cscore_raw.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#ifndef CSCORE_CSCORE_RAW_H_
#define CSCORE_CSCORE_RAW_H_
 
#include "cscore_c.h"
 
#ifdef __cplusplus
#include "cscore_oo.h"
#endif
 
/**
 * Raw Frame
 */
typedef struct CS_RawFrame {  // NOLINT
  char* data;
  int dataLength;
  int pixelFormat;
  int width;
  int height;
  int totalData;
} CS_RawFrame;
 
#ifdef __cplusplus
extern "C" {
#endif
 
/**
 * @defgroup cscore_raw_cfunc Raw Image Functions
 * @{
 */
void CS_AllocateRawFrameData(CS_RawFrame* frame, int requestedSize);
void CS_FreeRawFrameData(CS_RawFrame* frame);
 
uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct CS_RawFrame* rawImage,
                             CS_Status* status);
uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct CS_RawFrame* rawImage,
                                    double timeout, CS_Status* status);
 
CS_Sink CS_CreateRawSink(const char* name, CS_Status* status);
 
CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
                                 void (*processFrame)(void* data,
                                                      uint64_t time),
                                 CS_Status* status);
 
void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
                          CS_Status* status);
 
CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
                             CS_Status* status);
/** @} */
 
#ifdef __cplusplus
}  // extern "C"
#endif
 
#ifdef __cplusplus
namespace cs {
 
struct RawFrame : public CS_RawFrame {
  RawFrame() {
    data = nullptr;
    dataLength = 0;
    pixelFormat = CS_PIXFMT_UNKNOWN;
    width = 0;
    height = 0;
    totalData = 0;
  }
 
  ~RawFrame() { CS_FreeRawFrameData(this); }
};
 
/**
 * @defgroup cscore_raw_func Raw Image Functions
 * @{
 */
 
CS_Source CreateRawSource(std::string_view name, const VideoMode& mode,
                          CS_Status* status);
 
CS_Sink CreateRawSink(std::string_view name, CS_Status* status);
CS_Sink CreateRawSinkCallback(std::string_view name,
                              std::function<void(uint64_t time)> processFrame,
                              CS_Status* status);
 
void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
                    CS_Status* status);
uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status);
uint64_t GrabSinkFrameTimeout(CS_Sink sink, CS_RawFrame& image, double timeout,
                              CS_Status* status);
 
/**
 * A source for user code to provide video frames as raw bytes.
 *
 * This is a complex API, most cases should use CvSource.
 */
class RawSource : public ImageSource {
 public:
  RawSource() = default;
 
  /**
   * Create a raw frame source.
   *
   * @param name Source name (arbitrary unique identifier)
   * @param mode Video mode being generated
   */
  RawSource(std::string_view name, const VideoMode& mode);
 
  /**
   * Create a raw frame source.
   *
   * @param name Source name (arbitrary unique identifier)
   * @param pixelFormat Pixel format
   * @param width width
   * @param height height
   * @param fps fps
   */
  RawSource(std::string_view name, VideoMode::PixelFormat pixelFormat,
            int width, int height, int fps);
 
 protected:
  /**
   * Put a raw image and notify sinks.
   *
   * @param image raw frame image
   */
  void PutFrame(RawFrame& image);
};
 
/**
 * A sink for user code to accept video frames as raw bytes.
 *
 * This is a complex API, most cases should use CvSource.
 */
class RawSink : public ImageSink {
 public:
  RawSink() = default;
 
  /**
   * Create a sink for accepting raw images.
   *
   * <p>GrabFrame() must be called on the created sink to get each new
   * image.
   *
   * @param name Source name (arbitrary unique identifier)
   */
  explicit RawSink(std::string_view name);
 
  /**
   * Create a sink for accepting raws images in a separate thread.
   *
   * <p>A thread will be created that calls WaitForFrame() and calls the
   * processFrame() callback each time a new frame arrives.
   *
   * @param name Source name (arbitrary unique identifier)
   * @param processFrame Frame processing function; will be called with a
   *        time=0 if an error occurred.  processFrame should call GetImage()
   *        or GetError() as needed, but should not call (except in very
   *        unusual circumstances) WaitForImage().
   */
  RawSink(std::string_view name,
          std::function<void(uint64_t time)> processFrame);
 
 protected:
  /**
   * Wait for the next frame and get the image.
   * Times out (returning 0) after timeout seconds.
   * The provided image will have three 8-bit channels stored in BGR order.
   *
   * @return Frame time, or 0 on error (call GetError() to obtain the error
   *         message); the frame time is in the same time base as wpi::Now(),
   *         and is in 1 us increments.
   */
  [[nodiscard]]
  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
 
  /**
   * Wait for the next frame and get the image.  May block forever.
   * The provided image will have three 8-bit channels stored in BGR order.
   *
   * @return Frame time, or 0 on error (call GetError() to obtain the error
   *         message); the frame time is in the same time base as wpi::Now(),
   *         and is in 1 us increments.
   */
  [[nodiscard]]
  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
};
 
inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {
  m_handle = CreateRawSource(name, mode, &m_status);
}
 
inline RawSource::RawSource(std::string_view name,
                            VideoMode::PixelFormat format, int width,
                            int height, int fps) {
  m_handle =
      CreateRawSource(name, VideoMode{format, width, height, fps}, &m_status);
}
 
inline void RawSource::PutFrame(RawFrame& image) {
  m_status = 0;
  PutSourceFrame(m_handle, image, &m_status);
}
 
inline RawSink::RawSink(std::string_view name) {
  m_handle = CreateRawSink(name, &m_status);
}
 
inline RawSink::RawSink(std::string_view name,
                        std::function<void(uint64_t time)> processFrame) {
  m_handle = CreateRawSinkCallback(name, processFrame, &m_status);
}
 
inline uint64_t RawSink::GrabFrame(RawFrame& image, double timeout) const {
  m_status = 0;
  return GrabSinkFrameTimeout(m_handle, image, timeout, &m_status);
}
 
inline uint64_t RawSink::GrabFrameNoTimeout(RawFrame& image) const {
  m_status = 0;
  return GrabSinkFrame(m_handle, image, &m_status);
}
 
}  // namespace cs
 
/** @} */
 
#endif
 
#endif  // CSCORE_CSCORE_RAW_H_