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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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100
cscore/src/main/native/cpp/CvSourceImpl.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. */
@@ -25,37 +25,10 @@ using namespace cs;
CvSourceImpl::CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const VideoMode& mode)
: SourceImpl{name, logger, notifier, telemetry} {
m_mode = mode;
m_videoModes.push_back(m_mode);
}
: ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
CvSourceImpl::~CvSourceImpl() {}
void CvSourceImpl::Start() {
m_notifier.NotifySource(*this, CS_SOURCE_CONNECTED);
m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
m_notifier.NotifySourceVideoMode(*this, m_mode);
}
bool CvSourceImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
{
std::lock_guard<wpi::mutex> lock(m_mutex);
m_mode = mode;
m_videoModes[0] = mode;
}
m_notifier.NotifySourceVideoMode(*this, mode);
return true;
}
void CvSourceImpl::NumSinksChanged() {
// ignore
}
void CvSourceImpl::NumSinksEnabledChanged() {
// ignore
}
void CvSourceImpl::PutFrame(cv::Mat& image) {
// We only support 8-bit images; convert if necessary.
cv::Mat finalImage;
@@ -89,61 +62,6 @@ void CvSourceImpl::PutFrame(cv::Mat& image) {
SourceImpl::PutFrame(std::move(dest), wpi::Now());
}
void CvSourceImpl::NotifyError(const wpi::Twine& msg) {
PutError(msg, wpi::Now());
}
int CvSourceImpl::CreateProperty(const wpi::Twine& name, CS_PropertyKind kind,
int minimum, int maximum, int step,
int defaultValue, int value) {
std::lock_guard<wpi::mutex> lock(m_mutex);
int ndx = CreateOrUpdateProperty(name,
[=] {
return wpi::make_unique<PropertyImpl>(
name, kind, minimum, maximum, step,
defaultValue, value);
},
[&](PropertyImpl& prop) {
// update all but value
prop.propKind = kind;
prop.minimum = minimum;
prop.maximum = maximum;
prop.step = step;
prop.defaultValue = defaultValue;
value = prop.value;
});
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name, ndx,
kind, value, wpi::Twine{});
return ndx;
}
int CvSourceImpl::CreateProperty(
const wpi::Twine& name, CS_PropertyKind kind, int minimum, int maximum,
int step, int defaultValue, int value,
std::function<void(CS_Property property)> onChange) {
// TODO
return 0;
}
void CvSourceImpl::SetEnumPropertyChoices(int property,
wpi::ArrayRef<std::string> choices,
CS_Status* status) {
std::lock_guard<wpi::mutex> lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
return;
}
if (prop->propKind != CS_PROP_ENUM) {
*status = CS_WRONG_PROPERTY_TYPE;
return;
}
prop->enumChoices = choices;
m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
prop->name, property, CS_PROP_ENUM,
prop->value, wpi::Twine{});
}
namespace cs {
CS_Source CreateCvSource(const wpi::Twine& name, const VideoMode& mode,
@@ -163,10 +81,12 @@ void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status) {
static_cast<CvSourceImpl&>(*data->source).PutFrame(image);
}
static constexpr unsigned SourceMask = CS_SINK_CV | CS_SINK_RAW;
void NotifySourceError(CS_Source source, const wpi::Twine& msg,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_CV) {
if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -175,7 +95,7 @@ void NotifySourceError(CS_Source source, const wpi::Twine& msg,
void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_CV) {
if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -185,7 +105,7 @@ void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
void SetSourceDescription(CS_Source source, const wpi::Twine& description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_CV) {
if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -197,7 +117,7 @@ CS_Property CreateSourceProperty(CS_Source source, const wpi::Twine& name,
int step, int defaultValue, int value,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_CV) {
if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return -1;
}
@@ -212,7 +132,7 @@ CS_Property CreateSourcePropertyCallback(
int maximum, int step, int defaultValue, int value,
std::function<void(CS_Property property)> onChange, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_CV) {
if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return -1;
}
@@ -226,7 +146,7 @@ void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
wpi::ArrayRef<std::string> choices,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
if (!data || data->kind != CS_SOURCE_CV) {
if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}