mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
115 lines
3.5 KiB
C++
115 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 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 <atomic>
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#include <thread>
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#include <vector>
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#define IMGUI_DEFINE_MATH_OPERATORS
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#include <imgui.h>
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#include <imgui_internal.h>
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc.hpp>
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#include <wpi/raw_ostream.h>
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#include <wpi/spinlock.h>
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#include <wpigui.h>
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#include "cscore.h"
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#include "cscore_cv.h"
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namespace gui = wpi::gui;
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int main() {
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std::atomic<cv::Mat*> latestFrame{nullptr};
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std::vector<cv::Mat*> sharedFreeList;
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wpi::spinlock sharedFreeListMutex;
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std::vector<cv::Mat*> sourceFreeList;
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std::atomic<bool> stopCamera{false};
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cs::UsbCamera camera{"usbcam", 0};
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camera.SetVideoMode(cs::VideoMode::kMJPEG, 640, 480, 30);
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cs::CvSink cvsink{"cvsink"};
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cvsink.SetSource(camera);
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std::thread thr([&] {
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cv::Mat frame;
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while (!stopCamera) {
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// get frame from camera
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uint64_t time = cvsink.GrabFrame(frame);
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if (time == 0) {
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wpi::outs() << "error: " << cvsink.GetError() << '\n';
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continue;
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}
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// get or create a mat, prefer sourceFreeList over sharedFreeList
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cv::Mat* out;
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if (!sourceFreeList.empty()) {
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out = sourceFreeList.back();
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sourceFreeList.pop_back();
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} else {
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{
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std::scoped_lock lock(sharedFreeListMutex);
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for (auto mat : sharedFreeList) sourceFreeList.emplace_back(mat);
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sharedFreeList.clear();
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}
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if (!sourceFreeList.empty()) {
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out = sourceFreeList.back();
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sourceFreeList.pop_back();
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} else {
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out = new cv::Mat;
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}
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}
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// convert to RGBA
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cv::cvtColor(frame, *out, cv::COLOR_BGR2RGBA);
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// make available
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auto prev = latestFrame.exchange(out);
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// put prev on free list
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if (prev) sourceFreeList.emplace_back(prev);
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}
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});
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gui::CreateContext();
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gui::Initialize("Hello World", 1024, 768);
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gui::Texture tex;
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gui::AddEarlyExecute([&] {
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auto frame = latestFrame.exchange(nullptr);
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if (frame) {
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// create or update texture
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if (!tex || frame->cols != tex.GetWidth() ||
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frame->rows != tex.GetHeight()) {
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tex = gui::Texture(gui::kPixelRGBA, frame->cols, frame->rows,
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frame->data);
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} else {
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tex.Update(frame->data);
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}
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// put back on shared freelist
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std::scoped_lock lock(sharedFreeListMutex);
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sharedFreeList.emplace_back(frame);
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}
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ImGui::SetNextWindowSize(ImVec2(640, 480), ImGuiCond_FirstUseEver);
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if (ImGui::Begin("Video")) {
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// render to window (best fit)
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if (tex && tex.GetWidth() != 0 && tex.GetHeight() != 0) {
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auto drawList = ImGui::GetWindowDrawList();
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ImVec2 windowPos = ImGui::GetWindowPos();
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ImVec2 imageMin = ImGui::GetWindowContentRegionMin();
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ImVec2 imageMax = ImGui::GetWindowContentRegionMax();
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gui::MaxFit(&imageMin, &imageMax, tex.GetWidth(), tex.GetHeight());
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drawList->AddImage(tex, windowPos + imageMin, windowPos + imageMax);
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}
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}
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ImGui::End();
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});
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gui::Main();
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stopCamera = true;
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thr.join();
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}
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