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.
2026-06-20 00:51:42 +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/src/main/native/cpp/RawSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSourceImpl.cpp
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RawSourceImpl.h"
+
+#include <wpi/timestamp.h>
+
+#include "Handle.h"
+#include "Instance.h"
+#include "Log.h"
+#include "Notifier.h"
+#include "cscore_raw.h"
+
+using namespace cs;
+
+RawSourceImpl::RawSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
+                             Notifier& notifier, Telemetry& telemetry,
+                             const VideoMode& mode)
+    : ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
+
+RawSourceImpl::~RawSourceImpl() {}
+
+void RawSourceImpl::PutFrame(const CS_RawFrame& image) {
+  int type;
+  switch (image.pixelFormat) {
+    case VideoMode::kYUYV:
+    case VideoMode::kRGB565:
+      type = CV_8UC2;
+      break;
+    case VideoMode::kBGR:
+      type = CV_8UC3;
+      break;
+    case VideoMode::kGray:
+    case VideoMode::kMJPEG:
+    default:
+      type = CV_8UC1;
+      break;
+  }
+  cv::Mat finalImage{image.height, image.width, type, image.data};
+  std::unique_ptr<Image> dest =
+      AllocImage(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
+                 image.width, image.height, image.totalData);
+  finalImage.copyTo(dest->AsMat());
+
+  SourceImpl::PutFrame(std::move(dest), wpi::Now());
+}
+
+namespace cs {
+CS_Source CreateRawSource(const wpi::Twine& name, const VideoMode& mode,
+                          CS_Status* status) {
+  auto& inst = Instance::GetInstance();
+  return inst.CreateSource(CS_SOURCE_RAW, std::make_shared<RawSourceImpl>(
+                                              name, inst.logger, inst.notifier,
+                                              inst.telemetry, mode));
+}
+
+void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
+                    CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || data->kind != CS_SOURCE_RAW) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  static_cast<RawSourceImpl&>(*data->source).PutFrame(image);
+}
+}  // namespace cs
+
+extern "C" {
+CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
+                             CS_Status* status) {
+  return cs::CreateRawSource(name, static_cast<const cs::VideoMode&>(*mode),
+                             status);
+}
+
+void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
+                          CS_Status* status) {
+  return cs::PutSourceFrame(source, *image, status);
+}
+}  // extern "C"