A sink for user code to accept video frames as OpenCV images. More...

#include <cscore_cv.h>

Inheritance diagram for cs::CvSink:

Public Member Functions
	CvSink ()=default

	CvSink (std::string_view name, VideoMode::PixelFormat pixelFormat=VideoMode::PixelFormat::kBGR)
	Create a sink for accepting OpenCV images. More...

	CvSink (std::string_view name, std::function< void(uint64_t time)> processFrame, VideoMode::PixelFormat pixelFormat=VideoMode::PixelFormat::kBGR)
	Create a sink for accepting OpenCV images in a separate thread. More...

uint64_t	GrabFrame (cv::Mat &image, double timeout=0.225) const
	Wait for the next frame and get the image. More...

uint64_t	GrabFrameNoTimeout (cv::Mat &image) const
	Wait for the next frame and get the image. More...

Public Member Functions inherited from cs::ImageSink
void	SetDescription (std::string_view description)
	Set sink description. More...

std::string	GetError () const
	Get error string. More...

void	SetEnabled (bool enabled)
	Enable or disable getting new frames. More...

Public Member Functions inherited from cs::VideoSink
	VideoSink () noexcept=default

	VideoSink (const VideoSink &sink)

	VideoSink (VideoSink &&sink) noexcept

VideoSink &	operator= (VideoSink other) noexcept

	~VideoSink ()

	operator bool () const
	Returns true if the VideoSink is valid. More...

int	GetHandle () const
	Returns the VideoSink handle. More...

bool	operator== (const VideoSink &other) const

Kind	GetKind () const
	Get the kind of the sink. More...

std::string	GetName () const
	Get the name of the sink. More...

std::string	GetDescription () const
	Get the sink description. More...

VideoProperty	GetProperty (std::string_view name)
	Get a property of the sink. More...

std::vector< VideoProperty >	EnumerateProperties () const
	Enumerate all properties of this sink. More...

bool	SetConfigJson (std::string_view config)
	Set properties from a JSON configuration string. More...

bool	SetConfigJson (const wpi::json &config)
	Set properties from a JSON configuration object. More...

std::string	GetConfigJson () const
	Get a JSON configuration string. More...

wpi::json	GetConfigJsonObject () const
	Get a JSON configuration object. More...

void	SetSource (VideoSource source)
	Configure which source should provide frames to this sink. More...

VideoSource	GetSource () const
	Get the connected source. More...

VideoProperty	GetSourceProperty (std::string_view name)
	Get a property of the associated source. More...

CS_Status	GetLastStatus () const

Additional Inherited Members
Public Types inherited from cs::VideoSink
enum	Kind { kUnknown = CS_SINK_UNKNOWN , kMjpeg = CS_SINK_MJPEG , kCv = CS_SINK_CV }

Static Public Member Functions inherited from cs::VideoSink
static std::vector< VideoSink >	EnumerateSinks ()
	Enumerate all existing sinks. More...

Protected Member Functions inherited from cs::ImageSink
	ImageSink ()=default

Protected Member Functions inherited from cs::VideoSink
	VideoSink (CS_Sink handle)

Protected Attributes inherited from cs::VideoSink
CS_Status	m_status = 0

CS_Sink	m_handle {0}

Detailed Description

A sink for user code to accept video frames as OpenCV images.

These sinks require the WPILib OpenCV builds. For an alternate OpenCV, include "cscore_raw_cv.h" instead, and include your Mat header before that header.

Constructor & Destructor Documentation

◆ CvSink() [1/3]

cs::CvSink::CvSink ( )

default

◆ CvSink() [2/3]

cs::CvSink::CvSink	(	std::string_view	name,
		VideoMode::PixelFormat	pixelFormat = `VideoMode::PixelFormat::kBGR`
	)

inlineexplicit

Create a sink for accepting OpenCV images.

WaitForFrame() must be called on the created sink to get each new image.

Parameters

name	Source name (arbitrary unique identifier)
pixelFormat	Source pixel format

◆ CvSink() [3/3]

cs::CvSink::CvSink	(	std::string_view	name,
		std::function< void(uint64_t time)>	processFrame,
		VideoMode::PixelFormat	pixelFormat = `VideoMode::PixelFormat::kBGR`
	)

inline

Create a sink for accepting OpenCV images in a separate thread.

A thread will be created that calls WaitForFrame() and calls the processFrame() callback each time a new frame arrives.

Parameters

name	Source name (arbitrary unique identifier)
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().
pixelFormat	Source pixel format

Member Function Documentation

◆ GrabFrame()

uint64_t cs::CvSink::GrabFrame	(	cv::Mat &	image,
		double	timeout = `0.225`
	)		const

inline

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.

Returns: 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.

◆ GrabFrameNoTimeout()

uint64_t cs::CvSink::GrabFrameNoTimeout ( cv::Mat & image ) const

inline

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.

Returns: 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.

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

cscore_cv.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CvSink() [1/3]

◆ CvSink() [2/3]

◆ CvSink() [3/3]

Member Function Documentation

◆ GrabFrame()

◆ GrabFrameNoTimeout()