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

wpiutil/src/main/native/include/wpi/RawFrame.h

@@ -0,0 +1,63 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#ifndef WPIUTIL_WPI_RAWFRAME_H_
+#define WPIUTIL_WPI_RAWFRAME_H_
+
+/**
+ * Raw Frame
+ */
+typedef struct WPI_RawFrame {  // NOLINT
+  char* data;
+  int dataLength;
+  int pixelFormat;
+  int width;
+  int height;
+  int totalData;
+} WPI_RawFrame;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Pixel formats
+ */
+enum WPI_PixelFormat {
+  WPI_PIXFMT_UNKNOWN = 0,
+  WPI_PIXFMT_MJPEG,
+  WPI_PIXFMT_YUYV,
+  WPI_PIXFMT_RGB565,
+  WPI_PIXFMT_BGR,
+  WPI_PIXFMT_GRAY,
+  WPI_PIXFMT_Y16,
+  WPI_PIXFMT_UYVY
+};
+
+void WPI_AllocateRawFrameData(WPI_RawFrame* frame, int requestedSize);
+void WPI_FreeRawFrameData(WPI_RawFrame* frame);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#ifdef __cplusplus
+namespace wpi {
+struct RawFrame : public WPI_RawFrame {
+  RawFrame() {
+    data = nullptr;
+    dataLength = 0;
+    pixelFormat = WPI_PIXFMT_UNKNOWN;
+    width = 0;
+    height = 0;
+    totalData = 0;
+  }
+
+  ~RawFrame() { WPI_FreeRawFrameData(this); }
+};
+}  // namespace wpi
+
+#endif
+
+#endif  // WPIUTIL_WPI_RAWFRAME_H_