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[cscore] Use Raw for CvSink and CvSource (#6364)

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Eventually we want to get to a point where we can remove OpenCV from the internals of cscore. The start to doing that is converting the existing CvSource and CvSink methods to RawFrame.

For CvSource, this is 100% a free operation. We can do everything the existing code could have done (with one small exception we can fairly easily fix).

For CvSink, by defaut this change would incur one extra copy, but no extra allocations. A set of direct methods were added to CvSink to add a method to avoid this extra copy.
This commit is contained in:
Thad House
2024-02-12 22:33:03 -08:00
committed by GitHub
parent 4f9d73783b
commit fb947fe998
28 changed files with 666 additions and 1203 deletions
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156
cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
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@@ -6,7 +6,6 @@
#include <span>
#include <fmt/format.h>
#include <opencv2/core/core.hpp>
#define WPI_RAWFRAME_JNI
#include <wpi/RawFrame.h>
@@ -82,32 +81,6 @@ static void ListenerOnExit() {
jvm->DetachCurrentThread();
}
/// throw java exception
static void ThrowJavaException(JNIEnv* env, const std::exception* e) {
wpi::SmallString<128> what;
jclass je = nullptr;
if (e) {
const char* exception_type = "std::exception";
if (dynamic_cast<const cv::Exception*>(e)) {
exception_type = "cv::Exception";
je = env->FindClass("org/opencv/core/CvException");
}
what = exception_type;
what += ": ";
what += e->what();
} else {
what = "unknown exception";
}
if (!je) {
je = exceptionEx;
}
env->ThrowNew(je, what.c_str());
}
extern "C" {
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
@@ -593,40 +566,15 @@ Java_edu_wpi_first_cscore_CameraServerJNI_createHttpCameraMulti
return val;
}
/*
* Class: edu_wpi_first_cscore_CameraServerCvJNI
* Method: createCvSource
* Signature: (Ljava/lang/String;IIII)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_cscore_CameraServerCvJNI_createCvSource
(JNIEnv* env, jclass, jstring name, jint pixelFormat, jint width, jint height,
jint fps)
{
if (!name) {
nullPointerEx.Throw(env, "name cannot be null");
return 0;
}
CS_Status status = 0;
auto val = cs::CreateCvSource(
JStringRef{env, name}.str(),
cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(pixelFormat),
static_cast<int>(width), static_cast<int>(height),
static_cast<int>(fps)},
&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: createRawSource
* Signature: (Ljava/lang/String;IIII)I
* Signature: (Ljava/lang/String;ZIIII)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_cscore_CameraServerJNI_createRawSource
(JNIEnv* env, jclass, jstring name, jint pixelFormat, jint width, jint height,
jint fps)
(JNIEnv* env, jclass, jstring name, jboolean isCv, jint pixelFormat,
jint width, jint height, jint fps)
{
if (!name) {
nullPointerEx.Throw(env, "name cannot be null");
@@ -634,7 +582,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_createRawSource
}
CS_Status status = 0;
auto val = cs::CreateRawSource(
JStringRef{env, name}.str(),
JStringRef{env, name}.str(), isCv,
cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(pixelFormat),
static_cast<int>(width), static_cast<int>(height),
static_cast<int>(fps)},
@@ -1202,27 +1150,6 @@ Java_edu_wpi_first_cscore_CameraServerJNI_getHttpCameraUrls
return MakeJStringArray(env, arr);
}
/*
* Class: edu_wpi_first_cscore_CameraServerCvJNI
* Method: putSourceFrame
* Signature: (IJ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_cscore_CameraServerCvJNI_putSourceFrame
(JNIEnv* env, jclass, jint source, jlong imageNativeObj)
{
try {
cv::Mat& image = *((cv::Mat*)imageNativeObj);
CS_Status status = 0;
cs::PutSourceFrame(source, image, &status);
CheckStatus(env, status);
} catch (const std::exception& e) {
ThrowJavaException(env, &e);
} catch (...) {
ThrowJavaException(env, nullptr);
}
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: putRawSourceFrame
@@ -1421,42 +1348,21 @@ Java_edu_wpi_first_cscore_CameraServerJNI_createMjpegServer
return val;
}
/*
* Class: edu_wpi_first_cscore_CameraServerCvJNI
* Method: createCvSink
* Signature: (Ljava/lang/String;I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_cscore_CameraServerCvJNI_createCvSink
(JNIEnv* env, jclass, jstring name, jint pixelFormat)
{
if (!name) {
nullPointerEx.Throw(env, "name cannot be null");
return 0;
}
CS_Status status = 0;
auto val = cs::CreateCvSink(
JStringRef{env, name}.str(),
static_cast<cs::VideoMode::PixelFormat>(pixelFormat), &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: createRawSink
* Signature: (Ljava/lang/String;)I
* Signature: (Ljava/lang/String;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_cscore_CameraServerJNI_createRawSink
(JNIEnv* env, jclass, jstring name)
(JNIEnv* env, jclass, jstring name, jboolean isCv)
{
if (!name) {
nullPointerEx.Throw(env, "name cannot be null");
return 0;
}
CS_Status status = 0;
auto val = cs::CreateRawSink(JStringRef{env, name}.str(), &status);
auto val = cs::CreateRawSink(JStringRef{env, name}.str(), isCv, &status);
CheckStatus(env, status);
return val;
}
@@ -1707,54 +1613,6 @@ Java_edu_wpi_first_cscore_CameraServerJNI_setSinkDescription
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_cscore_CameraServerCvJNI
* Method: grabSinkFrame
* Signature: (IJ)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_cscore_CameraServerCvJNI_grabSinkFrame
(JNIEnv* env, jclass, jint sink, jlong imageNativeObj)
{
try {
cv::Mat& image = *((cv::Mat*)imageNativeObj);
CS_Status status = 0;
auto rv = cs::GrabSinkFrame(sink, image, &status);
CheckStatus(env, status);
return rv;
} catch (const std::exception& e) {
ThrowJavaException(env, &e);
return 0;
} catch (...) {
ThrowJavaException(env, nullptr);
return 0;
}
}
/*
* Class: edu_wpi_first_cscore_CameraServerCvJNI
* Method: grabSinkFrameTimeout
* Signature: (IJD)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_cscore_CameraServerCvJNI_grabSinkFrameTimeout
(JNIEnv* env, jclass, jint sink, jlong imageNativeObj, jdouble timeout)
{
try {
cv::Mat& image = *((cv::Mat*)imageNativeObj);
CS_Status status = 0;
auto rv = cs::GrabSinkFrameTimeout(sink, image, timeout, &status);
CheckStatus(env, status);
return rv;
} catch (const std::exception& e) {
ThrowJavaException(env, &e);
return 0;
} catch (...) {
ThrowJavaException(env, nullptr);
return 0;
}
}
/*
* Class: edu_wpi_first_cscore_CameraServerJNI
* Method: grabRawSinkFrame