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[wpiutil] Move RawFrame to wpiutil; add generation of RawFrame for AprilTags (#5923)

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This commit is contained in:
Drew Williams
2023-11-23 13:55:10 -05:00
committed by GitHub
parent 437cc91af5
commit ca81ced409
23 changed files with 300 additions and 155 deletions
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18
cscore/src/main/native/cpp/RawSinkImpl.cpp
View File

@@ -40,7 +40,7 @@ void RawSinkImpl::Stop() {
}
}
uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image) {
uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image) {
SetEnabled(true);
auto source = GetSource();
@@ -60,7 +60,7 @@ uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image) {
return GrabFrameImpl(image, frame);
}
uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image, double timeout) {
uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout) {
SetEnabled(true);
auto source = GetSource();
@@ -80,11 +80,11 @@ uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image, double timeout) {
return GrabFrameImpl(image, frame);
}
uint64_t RawSinkImpl::GrabFrameImpl(CS_RawFrame& rawFrame,
uint64_t RawSinkImpl::GrabFrameImpl(WPI_RawFrame& rawFrame,
Frame& incomingFrame) {
Image* newImage = nullptr;
if (rawFrame.pixelFormat == CS_PixelFormat::CS_PIXFMT_UNKNOWN) {
if (rawFrame.pixelFormat == WPI_PixelFormat::WPI_PIXFMT_UNKNOWN) {
// Always get incoming image directly on unknown
newImage = incomingFrame.GetExistingImage(0);
} else {
@@ -106,7 +106,7 @@ uint64_t RawSinkImpl::GrabFrameImpl(CS_RawFrame& rawFrame,
return 0;
}
CS_AllocateRawFrameData(&rawFrame, newImage->size());
WPI_AllocateRawFrameData(&rawFrame, newImage->size());
rawFrame.height = newImage->height;
rawFrame.width = newImage->width;
rawFrame.pixelFormat = newImage->pixelFormat;
@@ -159,7 +159,7 @@ CS_Sink CreateRawSinkCallback(std::string_view name,
inst.telemetry, processFrame));
}
uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status) {
uint64_t GrabSinkFrame(CS_Sink sink, WPI_RawFrame& image, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_RAW) {
*status = CS_INVALID_HANDLE;
@@ -168,7 +168,7 @@ uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status) {
return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image);
}
uint64_t GrabSinkFrameTimeout(CS_Sink sink, CS_RawFrame& image, double timeout,
uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_RAW) {
@@ -192,12 +192,12 @@ CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
name, [=](uint64_t time) { processFrame(data, time); }, status);
}
uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct CS_RawFrame* image,
uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct WPI_RawFrame* image,
CS_Status* status) {
return cs::GrabSinkFrame(sink, *image, status);
}
uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct CS_RawFrame* image,
uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* image,
double timeout, CS_Status* status) {
return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
}

6
cscore/src/main/native/cpp/RawSinkImpl.h
View File

@@ -32,13 +32,13 @@ class RawSinkImpl : public SinkImpl {
void Stop();
uint64_t GrabFrame(CS_RawFrame& frame);
uint64_t GrabFrame(CS_RawFrame& frame, double timeout);
uint64_t GrabFrame(WPI_RawFrame& frame);
uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
private:
void ThreadMain();
uint64_t GrabFrameImpl(CS_RawFrame& rawFrame, Frame& incomingFrame);
uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);
std::atomic_bool m_active; // set to false to terminate threads
std::thread m_thread;

6
cscore/src/main/native/cpp/RawSourceImpl.cpp
View File

@@ -21,7 +21,7 @@ RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
RawSourceImpl::~RawSourceImpl() = default;
void RawSourceImpl::PutFrame(const CS_RawFrame& image) {
void RawSourceImpl::PutFrame(const WPI_RawFrame& image) {
int type;
switch (image.pixelFormat) {
case VideoMode::kYUYV:
@@ -57,7 +57,7 @@ CS_Source CreateRawSource(std::string_view name, const VideoMode& mode,
inst.telemetry, mode));
}
void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
void PutSourceFrame(CS_Source source, const WPI_RawFrame& image,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_RAW) {
@@ -75,7 +75,7 @@ CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
status);
}
void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
void CS_PutRawSourceFrame(CS_Source source, const struct WPI_RawFrame* image,
CS_Status* status) {
return cs::PutSourceFrame(source, *image, status);
}

2
cscore/src/main/native/cpp/RawSourceImpl.h
View File

@@ -25,7 +25,7 @@ class RawSourceImpl : public ConfigurableSourceImpl {
~RawSourceImpl() override;
// Raw-specific functions
void PutFrame(const CS_RawFrame& image);
void PutFrame(const WPI_RawFrame& image);
private:
std::atomic_bool m_connected{true};

25
cscore/src/main/native/cpp/cscore_c.cpp
View File

@@ -181,7 +181,7 @@ CS_Bool CS_SetSourceVideoMode(CS_Source source, const CS_VideoMode* mode,
}
CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
enum CS_PixelFormat pixelFormat,
enum WPI_PixelFormat pixelFormat,
int width, int height, int fps,
CS_Status* status) {
return cs::SetSourceVideoMode(
@@ -193,7 +193,7 @@ CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
}
CS_Bool CS_SetSourcePixelFormat(CS_Source source,
enum CS_PixelFormat pixelFormat,
enum WPI_PixelFormat pixelFormat,
CS_Status* status) {
return cs::SetSourcePixelFormat(
source,
@@ -541,25 +541,4 @@ void CS_FreeNetworkInterfaces(char** interfaces, int count) {
std::free(interfaces);
}
void CS_AllocateRawFrameData(CS_RawFrame* frame, int requestedSize) {
if (frame->dataLength >= requestedSize) {
return;
}
if (frame->data) {
frame->data =
static_cast<char*>(wpi::safe_realloc(frame->data, requestedSize));
} else {
frame->data = static_cast<char*>(wpi::safe_malloc(requestedSize));
}
frame->dataLength = requestedSize;
}
void CS_FreeRawFrameData(CS_RawFrame* frame) {
if (frame->data) {
std::free(frame->data);
frame->data = nullptr;
frame->dataLength = 0;
}
}
} // extern "C"

46
cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
View File

@@ -10,7 +10,6 @@
#include <wpi/SmallString.h>
#include <wpi/jni_util.h>
#include "cscore_cpp.h"
#include "cscore_cv.h"
#include "cscore_raw.h"
#include "cscore_runloop.h"
@@ -43,8 +42,7 @@ static JNIEnv* listenerEnv = nullptr;
static const JClassInit classes[] = {
{"edu/wpi/first/cscore/UsbCameraInfo", &usbCameraInfoCls},
{"edu/wpi/first/cscore/VideoMode", &videoModeCls},
{"edu/wpi/first/cscore/VideoEvent", &videoEventCls},
{"edu/wpi/first/cscore/raw/RawFrame", &rawFrameCls}};
{"edu/wpi/first/cscore/VideoEvent", &videoEventCls}};
static const JExceptionInit exceptions[] = {
{"edu/wpi/first/cscore/VideoException", &videoEx},
@@ -1233,7 +1231,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrameBB
(JNIEnv* env, jclass, jint source, jobject byteBuffer, jint width,
jint height, jint pixelFormat, jint totalData)
{
CS_RawFrame rawFrame;
WPI_RawFrame rawFrame;
rawFrame.data =
reinterpret_cast<char*>(env->GetDirectBufferAddress(byteBuffer));
rawFrame.totalData = totalData;
@@ -1255,7 +1253,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrame
(JNIEnv* env, jclass, jint source, jlong ptr, jint width, jint height,
jint pixelFormat, jint totalData)
{
CS_RawFrame rawFrame;
WPI_RawFrame rawFrame;
rawFrame.data = reinterpret_cast<char*>(static_cast<intptr_t>(ptr));
rawFrame.totalData = totalData;
rawFrame.pixelFormat = pixelFormat;
@@ -1725,7 +1723,7 @@ Java_edu_wpi_first_cscore_CameraServerCvJNI_grabSinkFrameTimeout
static void SetRawFrameData(JNIEnv* env, jobject rawFrameObj,
jobject byteBuffer, bool didChangeDataPtr,
const CS_RawFrame& frame) {
const WPI_RawFrame& frame) {
static jmethodID setMethod =
env->GetMethodID(rawFrameCls, "setData", "(Ljava/nio/ByteBuffer;JIIII)V");
jlong framePtr = static_cast<jlong>(reinterpret_cast<intptr_t>(frame.data));
@@ -1750,8 +1748,8 @@ Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameImpl
(JNIEnv* env, jclass, jint sink, jobject rawFrameObj, jlong rawFramePtr,
jobject byteBuffer, jint width, jint height, jint pixelFormat)
{
CS_RawFrame* ptr =
reinterpret_cast<CS_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
WPI_RawFrame* ptr =
reinterpret_cast<WPI_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
auto origDataPtr = ptr->data;
ptr->width = width;
ptr->height = height;
@@ -1776,8 +1774,8 @@ Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameTimeoutImpl
jobject byteBuffer, jint width, jint height, jint pixelFormat,
jdouble timeout)
{
CS_RawFrame* ptr =
reinterpret_cast<CS_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
WPI_RawFrame* ptr =
reinterpret_cast<WPI_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
auto origDataPtr = ptr->data;
ptr->width = width;
ptr->height = height;
@@ -2201,34 +2199,6 @@ Java_edu_wpi_first_cscore_CameraServerJNI_setLogger
minLevel);
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: allocateRawFrame
* Signature: ()J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_cscore_CameraServerJNI_allocateRawFrame
(JNIEnv*, jclass)
{
cs::RawFrame* rawFrame = new cs::RawFrame{};
intptr_t rawFrameIntPtr = reinterpret_cast<intptr_t>(rawFrame);
return static_cast<jlong>(rawFrameIntPtr);
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: freeRawFrame
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_cscore_CameraServerJNI_freeRawFrame
(JNIEnv*, jclass, jlong rawFrame)
{
cs::RawFrame* ptr =
reinterpret_cast<cs::RawFrame*>(static_cast<intptr_t>(rawFrame));
delete ptr;
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: runMainRunLoop