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https://github.com/wpilibsuite/allwpilib
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2282a11a79
Rewrote CameraServer to use the new USBCamera implementation and get rid of some unnecessary copying of the entire image. Change-Id: I877750e990b6159c0aaf829df62b253a171fbada
112 lines
3.0 KiB
C++
112 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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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#pragma once
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#include "ErrorBase.h"
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#include "nivision.h"
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#include "NIIMAQdx.h"
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#include <mutex>
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#include <string>
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typedef enum whiteBalance_enum {
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kFixedIndoor = 3000,
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kFixedOutdoor1 = 4000,
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kFixedOutdoor2 = 5000,
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kFixedFluorescent1 = 5100,
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kFixedFlourescent2 = 5200
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} whiteBalance;
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class USBCamera : public ErrorBase {
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private:
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static constexpr char const *ATTR_WB_MODE = "CameraAttributes::WhiteBalance::Mode";
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static constexpr char const *ATTR_WB_VALUE = "CameraAttributes::WhiteBalance::Value";
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static constexpr char const *ATTR_EX_MODE = "CameraAttributes::Exposure::Mode";
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static constexpr char const *ATTR_EX_VALUE = "CameraAttributes::Exposure::Value";
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static constexpr char const *ATTR_BR_MODE = "CameraAttributes::Brightness::Mode";
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static constexpr char const *ATTR_BR_VALUE = "CameraAttributes::Brightness::Value";
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protected:
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IMAQdxSession m_id;
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std::string m_name;
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bool m_useJpeg;
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bool m_active;
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bool m_open;
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std::recursive_mutex m_mutex;
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unsigned int m_width;
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unsigned int m_height;
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double m_fps;
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std::string m_whiteBalance;
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unsigned int m_whiteBalanceValue;
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bool m_whiteBalanceValuePresent;
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std::string m_exposure;
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unsigned int m_exposureValue;
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bool m_exposureValuePresent;
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unsigned int m_brightness;
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bool m_needSettingsUpdate;
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unsigned int GetJpegSize(void* buffer, unsigned int buffSize);
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public:
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static constexpr char const *kDefaultCameraName = "cam0";
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USBCamera(std::string name, bool useJpeg);
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void OpenCamera();
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void CloseCamera();
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void StartCapture();
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void StopCapture();
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void SetFPS(double fps);
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void SetSize(unsigned int width, unsigned int height);
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void UpdateSettings();
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/**
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* Set the brightness, as a percentage (0-100).
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*/
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void SetBrightness(unsigned int brightness);
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/**
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* Get the brightness, as a percentage (0-100).
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*/
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unsigned int GetBrightness();
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/**
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* Set the white balance to auto
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*/
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void SetWhiteBalanceAuto();
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/**
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* Set the white balance to hold current
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*/
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void SetWhiteBalanceHoldCurrent();
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/**
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* Set the white balance to manual, with specified color temperature
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*/
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void SetWhiteBalanceManual(unsigned int wbValue);
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/**
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* Set the exposure to auto exposure
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*/
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void SetExposureAuto();
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/**
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* Set the exposure to hold current
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*/
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void SetExposureHoldCurrent();
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/**
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* Set the exposure to manual, with a given percentage (0-100)
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*/
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void SetExposureManual(unsigned int expValue);
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void GetImage(Image* image);
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unsigned int GetImageData(void* buffer, unsigned int bufferSize);
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};
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