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[cscore] Split cscore classes into separate headers

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Fixes #3713.
This commit is contained in:
Peter Johnson
2026-01-04 16:59:02 -08:00
parent f08258f784
commit e9d226491c
77 changed files with 2977 additions and 2721 deletions
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22
cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
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@@ -13,6 +13,8 @@
#include <fmt/format.h>
#include "wpi/cameraserver/CameraServerShared.hpp"
#include "wpi/cs/VideoEvent.hpp"
#include "wpi/cs/VideoListener.hpp"
#include "wpi/nt/BooleanTopic.hpp"
#include "wpi/nt/IntegerTopic.hpp"
#include "wpi/nt/NetworkTable.hpp"
@@ -247,17 +249,17 @@ void Instance::UpdateStreamValues() {
}
}
static std::string PixelFormatToString(int pixelFormat) {
static std::string PixelFormatToString(wpi::util::PixelFormat pixelFormat) {
switch (pixelFormat) {
case cs::VideoMode::PixelFormat::kMJPEG:
case wpi::util::PixelFormat::kMJPEG:
return "MJPEG";
case cs::VideoMode::PixelFormat::kYUYV:
case wpi::util::PixelFormat::kYUYV:
return "YUYV";
case cs::VideoMode::PixelFormat::kRGB565:
case wpi::util::PixelFormat::kRGB565:
return "RGB565";
case cs::VideoMode::PixelFormat::kBGR:
case wpi::util::PixelFormat::kBGR:
return "BGR";
case cs::VideoMode::PixelFormat::kGray:
case wpi::util::PixelFormat::kGray:
return "Gray";
default:
return "Unknown";
@@ -506,7 +508,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
auto& inst = ::GetInstance();
// create a dummy CvSource
cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
cs::CvSource source{name, wpi::util::PixelFormat::kMJPEG, 160, 120, 30};
cs::MjpegServer server = StartAutomaticCapture(source);
inst.m_fixedSources[server.GetHandle()] = source.GetHandle();
@@ -568,7 +570,7 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
}
cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera,
cs::VideoMode::PixelFormat pixelFormat) {
wpi::util::PixelFormat pixelFormat) {
auto& inst = ::GetInstance();
wpi::util::SmallString<64> name{"opencv_"};
name += camera.GetName();
@@ -611,7 +613,7 @@ cs::CvSink CameraServer::GetVideo(std::string_view name) {
}
cs::CvSink CameraServer::GetVideo(std::string_view name,
cs::VideoMode::PixelFormat pixelFormat) {
wpi::util::PixelFormat pixelFormat) {
auto& inst = ::GetInstance();
cs::VideoSource source;
{
@@ -630,7 +632,7 @@ cs::CvSink CameraServer::GetVideo(std::string_view name,
cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
int height) {
::GetInstance();
cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
cs::CvSource source{name, wpi::util::PixelFormat::kMJPEG, width, height, 30};
StartAutomaticCapture(source);
return source;
}

13
cameraserver/src/main/native/include/wpi/cameraserver/CameraServer.hpp
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@@ -6,12 +6,13 @@
#include <stdint.h>
#include <span>
#include <string>
#include <string_view>
#include <vector>
#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/CvSource.hpp"
#include "wpi/cs/MjpegServer.hpp"
#include "wpi/cs/UsbCamera.hpp"
#include "wpi/util/PixelFormat.hpp"
namespace wpi {
@@ -107,7 +108,7 @@ class CameraServer {
* camera
*/
static cs::CvSink GetVideo(const cs::VideoSource& camera,
cs::VideoMode::PixelFormat pixelFormat);
wpi::util::PixelFormat pixelFormat);
/**
* Get OpenCV access to the specified camera. This allows you to get
@@ -126,7 +127,7 @@ class CameraServer {
* camera
*/
static cs::CvSink GetVideo(std::string_view name,
cs::VideoMode::PixelFormat pixelFormat);
wpi::util::PixelFormat pixelFormat);
/**
* Create a MJPEG stream with OpenCV input. This can be called to pass custom

3
cameraserver/src/main/native/include/wpi/vision/VisionRunner.hpp
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@@ -8,7 +8,8 @@
#include <functional>
#include <memory>
#include "wpi/cs/cscore_cv.hpp"
#include "wpi/cs/CvSink.hpp"
#include "wpi/cs/VideoSource.hpp"
#include "wpi/vision/VisionPipeline.hpp"
namespace wpi::vision {