mirror of
https://github.com/wpilibsuite/allwpilib
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97 lines
3.5 KiB
Java
97 lines
3.5 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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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package edu.wpi.cscore;
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import org.opencv.core.Mat;
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/**
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* A sink for user code to accept video frames as OpenCV images.
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*/
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public class CvSink extends VideoSink {
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/**
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* Create a sink for accepting OpenCV images.
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* WaitForFrame() must be called on the created sink to get each new
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* image.
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* @param name Source name (arbitrary unique identifier)
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*/
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public CvSink(String name) {
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super(CameraServerJNI.createCvSink(name));
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}
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/// Create a sink for accepting OpenCV images in a separate thread.
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/// A thread will be created that calls WaitForFrame() and calls the
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/// processFrame() callback each time a new frame arrives.
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/// @param name Source name (arbitrary unique identifier)
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/// @param processFrame Frame processing function; will be called with a
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/// time=0 if an error occurred. processFrame should call GetImage()
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/// or GetError() as needed, but should not call (except in very
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/// unusual circumstances) WaitForImage().
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//public CvSink(llvm::StringRef name,
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// std::function<void(uint64_t time)> processFrame) {
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// super(CameraServerJNI.createCvSinkCallback(name, processFrame));
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//}
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/**
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* Set sink description.
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* @param description Description
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*/
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public void setDescription(String description) {
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CameraServerJNI.setSinkDescription(m_handle, description);
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}
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/**
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* Wait for the next frame and get the image.
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* Times out (returning 0) after 0.225 seconds.
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* The provided image will have three 3-bit channels stored in BGR order.
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* @return Frame time, or 0 on error (call GetError() to obtain the error
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* message)
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*/
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public long grabFrame(Mat image) {
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return grabFrame(image, 0.225);
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}
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/**
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* Wait for the next frame and get the image.
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* Times out (returning 0) after timeout seconds.
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* The provided image will have three 3-bit channels stored in BGR order.
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* @return Frame time, or 0 on error (call GetError() to obtain the error
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* message)
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*/
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public long grabFrame(Mat image, double timeout) {
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return CameraServerJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
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}
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/**
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* Wait for the next frame and get the image. May block forever.
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* The provided image will have three 3-bit channels stored in BGR order.
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* @return Frame time, or 0 on error (call GetError() to obtain the error
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* message)
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*/
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public long grabFrameNoTimeout(Mat image) {
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return CameraServerJNI.grabSinkFrame(m_handle, image.nativeObj);
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}
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/**
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* Get error string. Call this if WaitForFrame() returns 0 to determine
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* what the error is.
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*/
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public String getError() {
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return CameraServerJNI.getSinkError(m_handle);
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}
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/**
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* Enable or disable getting new frames.
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* Disabling will cause processFrame (for callback-based CvSinks) to not
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* be called and WaitForFrame() to not return. This can be used to save
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* processor resources when frames are not needed.
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*/
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public void setEnabled(boolean enabled) {
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CameraServerJNI.setSinkEnabled(m_handle, enabled);
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}
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}
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