Add raw sources and sinks to cscore (#1670)

In some cases, we don't want the cv requirement to get an image, for instance interop with other versions of opencv This enables getting a raw image, and handling conversions from the user side.
2026-06-19 00:41:43 +00:00 · 2019-05-30 19:12:05 -07:00
parent 7de9477347
commit fb1239a2ad
37 changed files with 2218 additions and 504 deletions
--- a/cscore/java-examples/RawCVMatSink.java
+++ b/cscore/java-examples/RawCVMatSink.java
@@ -0,0 +1,96 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore;
+
+import java.nio.ByteBuffer;
+
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+
+import edu.wpi.cscore.VideoMode.PixelFormat;
+import edu.wpi.cscore.raw.RawFrame;
+
+public class RawCVMatSink extends ImageSink {
+  RawFrame frame = new RawFrame();
+  Mat tmpMat;
+  ByteBuffer origByteBuffer;
+  int width;
+  int height;
+  int pixelFormat;
+  int bgrValue = PixelFormat.kBGR.getValue();
+
+  private int getCVFormat(PixelFormat pixelFormat) {
+    int type = 0;
+    switch (pixelFormat) {
+    case kYUYV:
+    case kRGB565:
+      type = CvType.CV_8UC2;
+      break;
+    case kBGR:
+      type = CvType.CV_8UC3;
+      break;
+    case kGray:
+    case kMJPEG:
+    default:
+      type = CvType.CV_8UC1;
+      break;
+    }
+    return type;
+  }
+
+  /**
+   * Create a sink for accepting OpenCV images.
+   * WaitForFrame() must be called on the created sink to get each new
+   * image.
+   *
+   * @param name Source name (arbitrary unique identifier)
+   */
+  public RawCVMatSink(String name) {
+    super(CameraServerJNI.createRawSink(name));
+  }
+
+  /**
+   * Wait for the next frame and get the image.
+   * Times out (returning 0) after 0.225 seconds.
+   * The provided image will have three 3-bit channels stored in BGR order.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error
+   *         message)
+   */
+  public long grabFrame(Mat image) {
+    return grabFrame(image, 0.225);
+  }
+
+  /**
+   * Wait for the next frame and get the image.
+   * Times out (returning 0) after timeout seconds.
+   * The provided image will have three 3-bit channels stored in BGR order.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error
+   *         message); the frame time is in 1 us increments.
+   */
+  public long grabFrame(Mat image, double timeout) {
+    frame.setWidth(0);
+    frame.setHeight(0);
+    frame.setPixelFormat(bgrValue);
+    long rv = CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
+    if (rv <= 0) {
+      return rv;
+    }
+
+    if (frame.getDataByteBuffer() != origByteBuffer || width != frame.getWidth() || height != frame.getHeight() || pixelFormat != frame.getPixelFormat()) {
+      origByteBuffer = frame.getDataByteBuffer();
+      height = frame.getHeight();
+      width = frame.getWidth();
+      pixelFormat = frame.getPixelFormat();
+      tmpMat = new Mat(frame.getHeight(), frame.getWidth(), getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)), origByteBuffer);
+    }
+    tmpMat.copyTo(image);
+    return rv;
+  }
+}