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fb1239a2ad
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.
101 lines
3.2 KiB
C++
101 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <atomic>
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#include <functional>
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#include <memory>
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#include "cscore.h"
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#include "cscore_cv.h"
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#include "vision/VisionPipeline.h"
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namespace frc {
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/**
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* Non-template base class for VisionRunner.
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*/
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class VisionRunnerBase {
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public:
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/**
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* Creates a new vision runner. It will take images from the {@code
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* videoSource}, and call the virtual DoProcess() method.
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*
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* @param videoSource the video source to use to supply images for the
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* pipeline
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*/
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explicit VisionRunnerBase(cs::VideoSource videoSource);
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~VisionRunnerBase();
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VisionRunnerBase(const VisionRunnerBase&) = delete;
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VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
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/**
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* Runs the pipeline one time, giving it the next image from the video source
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* specified in the constructor. This will block until the source either has
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* an image or throws an error. If the source successfully supplied a frame,
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* the pipeline's image input will be set, the pipeline will run, and the
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* listener specified in the constructor will be called to notify it that the
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* pipeline ran. This must be run in a dedicated thread, and cannot be used in
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* the main robot thread because it will freeze the robot program.
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*
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* <p>This method is exposed to allow teams to add additional functionality or
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* have their own ways to run the pipeline. Most teams, however, should just
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* use {@link #runForever} in its own thread using a std::thread.</p>
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*/
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void RunOnce();
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/**
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* A convenience method that calls {@link #runOnce()} in an infinite loop.
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* This must be run in a dedicated thread, and cannot be used in the main
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* robot thread because it will freeze the robot program.
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*
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* <strong>Do not call this method directly from the main thread.</strong>
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*/
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void RunForever();
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/**
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* Stop a RunForever() loop.
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*/
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void Stop();
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protected:
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virtual void DoProcess(cv::Mat& image) = 0;
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private:
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std::unique_ptr<cv::Mat> m_image;
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cs::CvSink m_cvSink;
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std::atomic_bool m_enabled;
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};
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/**
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* A vision runner is a convenient wrapper object to make it easy to run vision
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* pipelines from robot code. The easiest way to use this is to run it in a
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* std::thread and use the listener to take snapshots of the pipeline's outputs.
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*
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* @see VisionPipeline
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*/
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template <typename T>
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class VisionRunner : public VisionRunnerBase {
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public:
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VisionRunner(cs::VideoSource videoSource, T* pipeline,
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std::function<void(T&)> listener);
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virtual ~VisionRunner() = default;
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protected:
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void DoProcess(cv::Mat& image) override;
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private:
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T* m_pipeline;
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std::function<void(T&)> m_listener;
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};
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} // namespace frc
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#include "VisionRunner.inc"
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