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Add support for enumerating and changing USB camera video mode.

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This commit is contained in:
Peter Johnson
2016-09-29 00:04:16 -07:00
parent a5fe605aae
commit 70616c48e3
16 changed files with 813 additions and 20 deletions
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126
java/lib/CameraServerJNI.cpp
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@@ -21,6 +21,7 @@ using namespace wpi::java;
// Used for callback.
static JavaVM *jvm = nullptr;
static jclass usbCameraInfoCls = nullptr;
static jclass videoModeCls = nullptr;
extern "C" {
@@ -40,6 +41,12 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
if (!usbCameraInfoCls) return JNI_ERR;
env->DeleteLocalRef(local);
local = env->FindClass("edu/wpi/cameraserver/VideoMode");
if (!local) return JNI_ERR;
videoModeCls = static_cast<jclass>(env->NewGlobalRef(local));
if (!videoModeCls) return JNI_ERR;
env->DeleteLocalRef(local);
return JNI_VERSION_1_6;
}
@@ -49,6 +56,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
return;
// Delete global references
if (usbCameraInfoCls) env->DeleteGlobalRef(usbCameraInfoCls);
if (videoModeCls) env->DeleteGlobalRef(videoModeCls);
jvm = nullptr;
}
@@ -73,6 +81,15 @@ static jobject MakeJObject(JNIEnv *env, const cs::USBCameraInfo &info) {
static_cast<jint>(info.dev), path.obj(), name.obj());
}
static jobject MakeJObject(JNIEnv *env, const cs::VideoMode &videoMode) {
static jmethodID constructor =
env->GetMethodID(videoModeCls, "<init>", "(IIII)V");
return env->NewObject(
videoModeCls, constructor, static_cast<jint>(videoMode.pixelFormat),
static_cast<jint>(videoMode.width), static_cast<jint>(videoMode.height),
static_cast<jint>(videoMode.fps));
}
extern "C" {
/*
@@ -276,13 +293,19 @@ JNIEXPORT jint JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_createHTTPSourc
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: createCvSource
* Signature: (Ljava/lang/String;)I
* Signature: (Ljava/lang/String;IIII)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_createCvSource
(JNIEnv *env, jclass, jstring name)
(JNIEnv *env, jclass, jstring name, jint pixelFormat, jint width, jint height,
jint fps)
{
CS_Status status;
auto val = cs::CreateCvSource(JStringRef{env, name}, &status);
auto val = cs::CreateCvSource(
JStringRef{env, name},
cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(pixelFormat),
static_cast<int>(width), static_cast<int>(height),
static_cast<int>(fps)},
&status);
CheckStatus(env, status);
return val;
}
@@ -374,6 +397,103 @@ JNIEXPORT jintArray JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_enumerateS
return MakeJIntArray(env, arr);
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: getSourceVideoMode
* Signature: (I)Ledu/wpi/cameraserver/VideoMode;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_getSourceVideoMode
(JNIEnv *env, jclass, jint source)
{
CS_Status status;
auto val = cs::GetSourceVideoMode(source, &status);
if (!CheckStatus(env, status)) return nullptr;
return MakeJObject(env, val);
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: setSourceVideoMode
* Signature: (IIIII)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourceVideoMode
(JNIEnv *env, jclass, jint source, jint pixelFormat, jint width, jint height,
jint fps)
{
CS_Status status;
auto val = cs::SetSourceVideoMode(
source,
cs::VideoMode(static_cast<cs::VideoMode::PixelFormat>(pixelFormat), width,
height, fps),
&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: setSourcePixelFormat
* Signature: (II)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourcePixelFormat
(JNIEnv *env, jclass, jint source, jint pixelFormat)
{
CS_Status status;
auto val = cs::SetSourcePixelFormat(
source, static_cast<cs::VideoMode::PixelFormat>(pixelFormat), &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: setSourceResolution
* Signature: (III)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourceResolution
(JNIEnv *env, jclass, jint source, jint width, jint height)
{
CS_Status status;
auto val = cs::SetSourceResolution(source, width, height, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: setSourceFPS
* Signature: (II)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_setSourceFPS
(JNIEnv *env, jclass, jint source, jint fps)
{
CS_Status status;
auto val = cs::SetSourceFPS(source, fps, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: enumerateSourceVideoModes
* Signature: (I)[Ledu/wpi/cameraserver/VideoMode;
*/
JNIEXPORT jobjectArray JNICALL Java_edu_wpi_cameraserver_CameraServerJNI_enumerateSourceVideoModes
(JNIEnv *env, jclass, jint source)
{
CS_Status status;
auto arr = cs::EnumerateSourceVideoModes(source, &status);
if (!CheckStatus(env, status)) return nullptr;
jobjectArray jarr =
env->NewObjectArray(arr.size(), videoModeCls, nullptr);
if (!jarr) return nullptr;
for (size_t i = 0; i < arr.size(); ++i) {
JLocal<jobject> jelem{env, MakeJObject(env, arr[i])};
env->SetObjectArrayElement(jarr, i, jelem);
}
return jarr;
}
/*
* Class: edu_wpi_cameraserver_CameraServerJNI
* Method: copySource