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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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60
cscore/src/main/native/windows/UsbCameraImpl.cpp
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@@ -21,9 +21,6 @@
#include <Dbt.h>
#include <Dshow.h>
#include <Windows.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <wpi/ConvertUTF.h>
#include <wpi/MemAlloc.h>
#include <wpi/SmallString.h>
@@ -284,6 +281,8 @@ void UsbCameraImpl::ProcessFrame(IMFSample* videoSample,
return;
}
auto currentTime = wpi::Now();
ComPtr<IMFMediaBuffer> buf;
if (!SUCCEEDED(videoSample->ConvertToContiguousBuffer(buf.GetAddressOf()))) {
@@ -339,56 +338,9 @@ void UsbCameraImpl::ProcessFrame(IMFSample* videoSample,
}
}
cv::Mat tmpMat;
std::unique_ptr<Image> dest;
bool doFinalSet = true;
switch (mode.pixelFormat) {
case cs::VideoMode::PixelFormat::kMJPEG: {
// Special case
PutFrame(VideoMode::kMJPEG, mode.width, mode.height,
{reinterpret_cast<char*>(ptr), length}, wpi::Now());
doFinalSet = false;
break;
}
case cs::VideoMode::PixelFormat::kGray:
tmpMat = cv::Mat(mode.height, mode.width, CV_8UC1, ptr, pitch);
dest = AllocImage(VideoMode::kGray, tmpMat.cols, tmpMat.rows,
tmpMat.total());
tmpMat.copyTo(dest->AsMat());
break;
case cs::VideoMode::PixelFormat::kY16:
tmpMat = cv::Mat(mode.height, mode.width, CV_8UC2, ptr, pitch);
dest =
AllocImage(VideoMode::kY16, tmpMat.cols, tmpMat.rows, tmpMat.total());
tmpMat.copyTo(dest->AsMat());
break;
case cs::VideoMode::PixelFormat::kBGR:
tmpMat = cv::Mat(mode.height, mode.width, CV_8UC3, ptr, pitch);
dest = AllocImage(VideoMode::kBGR, tmpMat.cols, tmpMat.rows,
tmpMat.total() * 3);
tmpMat.copyTo(dest->AsMat());
break;
case cs::VideoMode::PixelFormat::kYUYV:
tmpMat = cv::Mat(mode.height, mode.width, CV_8UC2, ptr, pitch);
dest = AllocImage(VideoMode::kYUYV, tmpMat.cols, tmpMat.rows,
tmpMat.total() * 2);
tmpMat.copyTo(dest->AsMat());
break;
case cs::VideoMode::PixelFormat::kUYVY:
tmpMat = cv::Mat(mode.height, mode.width, CV_8UC2, ptr, pitch);
dest = AllocImage(VideoMode::kUYVY, tmpMat.cols, tmpMat.rows,
tmpMat.total() * 2);
tmpMat.copyTo(dest->AsMat());
break;
default:
doFinalSet = false;
break;
}
if (doFinalSet) {
PutFrame(std::move(dest), wpi::Now());
}
std::string_view data_view{reinterpret_cast<char*>(ptr), length};
SourceImpl::PutFrame(static_cast<VideoMode::PixelFormat>(mode.pixelFormat),
mode.width, mode.height, data_view, currentTime);
if (buffer2d) {
buffer2d->Unlock2D();
@@ -480,8 +432,6 @@ static cs::VideoMode::PixelFormat GetFromGUID(const GUID& guid) {
return cs::VideoMode::PixelFormat::kY16;
} else if (IsEqualGUID(guid, MFVideoFormat_YUY2)) {
return cs::VideoMode::PixelFormat::kYUYV;
} else if (IsEqualGUID(guid, MFVideoFormat_RGB24)) {
return cs::VideoMode::PixelFormat::kBGR;
} else if (IsEqualGUID(guid, MFVideoFormat_MJPG)) {
return cs::VideoMode::PixelFormat::kMJPEG;
} else if (IsEqualGUID(guid, MFVideoFormat_RGB565)) {