Package edu.wpi.first.util

Class RawFrame

java.lang.Object
edu.wpi.first.util.RawFrame
All Implemented Interfaces:
AutoCloseable
public class RawFrame extends Object implements AutoCloseable
Class for storing raw frame data between image read call.

Data is reused for each frame read, rather then reallocating every frame.

  • Constructor Details

    • RawFrame

      public RawFrame()
      Construct a new empty RawFrame.

  • Method Details

    • close

      public void close()
      Close the RawFrame, releasing native resources. Any images currently using the data will be invalidated.
      Specified by:
      close in interface AutoCloseable

    • setData

      public void setData(ByteBuffer data, int width, int height, int stride, PixelFormat pixelFormat)
      Set frame data.
      Parameters:
      data - A native ByteBuffer pointing to the frame data.
      width - The width of the frame, in pixels
      height - The height of the frame, in pixels
      stride - The number of bytes in each row of image data
      pixelFormat - The PixelFormat of the frame

    • setInfo

      public void setInfo(int width, int height, int stride, PixelFormat pixelFormat)
      Call to set frame information.
      Parameters:
      width - The width of the frame, in pixels
      height - The height of the frame, in pixels
      stride - The number of bytes in each row of image data
      pixelFormat - The PixelFormat of the frame

    • setTimeInfo

      public void setTimeInfo(long frameTime, TimestampSource frameTimeSource)
      Update this frame's timestamp info.
      Parameters:
      frameTime - the time this frame was grabbed at. This uses the same time base as wpi::Now(), in us.
      frameTimeSource - the time source for the timestamp this frame was grabbed at.

    • getNativeObj

      public long getNativeObj()
      Get the pointer to native representation of this frame.
      Returns:
      The pointer to native representation of this frame.

    • getData

      public ByteBuffer getData()
      Get a ByteBuffer pointing to the frame data. This ByteBuffer is backed by the frame directly. Its lifetime is controlled by the frame. If a new frame gets read, it will overwrite the current one.
      Returns:
      A ByteBuffer pointing to the frame data.

    • getDataPtr

      public long getDataPtr()
      Get a long (is a uint8_t* in native code) pointing to the frame data. This pointer is backed by the frame directly. Its lifetime is controlled by the frame. If a new frame gets read, it will overwrite the current one.
      Returns:
      A long pointing to the frame data.

    • getSize

      public int getSize()
      Get the total size of the data stored in the frame, in bytes.
      Returns:
      The total size of the data stored in the frame.

    • getWidth

      public int getWidth()
      Get the width of the image.
      Returns:
      The width of the image, in pixels.

    • getHeight

      public int getHeight()
      Get the height of the image.
      Returns:
      The height of the image, in pixels.

    • getStride

      public int getStride()
      Get the number of bytes in each row of image data.
      Returns:
      The image data stride, in bytes.

    • getPixelFormat

      public PixelFormat getPixelFormat()
      Get the PixelFormat of the frame.
      Returns:
      The PixelFormat of the frame.

    • getTimestamp

      public long getTimestamp()
      Get the time this frame was grabbed at. This uses the same time base as wpi::Now(), in us.
      Returns:
      Time in 1 us increments.

    • getTimestampSource

      public TimestampSource getTimestampSource()
      Get the time source for the timestamp this frame was grabbed at.
      Returns:
      Time source