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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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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 {