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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.
97 lines
2.9 KiB
Java
97 lines
2.9 KiB
Java
/*----------------------------------------------------------------------------*/
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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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package edu.wpi.cscore;
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import java.nio.ByteBuffer;
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import org.opencv.core.CvType;
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import org.opencv.core.Mat;
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import edu.wpi.cscore.VideoMode.PixelFormat;
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import edu.wpi.cscore.raw.RawFrame;
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public class RawCVMatSink extends ImageSink {
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RawFrame frame = new RawFrame();
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Mat tmpMat;
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ByteBuffer origByteBuffer;
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int width;
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int height;
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int pixelFormat;
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int bgrValue = PixelFormat.kBGR.getValue();
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private int getCVFormat(PixelFormat pixelFormat) {
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int type = 0;
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switch (pixelFormat) {
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case kYUYV:
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case kRGB565:
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type = CvType.CV_8UC2;
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break;
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case kBGR:
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type = CvType.CV_8UC3;
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break;
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case kGray:
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case kMJPEG:
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default:
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type = CvType.CV_8UC1;
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break;
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}
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return type;
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}
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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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*
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* @param name Source name (arbitrary unique identifier)
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*/
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public RawCVMatSink(String name) {
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super(CameraServerJNI.createRawSink(name));
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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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*
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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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*
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* @return Frame time, or 0 on error (call GetError() to obtain the error
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* message); the frame time is in 1 us increments.
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*/
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public long grabFrame(Mat image, double timeout) {
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frame.setWidth(0);
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frame.setHeight(0);
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frame.setPixelFormat(bgrValue);
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long rv = CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
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if (rv <= 0) {
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return rv;
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}
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if (frame.getDataByteBuffer() != origByteBuffer || width != frame.getWidth() || height != frame.getHeight() || pixelFormat != frame.getPixelFormat()) {
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origByteBuffer = frame.getDataByteBuffer();
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height = frame.getHeight();
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width = frame.getWidth();
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pixelFormat = frame.getPixelFormat();
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tmpMat = new Mat(frame.getHeight(), frame.getWidth(), getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)), origByteBuffer);
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}
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tmpMat.copyTo(image);
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return rv;
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}
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}
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