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Add raw sources and sinks to cscore (#1670)

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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.
This commit is contained in:
Thad House
2019-05-30 19:12:05 -07:00
committed by Peter Johnson
parent 7de9477347
commit fb1239a2ad
37 changed files with 2218 additions and 504 deletions
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12
cscore/src/main/native/cpp/CvSinkImpl.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 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. */
@@ -138,10 +138,12 @@ CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
inst.telemetry, processFrame));
}
static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_CV) {
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -169,7 +171,7 @@ uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image, double timeout,
std::string GetSinkError(CS_Sink sink, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_CV) {
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return std::string{};
}
@@ -179,7 +181,7 @@ std::string GetSinkError(CS_Sink sink, CS_Status* status) {
wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_CV) {
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
}
@@ -188,7 +190,7 @@ wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
if (!data || data->kind != CS_SINK_CV) {
if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}