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37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include "vision/VisionRunner.h"
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namespace frc {
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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}, send them to the {@code pipeline}, and call the {@code
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* listener} when the pipeline has finished to alert user code when it is safe
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* to access the pipeline's outputs.
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*
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* @param videoSource The video source to use to supply images for the pipeline
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* @param pipeline The vision pipeline to run
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* @param listener A function to call after the pipeline has finished running
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*/
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template <typename T>
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VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,
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std::function<void(T&)> listener)
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: VisionRunnerBase(videoSource),
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m_pipeline(pipeline),
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m_listener(listener) {}
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template <typename T>
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void VisionRunner<T>::DoProcess(cv::Mat& image) {
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m_pipeline->Process(image);
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m_listener(*m_pipeline);
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}
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} // namespace frc
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