A source 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 (const CvSink &sink)

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

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

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

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

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

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

uint64_t	LastFrameTime ()
	Get the last time a frame was grabbed.

WPI_TimestampSource	LastFrameTimeSource ()
	Get the time source for the timestamp the last frame was grabbed at.

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

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

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

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

	VideoSink (const VideoSink &sink)

	VideoSink (VideoSink &&other) noexcept

VideoSink &	operator= (VideoSink other) noexcept

	~VideoSink ()

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

int	GetHandle () const
	Returns the VideoSink handle.

bool	operator== (const VideoSink &other) const

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

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

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

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

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

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

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

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

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

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

VideoSource	GetSource () const
	Get the connected source.

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

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 , kRaw = CS_SINK_RAW }

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

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 source for user code to accept video frames as OpenCV images.

This is not dependent on any opencv binary ABI, and can be used with versions of most versions of OpenCV.

Constructor & Destructor Documentation

◆ CvSink() [1/3]

cs::CvSink::CvSink ( )

default

◆ CvSink() [2/3]

cs::CvSink::CvSink ( const CvSink & sink )

inline

◆ CvSink() [3/3]

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	The pixel format to read

Member Function Documentation

◆ GrabFrame()

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

inlinenodiscard

Wait for the next frame and get the image.

Times out (returning 0) after timeout seconds. The provided image will have the pixelFormat this class was constructed with.

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.

◆ GrabFrameDirect()

uint64_t cs::CvSink::GrabFrameDirect	(	cv::Mat &	image,
		double	timeout = 0.225 )

inlinenodiscard

Wait for the next frame and get the image.

Times out (returning 0) after timeout seconds. The provided image will have the pixelFormat this class was constructed with. The data is backed by data in the CvSink. It will be invalidated by any grabFrame*() call on the sink.

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.

◆ GrabFrameDirectLastTime()

uint64_t cs::CvSink::GrabFrameDirectLastTime	(	cv::Mat &	image,
		uint64_t	lastFrameTime,
		double	timeout = 0.225 )

inlinenodiscard

Wait for the next frame and get the image.

Times out (returning 0) after timeout seconds. The provided image will have the pixelFormat this class was constructed with. The data is backed by data in the CvSink. It will be invalidated by any grabFrame*() call on the sink.

If lastFrameTime is provided and non-zero, the sink will fill image with the first frame from the source that is not equal to lastFrameTime. If lastFrameTime is zero, the time of the current frame owned by the CvSource is used, and this function will block until the connected CvSource provides a new frame.

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 )

inlinenodiscard

Wait for the next frame and get the image.

May block forever. The provided image will have the pixelFormat this class was constructed with.

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.

◆ GrabFrameNoTimeoutDirect()

uint64_t cs::CvSink::GrabFrameNoTimeoutDirect ( cv::Mat & image )

inlinenodiscard

Wait for the next frame and get the image.

May block forever. The provided image will have the pixelFormat this class was constructed with. The data is backed by data in the CvSink. It will be invalidated by any grabFrame*() call on the sink.

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.

◆ LastFrameTime()

uint64_t cs::CvSink::LastFrameTime ( )

inlinenodiscard

Get the last time a frame was grabbed.

This uses the same time base as wpi::Now().

Returns: Time in 1 us increments.

◆ LastFrameTimeSource()

WPI_TimestampSource cs::CvSink::LastFrameTimeSource ( )

inlinenodiscard

Get the time source for the timestamp the last frame was grabbed at.

Returns: Time source

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()

◆ GrabFrameDirect()

◆ GrabFrameDirectLastTime()

◆ GrabFrameNoTimeout()

◆ GrabFrameNoTimeoutDirect()

◆ LastFrameTime()

◆ LastFrameTimeSource()