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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.
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2019 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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#ifndef CSCORE_RAWSINKIMPL_H_
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#define CSCORE_RAWSINKIMPL_H_
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#include <stdint.h>
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#include <atomic>
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#include <functional>
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#include <thread>
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#include <wpi/Twine.h>
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#include <wpi/condition_variable.h>
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#include "Frame.h"
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#include "SinkImpl.h"
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#include "cscore_raw.h"
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namespace cs {
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class SourceImpl;
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class RawSinkImpl : public SinkImpl {
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public:
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RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
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Telemetry& telemetry);
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RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
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Telemetry& telemetry,
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std::function<void(uint64_t time)> processFrame);
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~RawSinkImpl() override;
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void Stop();
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uint64_t GrabFrame(CS_RawFrame& frame);
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uint64_t GrabFrame(CS_RawFrame& frame, double timeout);
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private:
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void ThreadMain();
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uint64_t GrabFrameImpl(CS_RawFrame& rawFrame, Frame& incomingFrame);
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std::atomic_bool m_active; // set to false to terminate threads
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std::thread m_thread;
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std::function<void(uint64_t time)> m_processFrame;
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};
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} // namespace cs
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#endif // CSCORE_RAWSINKIMPL_H_
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