Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Support per-stream resolution settings.

Browse Source 
The code now automatically resizes as required.

This change also disconnects camera resolution settings from MJPEG
stream connections; setting the camera resolution can now only be done
via code.
This commit is contained in:
Peter Johnson
2016-12-20 20:48:31 -08:00
parent 8501b7c9e2
commit 80abf6bf24
14 changed files with 727 additions and 200 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
src/CvSinkImpl.cpp
View File

@@ -44,39 +44,28 @@ void CvSinkImpl::Stop() {
uint64_t CvSinkImpl::GrabFrame(cv::Mat& image) {
SetEnabled(true);
auto source = GetSource();
if (!source) {
// Source disconnected; sleep for one second
std::this_thread::sleep_for(std::chrono::seconds(1));
return 0;
}
auto frame = source->GetNextFrame(); // blocks
if (!frame) {
// Bad frame; sleep for 20 ms so we don't consume all processor time.
std::this_thread::sleep_for(std::chrono::milliseconds(20));
return 0; // signal error
}
switch (frame.GetPixelFormat()) {
case VideoMode::kMJPEG:
cv::imdecode(cv::InputArray{frame.data(), static_cast<int>(frame.size())},
cv::IMREAD_COLOR, &image);
// Check to see if we successfully decoded
if (image.cols != frame.width() || image.rows != frame.height()) return 0;
break;
case VideoMode::kYUYV:
cv::cvtColor(cv::Mat{frame.height(), frame.width(), CV_8UC2,
frame.data()},
image, cv::COLOR_YUV2BGR_YUYV);
break;
case VideoMode::kRGB565:
cv::cvtColor(cv::Mat{frame.height(), frame.width(), CV_8UC2,
frame.data()},
image, cv::COLOR_BGR5652RGB);
break;
default:
return 0;
if (!frame.GetCv(image)) {
// Shouldn't happen, but just in case...
std::this_thread::sleep_for(std::chrono::milliseconds(20));
return 0;
}
return frame.time();
return frame.GetTime();
}
// Send HTTP response and a stream of JPG-frames