8 #ifndef CSCORE_CSCORE_OO_H_
9 #define CSCORE_CSCORE_OO_H_
11 #include <initializer_list>
16 #include "cscore_cpp.h"
48 kBoolean = CS_PROP_BOOLEAN,
49 kInteger = CS_PROP_INTEGER,
50 kString = CS_PROP_STRING,
56 std::string GetName()
const;
58 Kind GetKind()
const {
return m_kind; }
60 explicit operator bool()
const {
return m_kind != kNone; }
63 bool IsBoolean()
const {
return m_kind == kBoolean; }
64 bool IsInteger()
const {
return m_kind == kInteger; }
65 bool IsString()
const {
return m_kind == kString; }
66 bool IsEnum()
const {
return m_kind == kEnum; }
73 int GetDefault()
const;
76 std::string GetString()
const;
81 std::vector<std::string> GetChoices()
const;
83 CS_Status GetLastStatus()
const {
return m_status; }
89 mutable CS_Status m_status;
103 kUnknown = CS_SOURCE_UNKNOWN,
104 kUsb = CS_SOURCE_USB,
105 kHttp = CS_SOURCE_HTTP,
115 explicit operator bool()
const {
return m_handle != 0; }
117 int GetHandle()
const {
return m_handle; }
120 return m_handle == other.m_handle;
123 bool operator!=(
const VideoSource& other)
const {
return !(*
this == other); }
188 bool SetVideoMode(VideoMode::PixelFormat pixelFormat,
int width,
int height,
239 CS_Status GetLastStatus()
const {
return m_status; }
257 swap(first.m_status, second.m_status);
258 swap(first.m_handle, second.m_handle);
262 explicit VideoSource(CS_Source handle) : m_handle(handle) {}
264 mutable CS_Status m_status = 0;
275 kFixedOutdoor1 = 4000,
276 kFixedOutdoor2 = 5000,
277 kFixedFluorescent1 = 5100,
278 kFixedFlourescent2 = 5200
375 enum HttpCameraKind {
376 kUnknown = CS_HTTP_UNKNOWN,
377 kMJPGStreamer = CS_HTTP_MJPGSTREAMER,
378 kCSCore = CS_HTTP_CSCORE,
390 HttpCameraKind kind = kUnknown);
400 HttpCameraKind kind = kUnknown);
410 HttpCameraKind kind = kUnknown);
420 HttpCameraKind kind = kUnknown);
429 template <
typename T>
431 HttpCameraKind kind = kUnknown);
449 template <
typename T>
450 void SetUrls(std::initializer_list<T> urls);
455 std::vector<std::string>
GetUrls()
const;
462 static std::string HostToUrl(
const wpi::Twine& host);
464 template <
typename T>
465 static std::vector<std::string> HostToUrl(std::initializer_list<T> hosts);
511 template <
typename T>
540 int width,
int height,
int fps);
586 int minimum,
int maximum,
int step,
587 int defaultValue,
int value);
601 int maximum,
int step,
int defaultValue,
641 template <
typename T>
643 std::initializer_list<T> choices);
655 kUnknown = CS_SINK_UNKNOWN,
656 kMjpeg = CS_SINK_MJPEG,
666 explicit operator bool()
const {
return m_handle != 0; }
668 int GetHandle()
const {
return m_handle; }
670 bool operator==(
const VideoSink& other)
const {
671 return m_handle == other.m_handle;
674 bool operator!=(
const VideoSink& other)
const {
return !(*
this == other); }
731 CS_Status GetLastStatus()
const {
return m_status; }
742 swap(first.m_status, second.m_status);
743 swap(first.m_handle, second.m_handle);
747 explicit VideoSink(CS_Sink handle) : m_handle(handle) {}
749 mutable CS_Status m_status = 0;
864 std::function<
void(uint64_t time)> processFrame);
882 uint64_t
GrabFrame(cv::Mat& image,
double timeout = 0.225)
const;
948 int eventMask,
bool immediateNotify);
958 swap(first.m_handle, second.m_handle);
962 CS_Listener m_handle;
969 #include "cscore_oo.inl"
971 #endif // CSCORE_CSCORE_OO_H_
int GetPort() const
Get the port number of the server.
Definition: cscore_oo.inl:499
void SetWhiteBalanceManual(int value)
Set the white balance to manual, with specified color temperature.
Definition: cscore_oo.inl:198
void SetFPS(int fps)
Set the stream frames per second (FPS) for clients that don't specify it.
Definition: cscore_oo.inl:511
CameraServer (cscore) namespace.
Definition: cscore_oo.inl:11
VideoSource GetSource() const
Get the connected source.
Definition: cscore_oo.inl:478
void SetCompression(int quality)
Set the compression for clients that don't specify it.
Definition: cscore_oo.inl:516
void SetDescription(const wpi::Twine &description)
Set source description.
Definition: cscore_oo.inl:371
void SetSource(VideoSource source)
Configure which source should provide frames to this sink.
Definition: cscore_oo.inl:470
A source for video that provides a sequence of frames.
Definition: cscore_oo.h:97
VideoSink GetSink() const
Get the sink associated with the event (if any).
Definition: cscore_oo.inl:567
A sink for video that accepts a sequence of frames.
Definition: cscore_oo.h:649
void SetEnumPropertyChoices(const VideoProperty &property, wpi::ArrayRef< std::string > choices)
Configure enum property choices.
Definition: cscore_oo.inl:417
VideoProperty GetSourceProperty(const wpi::Twine &name)
Get a property of the associated source.
Definition: cscore_oo.inl:484
void SetExposureHoldCurrent()
Set the exposure to hold current.
Definition: cscore_oo.inl:208
std::vector< VideoMode > EnumerateVideoModes() const
Enumerate all known video modes for this source.
Definition: cscore_oo.inl:173
std::vector< VideoProperty > EnumerateProperties() const
Enumerate all properties of this sink.
An event generated by the library and provided to event listeners.
Definition: cscore_oo.h:913
HttpCamera(const wpi::Twine &name, const wpi::Twine &url, HttpCameraKind kind=kUnknown)
Create a source for a MJPEG-over-HTTP (IP) camera.
Definition: cscore_oo.inl:242
VideoProperty GetProperty(const wpi::Twine &name)
Get a property of the sink.
Definition: cscore_oo.inl:465
bool IsConnected() const
Is the source currently connected to whatever is providing the images?
Definition: cscore_oo.inl:119
ArrayRef - Represent a constant reference to an array (0 or more elements consecutively in memory)...
Definition: ArrayRef.h:41
Listener event.
Definition: cscore_cpp.h:83
std::vector< std::string > GetUrls() const
Get the URLs used to connect to the camera.
Definition: cscore_oo.inl:300
A source that represents a USB camera.
Definition: cscore_oo.h:330
AxisCamera(const wpi::Twine &name, const wpi::Twine &host)
Create a source for an Axis IP camera.
Definition: cscore_oo.inl:328
An event listener.
Definition: cscore_oo.h:935
uint64_t GrabFrame(cv::Mat &image, double timeout=0.225) const
Wait for the next frame and get the image.
Definition: cscore_oo.inl:542
VideoProperty CreateIntegerProperty(const wpi::Twine &name, int minimum, int maximum, int step, int defaultValue, int value)
Create an integer property.
Definition: cscore_oo.inl:387
A source that represents a MJPEG-over-HTTP (IP) camera.
Definition: cscore_oo.h:373
std::vector< VideoProperty > EnumerateProperties() const
Enumerate all properties of this source.
HttpCameraKind GetHttpCameraKind() const
Get the kind of HTTP camera.
Definition: cscore_oo.inl:280
void SetExposureManual(int value)
Set the exposure to manual, as a percentage (0-100).
Definition: cscore_oo.inl:213
double GetActualFPS() const
Get the actual FPS.
Definition: cscore_oo.inl:161
void SetDescription(const wpi::Twine &description)
Set sink description.
Definition: cscore_oo.inl:537
std::string GetName() const
Get the name of the sink.
Definition: cscore_oo.inl:455
uint64_t GrabFrameNoTimeout(cv::Mat &image) const
Wait for the next frame and get the image.
Definition: cscore_oo.inl:547
A source or sink property.
Definition: cscore_oo.h:39
Kind GetKind() const
Get the kind of the source.
Definition: cscore_oo.inl:99
std::string GetDescription() const
Get the source description.
Definition: cscore_oo.inl:109
std::string GetName() const
Get the name of the source.
Definition: cscore_oo.inl:104
bool SetFPS(int fps)
Set the frames per second (FPS).
Definition: cscore_oo.inl:156
std::string GetError() const
Get error string.
Definition: cscore_oo.inl:552
static std::vector< VideoSink > EnumerateSinks()
Enumerate all existing sinks.
std::vector< VideoSink > EnumerateSinks()
Enumerate all sinks connected to this source.
void SetResolution(int width, int height)
Set the stream resolution for clients that don't specify it.
Definition: cscore_oo.inl:504
void SetWhiteBalanceHoldCurrent()
Set the white balance to hold current.
Definition: cscore_oo.inl:193
static std::vector< VideoSource > EnumerateSources()
Enumerate all existing sources.
bool SetResolution(int width, int height)
Set the resolution.
Definition: cscore_oo.inl:151
static std::vector< UsbCameraInfo > EnumerateUsbCameras()
Enumerate USB cameras on the local system.
Definition: cscore_oo.inl:226
A source for user code to provide OpenCV images as video frames.
Definition: cscore_oo.h:518
VideoProperty CreateStringProperty(const wpi::Twine &name, const wpi::Twine &value)
Create a string property.
Definition: cscore_oo.inl:406
void SetUrls(wpi::ArrayRef< std::string > urls)
Change the URLs used to connect to the camera.
Definition: cscore_oo.inl:286
void NotifyError(const wpi::Twine &msg)
Signal sinks that an error has occurred.
Definition: cscore_oo.inl:361
void SetDefaultCompression(int quality)
Set the default compression used for non-MJPEG sources.
Definition: cscore_oo.inl:522
std::string GetDescription() const
Get the sink description.
Definition: cscore_oo.inl:460
void SetExposureAuto()
Set the exposure to auto aperature.
Definition: cscore_oo.inl:203
VideoMode GetVideoMode() const
Get the current video mode.
Definition: cscore_oo.inl:129
VideoProperty CreateBooleanProperty(const wpi::Twine &name, bool defaultValue, bool value)
Create a boolean property.
Definition: cscore_oo.inl:397
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
MjpegServer(const wpi::Twine &name, int port)
Create a MJPEG-over-HTTP server sink.
Definition: cscore_oo.h:776
std::string GetPath() const
Get the path to the device.
Definition: cscore_oo.inl:231
A source that represents a video camera.
Definition: cscore_oo.h:271
Kind GetKind() const
Get the kind of the sink.
Definition: cscore_oo.inl:450
void SetEnabled(bool enabled)
Enable or disable getting new frames.
Definition: cscore_oo.inl:557
bool SetPixelFormat(VideoMode::PixelFormat pixelFormat)
Set the pixel format.
Definition: cscore_oo.inl:146
VideoProperty GetProperty(const wpi::Twine &name)
Get a property.
Definition: cscore_oo.inl:124
VideoProperty CreateProperty(const wpi::Twine &name, VideoProperty::Kind kind, int minimum, int maximum, int step, int defaultValue, int value)
Create a property.
Definition: cscore_oo.inl:376
VideoSource GetSource() const
Get the source associated with the event (if any).
Definition: cscore_oo.inl:562
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
void PutFrame(cv::Mat &image)
Put an OpenCV image and notify sinks.
Definition: cscore_oo.inl:356
A sink that acts as a MJPEG-over-HTTP network server.
Definition: cscore_oo.h:756
VideoProperty GetProperty() const
Get the property associated with the event (if any).
Definition: cscore_oo.inl:572
void SetConnectVerbose(int level)
Set how verbose the camera connection messages are.
Definition: cscore_oo.inl:236
A source that represents an Axis IP camera.
Definition: cscore_oo.h:461
void SetBrightness(int brightness)
Set the brightness, as a percentage (0-100).
Definition: cscore_oo.inl:178
A sink for user code to accept video frames as OpenCV images.
Definition: cscore_oo.h:837
double GetActualDataRate() const
Get the data rate (in bytes per second).
Definition: cscore_oo.inl:167
uint64_t GetLastFrameTime() const
Get the last time a frame was captured.
Definition: cscore_oo.inl:114
std::string GetListenAddress() const
Get the listen address of the server.
Definition: cscore_oo.inl:494
Video mode.
Definition: cscore_cpp.h:56
void SetWhiteBalanceAuto()
Set the white balance to auto.
Definition: cscore_oo.inl:188
void SetConnected(bool connected)
Set source connection status.
Definition: cscore_oo.inl:366
bool SetVideoMode(const VideoMode &mode)
Set the video mode.
Definition: cscore_oo.inl:134
int GetBrightness()
Get the brightness, as a percentage (0-100).
Definition: cscore_oo.inl:183