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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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20
cscore/src/main/native/cpp/CvSourceImpl.h
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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. */
@@ -18,33 +18,19 @@
#include <wpi/ArrayRef.h>
#include <wpi/Twine.h>
#include "ConfigurableSourceImpl.h"
#include "SourceImpl.h"
namespace cs {
class CvSourceImpl : public SourceImpl {
class CvSourceImpl : public ConfigurableSourceImpl {
public:
CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, const VideoMode& mode);
~CvSourceImpl() override;
void Start() override;
bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
void NumSinksChanged() override;
void NumSinksEnabledChanged() override;
// OpenCV-specific functions
void PutFrame(cv::Mat& image);
void NotifyError(const wpi::Twine& msg);
int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
int maximum, int step, int defaultValue, int value);
int 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);
void SetEnumPropertyChoices(int property, wpi::ArrayRef<std::string> choices,
CS_Status* status);
private:
std::atomic_bool m_connected{true};