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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
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@@ -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);
}