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[cscore] Add BGRA support (#6365)

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This commit is contained in:
Thad House
2024-02-12 23:42:17 -08:00
committed by GitHub
parent fb947fe998
commit 9ed0631ec9
17 changed files with 371 additions and 129 deletions
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83
cscore/src/main/native/cpp/Frame.cpp
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@@ -314,6 +314,54 @@ Image* Frame::ConvertImpl(Image* image, VideoMode::PixelFormat pixelFormat,
}
}
break;
case VideoMode::kBGRA:
// If source is RGB565, YUYV, UYVY, Gray or Y16, need to convert to BGR
// first
if (cur->pixelFormat == VideoMode::kRGB565) {
// Check to see if BGR version already exists...
if (Image* newImage =
GetExistingImage(cur->width, cur->height, VideoMode::kBGR)) {
cur = newImage;
} else {
cur = ConvertRGB565ToBGR(cur);
}
} else if (cur->pixelFormat == VideoMode::kYUYV) {
// Check to see if BGR version already exists...
if (Image* newImage =
GetExistingImage(cur->width, cur->height, VideoMode::kBGR)) {
cur = newImage;
} else {
cur = ConvertYUYVToBGR(cur);
}
} else if (cur->pixelFormat == VideoMode::kUYVY) {
// Check to see if BGR version already exists...
if (Image* newImage =
GetExistingImage(cur->width, cur->height, VideoMode::kBGR)) {
cur = newImage;
} else {
cur = ConvertUYVYToBGR(cur);
}
} else if (cur->pixelFormat == VideoMode::kGray) {
// Check to see if BGR version already exists...
if (Image* newImage =
GetExistingImage(cur->width, cur->height, VideoMode::kBGR)) {
cur = newImage;
} else {
cur = ConvertGrayToBGR(cur);
}
} else if (cur->pixelFormat == VideoMode::kY16) {
// Check to see if BGR version already exists...
if (Image* newImage =
GetExistingImage(cur->width, cur->height, VideoMode::kBGR)) {
cur = newImage;
} else if (Image* newImage = GetExistingImage(cur->width, cur->height,
VideoMode::kGray)) {
cur = ConvertGrayToBGR(newImage);
} else {
cur = ConvertGrayToBGR(ConvertY16ToGray(cur));
}
}
return ConvertBGRToBGRA(cur);
case VideoMode::kYUYV:
case VideoMode::kUYVY:
default:
@@ -664,6 +712,28 @@ Image* Frame::ConvertY16ToGray(Image* image) {
return rv;
}
Image* Frame::ConvertBGRToBGRA(Image* image) {
if (!image || image->pixelFormat != VideoMode::kBGR) {
return nullptr;
}
// Allocate a RGB565 image
auto newImage =
m_impl->source.AllocImage(VideoMode::kBGRA, image->width, image->height,
image->width * image->height * 4);
// Convert
cv::cvtColor(image->AsMat(), newImage->AsMat(), cv::COLOR_BGR2BGRA);
// Save the result
Image* rv = newImage.release();
if (m_impl) {
std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
}
Image* Frame::GetImageImpl(int width, int height,
VideoMode::PixelFormat pixelFormat,
int requiredJpegQuality, int defaultJpegQuality) {
@@ -727,3 +797,16 @@ void Frame::ReleaseFrame() {
m_impl->source.ReleaseFrameImpl(std::unique_ptr<Impl>(m_impl));
m_impl = nullptr;
}
namespace cs {
std::unique_ptr<Image> CreateImageFromBGRA(cs::SourceImpl* source, size_t width,
size_t height, size_t stride,
const uint8_t* data) {
cv::Mat finalImage{static_cast<int>(height), static_cast<int>(width), CV_8UC4,
const_cast<uint8_t*>(data), stride};
std::unique_ptr<Image> dest = source->AllocImage(
VideoMode::PixelFormat::kBGR, width, height, width * height * 3);
cv::cvtColor(finalImage, dest->AsMat(), cv::COLOR_BGRA2BGR);
return dest;
}
} // namespace cs

5
cscore/src/main/native/cpp/Frame.h
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@@ -22,6 +22,10 @@ namespace cs {
class SourceImpl;
std::unique_ptr<Image> CreateImageFromBGRA(cs::SourceImpl* source, size_t width,
size_t height, size_t stride,
const uint8_t* data);
class Frame {
friend class SourceImpl;
@@ -206,6 +210,7 @@ class Frame {
Image* ConvertGrayToMJPEG(Image* image, int quality);
Image* ConvertGrayToY16(Image* image);
Image* ConvertY16ToGray(Image* image);
Image* ConvertBGRToBGRA(Image* image);
Image* GetImage(int width, int height, VideoMode::PixelFormat pixelFormat) {
if (pixelFormat == VideoMode::kMJPEG) {

5
cscore/src/main/native/cpp/Image.h
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@@ -63,6 +63,9 @@ class Image {
case VideoMode::kBGR:
type = CV_8UC3;
break;
case VideoMode::kBGRA:
type = CV_8UC4;
break;
case VideoMode::kGray:
case VideoMode::kMJPEG:
default:
@@ -81,6 +84,8 @@ class Image {
return 2 * width;
case VideoMode::kBGR:
return 3 * width;
case VideoMode::kBGRA:
return 4 * width;
case VideoMode::kGray:
return width;
case VideoMode::kMJPEG:

3
cscore/src/main/native/cpp/MjpegServerImpl.cpp
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@@ -457,6 +457,9 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
case VideoMode::kBGR:
os << "BGR";
break;
case VideoMode::kBGRA:
os << "BGRA";
break;
case VideoMode::kGray:
os << "gray";
break;

29
cscore/src/main/native/cpp/RawSourceImpl.cpp
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@@ -22,31 +22,10 @@ RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
RawSourceImpl::~RawSourceImpl() = default;
void RawSourceImpl::PutFrame(const WPI_RawFrame& image) {
int type;
switch (image.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::kGray:
case VideoMode::kMJPEG:
default:
type = CV_8UC1;
break;
}
cv::Mat finalImage{image.height, image.width, type, image.data,
static_cast<size_t>(image.stride)};
std::unique_ptr<Image> dest =
AllocImage(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
image.width, image.height, image.size);
finalImage.copyTo(dest->AsMat());
SourceImpl::PutFrame(std::move(dest), wpi::Now());
auto currentTime = wpi::Now();
std::string_view data_view{reinterpret_cast<char*>(image.data), image.size};
SourceImpl::PutFrame(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
image.width, image.height, data_view, currentTime);
}
namespace cs {

14
cscore/src/main/native/cpp/SourceImpl.cpp
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@@ -196,6 +196,8 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
mode.pixelFormat = cs::VideoMode::kRGB565;
} else if (wpi::equals_lower(str, "bgr")) {
mode.pixelFormat = cs::VideoMode::kBGR;
} else if (wpi::equals_lower(str, "bgra")) {
mode.pixelFormat = cs::VideoMode::kBGRA;
} else if (wpi::equals_lower(str, "gray")) {
mode.pixelFormat = cs::VideoMode::kGray;
} else if (wpi::equals_lower(str, "y16")) {
@@ -361,6 +363,9 @@ wpi::json SourceImpl::GetConfigJsonObject(CS_Status* status) {
case VideoMode::kBGR:
pixelFormat = "bgr";
break;
case VideoMode::kBGRA:
pixelFormat = "bgra";
break;
case VideoMode::kGray:
pixelFormat = "gray";
break;
@@ -450,6 +455,15 @@ std::unique_ptr<Image> SourceImpl::AllocImage(
void SourceImpl::PutFrame(VideoMode::PixelFormat pixelFormat, int width,
int height, std::string_view data, Frame::Time time) {
if (pixelFormat == VideoMode::PixelFormat::kBGRA) {
// Write BGRA as BGR to save a copy
auto image =
CreateImageFromBGRA(this, width, height, width * 4,
reinterpret_cast<const uint8_t*>(data.data()));
PutFrame(std::move(image), time);
return;
}
auto image = AllocImage(pixelFormat, width, height, data.size());
// Copy in image data

1
cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
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@@ -12,7 +12,6 @@
#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
#include "cscore_cv.h"
#include "cscore_raw.h"
#include "cscore_runloop.h"
#include "edu_wpi_first_cscore_CameraServerJNI.h"