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cscore/src/main/native/cpp/Image.hpp

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+// 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.
+
+#ifndef CSCORE_IMAGE_H_
+#define CSCORE_IMAGE_H_
+
+#include <string_view>
+#include <vector>
+
+#include <opencv2/core/core.hpp>
+
+#include "cscore_cpp.h"
+#include "default_init_allocator.h"
+
+namespace cs {
+
+class Frame;
+
+class Image {
+  friend class Frame;
+
+ public:
+#ifndef __linux__
+  explicit Image(size_t capacity) { m_data.reserve(capacity); }
+#else
+  explicit Image(size_t capacity)
+      : m_data{capacity, default_init_allocator<uchar>{}} {
+    m_data.resize(0);
+  }
+#endif
+
+  Image(const Image&) = delete;
+  Image& operator=(const Image&) = delete;
+
+  // Getters
+  operator std::string_view() const {  // NOLINT
+    return str();
+  }
+  std::string_view str() const { return {data(), size()}; }
+  size_t capacity() const { return m_data.capacity(); }
+  const char* data() const {
+    return reinterpret_cast<const char*>(m_data.data());
+  }
+  char* data() { return reinterpret_cast<char*>(m_data.data()); }
+  size_t size() const { return m_data.size(); }
+
+  const std::vector<uchar>& vec() const { return m_data; }
+  std::vector<uchar>& vec() { return m_data; }
+
+  void resize(size_t size) { m_data.resize(size); }
+  void SetSize(size_t size) { m_data.resize(size); }
+
+  cv::Mat AsMat() {
+    int type;
+    switch (pixelFormat) {
+      case VideoMode::kYUYV:
+      case VideoMode::kRGB565:
+      case VideoMode::kY16:
+      case VideoMode::kUYVY:
+        type = CV_8UC2;
+        break;
+      case VideoMode::kBGR:
+        type = CV_8UC3;
+        break;
+      case VideoMode::kBGRA:
+        type = CV_8UC4;
+        break;
+      case VideoMode::kGray:
+      case VideoMode::kMJPEG:
+      default:
+        type = CV_8UC1;
+        break;
+    }
+    return cv::Mat{height, width, type, m_data.data()};
+  }
+
+  int GetStride() const {
+    switch (pixelFormat) {
+      case VideoMode::kYUYV:
+      case VideoMode::kRGB565:
+      case VideoMode::kY16:
+      case VideoMode::kUYVY:
+        return 2 * width;
+      case VideoMode::kBGR:
+        return 3 * width;
+      case VideoMode::kBGRA:
+        return 4 * width;
+      case VideoMode::kGray:
+        return width;
+      case VideoMode::kMJPEG:
+      default:
+        return 0;
+    }
+  }
+
+  cv::_InputArray AsInputArray() { return cv::_InputArray{m_data}; }
+
+  bool Is(int width_, int height_) {
+    return width == width_ && height == height_;
+  }
+  bool Is(int width_, int height_, VideoMode::PixelFormat pixelFormat_) {
+    return width == width_ && height == height_ && pixelFormat == pixelFormat_;
+  }
+  bool Is(int width_, int height_, VideoMode::PixelFormat pixelFormat_,
+          int jpegQuality_) {
+    // Consider +/-5 on JPEG quality to be "close enough"
+    return width == width_ && height == height_ &&
+           pixelFormat == pixelFormat_ &&
+           (pixelFormat != VideoMode::kMJPEG || jpegQuality_ == -1 ||
+            (jpegQuality != -1 && std::abs(jpegQuality - jpegQuality_) <= 5));
+  }
+  bool IsLarger(int width_, int height_) {
+    return width >= width_ && height >= height_;
+  }
+  bool IsLarger(const Image& oth) {
+    return width >= oth.width && height >= oth.height;
+  }
+  bool IsSmaller(int width_, int height_) { return !IsLarger(width_, height_); }
+  bool IsSmaller(const Image& oth) { return !IsLarger(oth); }
+
+ private:
+  std::vector<uchar> m_data;
+
+ public:
+  VideoMode::PixelFormat pixelFormat{VideoMode::kUnknown};
+  int width{0};
+  int height{0};
+  int jpegQuality{-1};
+};
+
+}  // namespace cs
+
+#endif  // CSCORE_IMAGE_H_