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https://github.com/wpilibsuite/allwpilib
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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.
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2019 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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#include "RawSourceImpl.h"
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#include <wpi/timestamp.h>
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#include "Handle.h"
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#include "Instance.h"
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#include "Log.h"
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#include "Notifier.h"
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#include "cscore_raw.h"
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using namespace cs;
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RawSourceImpl::RawSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
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Notifier& notifier, Telemetry& telemetry,
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const VideoMode& mode)
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: ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
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RawSourceImpl::~RawSourceImpl() {}
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void RawSourceImpl::PutFrame(const CS_RawFrame& image) {
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int type;
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switch (image.pixelFormat) {
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case VideoMode::kYUYV:
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case VideoMode::kRGB565:
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type = CV_8UC2;
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break;
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case VideoMode::kBGR:
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type = CV_8UC3;
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break;
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case VideoMode::kGray:
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case VideoMode::kMJPEG:
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default:
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type = CV_8UC1;
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break;
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}
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cv::Mat finalImage{image.height, image.width, type, image.data};
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std::unique_ptr<Image> dest =
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AllocImage(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
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image.width, image.height, image.totalData);
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finalImage.copyTo(dest->AsMat());
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SourceImpl::PutFrame(std::move(dest), wpi::Now());
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}
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namespace cs {
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CS_Source CreateRawSource(const wpi::Twine& name, const VideoMode& mode,
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CS_Status* status) {
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auto& inst = Instance::GetInstance();
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return inst.CreateSource(CS_SOURCE_RAW, std::make_shared<RawSourceImpl>(
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name, inst.logger, inst.notifier,
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inst.telemetry, mode));
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}
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void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
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CS_Status* status) {
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auto data = Instance::GetInstance().GetSource(source);
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if (!data || data->kind != CS_SOURCE_RAW) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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static_cast<RawSourceImpl&>(*data->source).PutFrame(image);
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}
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} // namespace cs
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extern "C" {
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CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
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CS_Status* status) {
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return cs::CreateRawSource(name, static_cast<const cs::VideoMode&>(*mode),
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status);
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}
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void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
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CS_Status* status) {
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return cs::PutSourceFrame(source, *image, status);
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}
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} // extern "C"
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