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[cameraserver] Add getVideo() pixelFormat overload (#5966)

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This commit is contained in:
Joseph Farkas
2023-11-27 12:51:42 -05:00
committed by GitHub
parent a7eb422662
commit a74db52dae
3 changed files with 94 additions and 0 deletions
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28
cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
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@@ -745,6 +745,34 @@ public final class CameraServer {
return newsink;
}
/**
* Get OpenCV access to the specified camera. This allows you to get images from the camera for
* image processing on the roboRIO.
*
* @param camera Camera (e.g. as returned by startAutomaticCapture).
* @param pixelFormat Desired pixelFormat of the camera
* @return OpenCV sink for the specified camera
*/
public static CvSink getVideo(VideoSource camera, PixelFormat pixelFormat) {
String name = "opencv_" + camera.getName();
synchronized (CameraServer.class) {
VideoSink sink = m_sinks.get(name);
if (sink != null) {
VideoSink.Kind kind = sink.getKind();
if (kind != VideoSink.Kind.kCv) {
throw new VideoException("expected OpenCV sink, but got " + kind);
}
return (CvSink) sink;
}
}
CvSink newsink = new CvSink(name, pixelFormat);
newsink.setSource(camera);
addServer(newsink);
return newsink;
}
/**
* Get OpenCV access to the specified camera. This allows you to get images from the camera for
* image processing on the roboRIO.

44
cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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@@ -622,6 +622,33 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
return newsink;
}
cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera,
cs::VideoMode::PixelFormat pixelFormat) {
auto& inst = ::GetInstance();
wpi::SmallString<64> name{"opencv_"};
name += camera.GetName();
{
std::scoped_lock lock(inst.m_mutex);
auto it = inst.m_sinks.find(name);
if (it != inst.m_sinks.end()) {
auto kind = it->second.GetKind();
if (kind != cs::VideoSink::kCv) {
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError("expected OpenCV sink, but got {}",
static_cast<int>(kind));
return cs::CvSink{};
}
return *static_cast<cs::CvSink*>(&it->second);
}
}
cs::CvSink newsink{name.str(), pixelFormat};
newsink.SetSource(camera);
AddServer(newsink);
return newsink;
}
cs::CvSink CameraServer::GetVideo(std::string_view name) {
auto& inst = ::GetInstance();
cs::VideoSource source;
@@ -638,6 +665,23 @@ cs::CvSink CameraServer::GetVideo(std::string_view name) {
return GetVideo(source);
}
cs::CvSink CameraServer::GetVideo(std::string_view name,
cs::VideoMode::PixelFormat pixelFormat) {
auto& inst = ::GetInstance();
cs::VideoSource source;
{
std::scoped_lock lock(inst.m_mutex);
auto it = inst.m_sources.find(name);
if (it == inst.m_sources.end()) {
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError("could not find camera {}", name);
return cs::CvSink{};
}
source = it->second;
}
return GetVideo(source, pixelFormat);
}
cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
int height) {
::GetInstance();

22
cameraserver/src/main/native/include/cameraserver/CameraServer.h
View File

@@ -191,6 +191,17 @@ class CameraServer {
*/
static cs::CvSink GetVideo(const cs::VideoSource& camera);
/**
* Get OpenCV access to the specified camera. This allows you to get
* images from the camera for image processing on the roboRIO.
*
* @param camera Camera (e.g. as returned by startAutomaticCapture).
* @param pixelFormat The desired pixelFormat of captured frames from the
* camera
*/
static cs::CvSink GetVideo(const cs::VideoSource& camera,
cs::VideoMode::PixelFormat pixelFormat);
/**
* Get OpenCV access to the specified camera. This allows you to get
* images from the camera for image processing on the roboRIO.
@@ -199,6 +210,17 @@ class CameraServer {
*/
static cs::CvSink GetVideo(std::string_view name);
/**
* Get OpenCV access to the specified camera. This allows you to get
* images from the camera for image processing on the roboRIO.
*
* @param name Camera name
* @param pixelFormat The desired pixelFormat of captured frames from the
* camera
*/
static cs::CvSink GetVideo(std::string_view name,
cs::VideoMode::PixelFormat pixelFormat);
/**
* Create a MJPEG stream with OpenCV input. This can be called to pass custom
* annotated images to the dashboard.