mirror of
https://github.com/wpilibsuite/allwpilib
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e1195e8b9d
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. 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 <functional>
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#include <memory>
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#include "ErrorBase.h"
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#include "cscore.h"
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#include "vision/VisionPipeline.h"
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namespace frc {
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/**
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* Non-template base class for VisionRunner.
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*/
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class VisionRunnerBase : public ErrorBase {
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public:
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explicit VisionRunnerBase(cs::VideoSource videoSource);
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~VisionRunnerBase() override;
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VisionRunnerBase(const VisionRunnerBase&) = delete;
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VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
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void RunOnce();
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void RunForever();
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protected:
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virtual void DoProcess(cv::Mat& image) = 0;
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private:
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std::unique_ptr<cv::Mat> m_image;
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cs::CvSink m_cvSink;
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};
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/**
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* A vision runner is a convenient wrapper object to make it easy to run vision
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* pipelines from robot code. The easiest way to use this is to run it in a
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* std::thread and use the listener to take snapshots of the pipeline's outputs.
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*
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* @see VisionPipeline
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*/
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template <typename T>
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class VisionRunner : public VisionRunnerBase {
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public:
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VisionRunner(cs::VideoSource videoSource, T* pipeline,
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std::function<void(T&)> listener);
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virtual ~VisionRunner() = default;
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protected:
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void DoProcess(cv::Mat& image) override;
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private:
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T* m_pipeline;
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std::function<void(T&)> m_listener;
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};
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} // namespace frc
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#include "VisionRunner.inc"
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