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b99d9c1710
Uses enhanced instanceof (and simplify equals methods) Uses switch expressions and arrow labels Seal and finalize some Shuffleboard classes Co-authored-by: Sam Carlberg <sam@slfc.dev>
86 lines
2.6 KiB
Java
86 lines
2.6 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.cscore;
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import edu.wpi.cscore.VideoMode.PixelFormat;
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import edu.wpi.cscore.raw.RawFrame;
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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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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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return switch (pixelFormat) {
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case kYUYV, kRGB565, kY16, kUYVY -> CvType.CV_8UC2;
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case kBGR -> CvType.CV_8UC3;
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case kBGRA -> CvType.CV_8UC4;
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case kGray, kMJPEG, kUnknown -> CvType.CV_8UC1;
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};
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}
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/**
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* Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
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* get each new 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. Times out (returning 0) after 0.225 seconds. The
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* 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 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. Times out (returning 0) after timeout seconds. The
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* 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 message); the frame time
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* 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
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|| width != frame.getWidth()
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|| height != frame.getHeight()
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|| 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 =
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new Mat(
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frame.getHeight(),
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frame.getWidth(),
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getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)),
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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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