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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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46
cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
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@@ -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