(0),
-    kMJPEG(1),
-    kYUYV(2),
-    kRGB565(3),
-    kBGR(4),
-    kGray(5),
-    kY16(6),
-    kUYVY(7);
-
-    private final int value;
-
-    PixelFormat(int value) {
-      this.value = value;
-    }
-
-    public int getValue() {
-      return value;
-    }
-  }
-
-  private static final PixelFormat[] m_pixelFormatValues = PixelFormat.values();
-
-  public static PixelFormat getPixelFormatFromInt(int pixelFormat) {
-    return m_pixelFormatValues[pixelFormat];
-  }
-
   /**
    * Create a new video mode.
    *
@@ -45,7 +19,7 @@ public class VideoMode {
    * @param fps The camera's frames per second.
    */
   public VideoMode(int pixelFormat, int width, int height, int fps) {
-    this.pixelFormat = getPixelFormatFromInt(pixelFormat);
+    this.pixelFormat = PixelFormat.getFromInt(pixelFormat);
     this.width = width;
     this.height = height;
     this.fps = fps;

cscore/src/main/java/edu/wpi/first/cscore/VideoSource.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.util.PixelFormat;
+
 /**
  * A source for video that provides a sequence of frames. Each frame may consist of multiple images
  * (e.g. from a stereo or depth camera); these are called channels.
@@ -235,7 +237,7 @@ public class VideoSource implements AutoCloseable {
    * @param fps desired FPS
    * @return True if set successfully
    */
-  public boolean setVideoMode(VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public boolean setVideoMode(PixelFormat pixelFormat, int width, int height, int fps) {
     return CameraServerJNI.setSourceVideoMode(m_handle, pixelFormat.getValue(), width, height, fps);
   }
 
@@ -245,7 +247,7 @@ public class VideoSource implements AutoCloseable {
    * @param pixelFormat desired pixel format
    * @return True if set successfully
    */
-  public boolean setPixelFormat(VideoMode.PixelFormat pixelFormat) {
+  public boolean setPixelFormat(PixelFormat pixelFormat) {
     return CameraServerJNI.setSourcePixelFormat(m_handle, pixelFormat.getValue());
   }
 

cscore/src/main/java/edu/wpi/first/cscore/raw/RawSource.java

@@ -7,6 +7,7 @@ package edu.wpi.first.cscore.raw;
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.ImageSource;
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.RawFrame;
 
 /**
@@ -36,7 +37,7 @@ public class RawSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public RawSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public RawSource(String name, PixelFormat pixelFormat, int width, int height, int fps) {
     super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
   }
 
@@ -72,7 +73,7 @@ public class RawSource extends ImageSource {
    * @param totalData length of data in total
    */
   protected void putFrame(
-      long data, int width, int height, VideoMode.PixelFormat pixelFormat, int totalData) {
+      long data, int width, int height, PixelFormat pixelFormat, int totalData) {
     CameraServerJNI.putRawSourceFrame(
         m_handle, data, width, height, pixelFormat.getValue(), totalData);
   }

cscore/src/test/java/edu/wpi/first/cscore/VideoModeTest.java

@@ -7,13 +7,14 @@ package edu.wpi.first.cscore;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import edu.wpi.first.util.PixelFormat;
 import org.junit.jupiter.api.Test;
 
 class VideoModeTest {
   @Test
   void equalityTest() {
-    VideoMode a = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
-    VideoMode b = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
+    VideoMode a = new VideoMode(PixelFormat.kMJPEG, 1920, 1080, 30);
+    VideoMode b = new VideoMode(PixelFormat.kMJPEG, 1920, 1080, 30);
 
     assertEquals(a, b);
     assertNotEquals(a, null);

wpiutil/src/main/java/edu/wpi/first/util/PixelFormat.java

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util;
+
+/** Image pixel format. */
+public enum PixelFormat {
+  /** Unknown format. */
+  kUnknown(0),
+  /** Motion-JPEG (compressed image data). */
+  kMJPEG(1),
+  /** YUY 4:2:2, 16 bpp. */
+  kYUYV(2),
+  /** RGB 5-6-5, 16 bpp. */
+  kRGB565(3),
+  /** BGR 8-8-8, 24 bpp. */
+  kBGR(4),
+  /** Grayscale, 8 bpp. */
+  kGray(5),
+  /** Grayscale, 16 bpp. */
+  kY16(6),
+  /** YUV 4:2:2, 16 bpp. */
+  kUYVY(7);
+
+  private final int value;
+
+  PixelFormat(int value) {
+    this.value = value;
+  }
+
+  /**
+   * Gets the integer value of the pixel format.
+   *
+   * @return Integer value
+   */
+  public int getValue() {
+    return value;
+  }
+
+  private static final PixelFormat[] s_values = values();
+
+  /**
+   * Gets a PixelFormat enum value from its integer value.
+   *
+   * @param pixelFormat integer value
+   * @return Enum value
+   */
+  public static PixelFormat getFromInt(int pixelFormat) {
+    return s_values[pixelFormat];
+  }
+}