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PJ Reiniger
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Peter Johnson
Peter Johnson
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cscore/src/main/native/cpp/Frame.hpp
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256
cscore/src/main/native/cpp/Frame.hpp
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#ifndef CSCORE_FRAME_H_
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#define CSCORE_FRAME_H_
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#include <atomic>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <utility>
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#include <vector>
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#include <wpi/SmallVector.h>
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#include <wpi/mutex.h>
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#include "Image.h"
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#include "cscore_cpp.h"
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namespace cs {
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class SourceImpl;
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std::unique_ptr<Image> CreateImageFromBGRA(cs::SourceImpl* source, size_t width,
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size_t height, size_t stride,
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const uint8_t* data);
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class Frame {
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friend class SourceImpl;
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public:
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using Time = uint64_t;
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private:
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struct Impl {
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explicit Impl(SourceImpl& source_) : source(source_) {}
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wpi::recursive_mutex mutex;
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std::atomic_int refcount{0};
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Time time{0};
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WPI_TimestampSource timeSource{WPI_TIMESRC_UNKNOWN};
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SourceImpl& source;
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std::string error;
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wpi::SmallVector<Image*, 4> images;
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std::vector<int> compressionParams;
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};
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public:
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Frame() noexcept = default;
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Frame(SourceImpl& source, std::string_view error, Time time,
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WPI_TimestampSource timeSrc);
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Frame(SourceImpl& source, std::unique_ptr<Image> image, Time time,
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WPI_TimestampSource timeSrc);
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Frame(const Frame& frame) noexcept : m_impl{frame.m_impl} {
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if (m_impl) {
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++m_impl->refcount;
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}
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}
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Frame(Frame&& other) noexcept : Frame() { swap(*this, other); }
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~Frame() { DecRef(); }
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Frame& operator=(Frame other) noexcept {
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swap(*this, other);
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return *this;
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}
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explicit operator bool() const { return m_impl && m_impl->error.empty(); }
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friend void swap(Frame& first, Frame& second) noexcept {
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using std::swap;
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swap(first.m_impl, second.m_impl);
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}
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Time GetTime() const { return m_impl ? m_impl->time : 0; }
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WPI_TimestampSource GetTimeSource() const {
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return m_impl ? m_impl->timeSource : WPI_TIMESRC_UNKNOWN;
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}
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std::string_view GetError() const {
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if (!m_impl) {
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return {};
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}
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return m_impl->error;
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}
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int GetOriginalWidth() const {
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if (!m_impl) {
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return 0;
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}
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std::scoped_lock lock(m_impl->mutex);
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if (m_impl->images.empty()) {
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return 0;
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}
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return m_impl->images[0]->width;
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}
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int GetOriginalHeight() const {
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if (!m_impl) {
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return 0;
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}
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std::scoped_lock lock(m_impl->mutex);
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if (m_impl->images.empty()) {
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return 0;
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}
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return m_impl->images[0]->height;
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}
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int GetOriginalPixelFormat() const {
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if (!m_impl) {
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return 0;
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}
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std::scoped_lock lock(m_impl->mutex);
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if (m_impl->images.empty()) {
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return 0;
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}
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return m_impl->images[0]->pixelFormat;
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}
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int GetOriginalJpegQuality() const {
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if (!m_impl) {
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return 0;
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}
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std::scoped_lock lock(m_impl->mutex);
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if (m_impl->images.empty()) {
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return 0;
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}
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return m_impl->images[0]->jpegQuality;
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}
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Image* GetExistingImage(size_t i = 0) const {
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if (!m_impl) {
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return nullptr;
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}
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std::scoped_lock lock(m_impl->mutex);
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if (i >= m_impl->images.size()) {
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return nullptr;
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}
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return m_impl->images[i];
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}
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Image* GetExistingImage(int width, int height) const {
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if (!m_impl) {
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return nullptr;
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}
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std::scoped_lock lock(m_impl->mutex);
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for (auto i : m_impl->images) {
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if (i->Is(width, height)) {
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return i;
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}
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}
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return nullptr;
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}
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Image* GetExistingImage(int width, int height,
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VideoMode::PixelFormat pixelFormat) const {
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if (!m_impl) {
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return nullptr;
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}
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std::scoped_lock lock(m_impl->mutex);
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for (auto i : m_impl->images) {
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if (i->Is(width, height, pixelFormat)) {
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return i;
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}
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}
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return nullptr;
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}
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Image* GetExistingImage(int width, int height,
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VideoMode::PixelFormat pixelFormat,
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int jpegQuality) const {
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if (!m_impl) {
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return nullptr;
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}
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std::scoped_lock lock(m_impl->mutex);
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for (auto i : m_impl->images) {
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if (i->Is(width, height, pixelFormat, jpegQuality)) {
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return i;
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}
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}
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return nullptr;
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}
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Image* GetNearestImage(int width, int height) const;
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Image* GetNearestImage(int width, int height,
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VideoMode::PixelFormat pixelFormat,
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int jpegQuality = -1) const;
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Image* Convert(Image* image, VideoMode::PixelFormat pixelFormat) {
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if (pixelFormat == VideoMode::kMJPEG) {
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return nullptr;
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}
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return ConvertImpl(image, pixelFormat, -1, 80);
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}
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Image* ConvertToMJPEG(Image* image, int requiredQuality,
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int defaultQuality = 80) {
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return ConvertImpl(image, VideoMode::kMJPEG, requiredQuality,
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defaultQuality);
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}
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Image* ConvertMJPEGToBGR(Image* image);
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Image* ConvertMJPEGToGray(Image* image);
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Image* ConvertYUYVToBGR(Image* image);
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Image* ConvertYUYVToGray(Image* image);
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Image* ConvertUYVYToBGR(Image* image);
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Image* ConvertUYVYToGray(Image* image);
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Image* ConvertBGRToRGB565(Image* image);
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Image* ConvertRGB565ToBGR(Image* image);
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Image* ConvertBGRToGray(Image* image);
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Image* ConvertGrayToBGR(Image* image);
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Image* ConvertBGRToMJPEG(Image* image, int quality);
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Image* ConvertGrayToMJPEG(Image* image, int quality);
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Image* ConvertGrayToY16(Image* image);
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Image* ConvertY16ToGray(Image* image);
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Image* ConvertBGRToBGRA(Image* image);
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Image* GetImage(int width, int height, VideoMode::PixelFormat pixelFormat) {
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if (pixelFormat == VideoMode::kMJPEG) {
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return nullptr;
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}
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return GetImageImpl(width, height, pixelFormat, -1, 80);
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}
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Image* GetImageMJPEG(int width, int height, int requiredQuality,
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int defaultQuality = 80) {
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return GetImageImpl(width, height, VideoMode::kMJPEG, requiredQuality,
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defaultQuality);
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}
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bool GetCv(cv::Mat& image, VideoMode::PixelFormat pixelFormat) {
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return GetCv(image, GetOriginalWidth(), GetOriginalHeight(), pixelFormat);
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}
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bool GetCv(cv::Mat& image, int width, int height,
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VideoMode::PixelFormat pixelFormat);
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private:
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Image* ConvertImpl(Image* image, VideoMode::PixelFormat pixelFormat,
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int requiredJpegQuality, int defaultJpegQuality);
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Image* GetImageImpl(int width, int height, VideoMode::PixelFormat pixelFormat,
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int requiredJpegQuality, int defaultJpegQuality);
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void DecRef() {
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if (m_impl && --(m_impl->refcount) == 0) {
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ReleaseFrame();
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}
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}
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void ReleaseFrame();
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Impl* m_impl{nullptr};
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};
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} // namespace cs
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#endif // CSCORE_FRAME_H_
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