WPILibC++  unspecified
frc::VisionRunner< T > Class Template Reference

A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code. More...

#include <VisionRunner.h>

Inheritance diagram for frc::VisionRunner< T >:
Collaboration diagram for frc::VisionRunner< T >:

Public Member Functions

 VisionRunner (cs::VideoSource videoSource, T *pipeline, std::function< void(T &)> listener)
 Creates a new vision runner. More...
 
- Public Member Functions inherited from frc::VisionRunnerBase
 VisionRunnerBase (cs::VideoSource videoSource)
 Creates a new vision runner. More...
 
 VisionRunnerBase (const VisionRunnerBase &)=delete
 
VisionRunnerBaseoperator= (const VisionRunnerBase &)=delete
 
void RunOnce ()
 Runs the pipeline one time, giving it the next image from the video source specified in the constructor. More...
 
void RunForever ()
 A convenience method that calls runOnce() in an infinite loop. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Protected Member Functions

void DoProcess (cv::Mat &image) override
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::ErrorBase
static std::mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

template<typename T>
class frc::VisionRunner< T >

A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot code.

The easiest way to use this is to run it in a std::thread and use the listener to take snapshots of the pipeline's outputs.

See also
VisionPipeline

Constructor & Destructor Documentation

template<typename T >
frc::VisionRunner< T >::VisionRunner ( cs::VideoSource  videoSource,
T *  pipeline,
std::function< void(T &)>  listener 
)

Creates a new vision runner.

It will take images from the

videoSource

, send them to the

pipeline

, and call the

listener

when the pipeline has finished to alert user code when it is safe to access the pipeline's outputs.

Parameters
videoSourcethe video source to use to supply images for the pipeline
pipelinethe vision pipeline to run
listenera function to call after the pipeline has finished running

The documentation for this class was generated from the following files: