mirror of
https://github.com/wpilibsuite/allwpilib
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77 lines
2.2 KiB
C++
77 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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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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#ifndef CAMERASOURCE_H_
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#define CAMERASOURCE_H_
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#include <functional>
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#include <memory>
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#include <string>
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#include <stdint.h>
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#include "llvm/StringRef.h"
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namespace cv {
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class Mat;
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}
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namespace cs {
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struct USBCameraInfo {
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int dev;
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std::string path;
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std::string name;
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int channels;
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};
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class CameraSource {
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class Impl;
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public:
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CameraSource(llvm::StringRef name, std::unique_ptr<Impl> impl);
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CameraSource(const CameraSource&) = delete;
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CameraSource& operator=(const CameraSource&) = delete;
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~CameraSource();
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static std::shared_ptr<CameraSource> CreateUSB(llvm::StringRef name, int dev);
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static std::shared_ptr<CameraSource> CreateUSB(llvm::StringRef name,
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llvm::StringRef path);
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static std::shared_ptr<CameraSource> CreateHTTP(llvm::StringRef name,
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llvm::StringRef url);
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static std::shared_ptr<CameraSource> CreateUser(llvm::StringRef name,
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int nChannels);
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static std::vector<std::shared_ptr<CameraSource>> EnumerateSources();
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static std::vector<USBCameraInfo> EnumerateUSB();
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static int AddCreateListener(
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std::function<void(std::shared_ptr<CameraSource>, int)> callback,
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int eventMask);
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static void RemoveCreateListener(int handle);
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void PutImage(int channel, cv::Mat* image);
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void NotifyFrame();
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uint64_t WaitForFrame() const;
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uint64_t GetImage(int channel, cv::Mat* image) const;
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llvm::StringRef GetName() const { return m_name; }
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std::string GetDescription() const;
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uint64_t GetLastFrameTime() const;
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int GetNumChannels() const;
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bool IsConnected() const;
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private:
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std::string m_name;
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std::unique_ptr<Impl> m_impl;
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};
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} // namespace cs
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#endif /* CAMERASOURCE_H_ */
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