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https://github.com/wpilibsuite/allwpilib
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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.
41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 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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#include <cstdio>
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#include <iostream>
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#include <opencv2/core/core.hpp>
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#include "cscore.h"
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#include "cscore_cv.h"
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int main() {
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cs::UsbCamera camera{"usbcam", 0};
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camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
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cs::MjpegServer mjpegServer{"httpserver", 8081};
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mjpegServer.SetSource(camera);
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cs::CvSink cvsink{"cvsink"};
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cvsink.SetSource(camera);
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cs::CvSource cvsource{"cvsource", cs::VideoMode::kMJPEG, 320, 240, 30};
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cs::MjpegServer cvMjpegServer{"cvhttpserver", 8082};
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cvMjpegServer.SetSource(cvsource);
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cv::Mat test;
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cv::Mat flip;
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for (;;) {
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uint64_t time = cvsink.GrabFrame(test);
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if (time == 0) {
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std::cout << "error: " << cvsink.GetError() << std::endl;
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continue;
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}
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std::cout << "got frame at time " << time << " size " << test.size()
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<< std::endl;
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cv::flip(test, flip, 0);
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cvsource.PutFrame(flip);
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}
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}
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