Refactoring of pixelFactor default to CvSink class

wpilibsuite · Nov 21, 2023 · aebec19 · aebec19
1 parent 0c3905a
commit aebec19
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Showing 4 changed files with 7 additions and 77 deletions.
diff --git a/cscore/src/main/native/cpp/CvSinkImpl.cpp b/cscore/src/main/native/cpp/CvSinkImpl.cpp
@@ -18,14 +18,6 @@
 
 using namespace cs;
 
-CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
-                       Notifier& notifier, Telemetry& telemetry)
-    : SinkImpl{name, logger, notifier, telemetry},
-      m_pixelFormat{VideoMode::PixelFormat::kBGR} {
-  m_active = true;
-  // m_thread = std::thread(&CvSinkImpl::ThreadMain, this);
-}
-
 CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
                        Notifier& notifier, Telemetry& telemetry,
                        VideoMode::PixelFormat pixelFormat)
@@ -34,12 +26,6 @@ CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
   // m_thread = std::thread(&CvSinkImpl::ThreadMain, this);
 }
 
-CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
-                       Notifier& notifier, Telemetry& telemetry,
-                       std::function<void(uint64_t time)> processFrame)
-    : SinkImpl{name, logger, notifier, telemetry},
-      m_pixelFormat{VideoMode::PixelFormat::kBGR} {}
-
 CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
                        Notifier& notifier, Telemetry& telemetry,
                        VideoMode::PixelFormat pixelFormat,
@@ -143,13 +129,6 @@ void CvSinkImpl::ThreadMain() {
 
 namespace cs {
 
-CS_Sink CreateCvSink(std::string_view name, CS_Status* status) {
-  auto& inst = Instance::GetInstance();
-  return inst.CreateSink(
-      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry));
-}
-
 CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
                      CS_Status* status) {
   auto& inst = Instance::GetInstance();
@@ -158,15 +137,6 @@ CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
                                                inst.telemetry, pixelFormat));
 }
 
-CS_Sink CreateCvSinkCallback(std::string_view name,
-                             std::function<void(uint64_t time)> processFrame,
-                             CS_Status* status) {
-  auto& inst = Instance::GetInstance();
-  return inst.CreateSink(
-      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry, processFrame));
-}
-
 CS_Sink CreateCvSinkCallback(std::string_view name,
                              VideoMode::PixelFormat pixelFormat,
                              std::function<void(uint64_t time)> processFrame,

diff --git a/cscore/src/main/native/cpp/CvSinkImpl.h b/cscore/src/main/native/cpp/CvSinkImpl.h
@@ -24,13 +24,8 @@ class SourceImpl;
 
 class CvSinkImpl : public SinkImpl {
  public:
-  CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry);
   CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
              Telemetry& telemetry, VideoMode::PixelFormat pixelFormat);
-  CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry,
-             std::function<void(uint64_t time)> processFrame);
   CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
              Telemetry& telemetry, VideoMode::PixelFormat pixelFormat,
              std::function<void(uint64_t time)> processFrame);

diff --git a/cscore/src/main/native/include/cscore_cpp.h b/cscore/src/main/native/include/cscore_cpp.h
@@ -316,12 +316,8 @@ void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
  */
 CS_Sink CreateMjpegServer(std::string_view name, std::string_view listenAddress,
                           int port, CS_Status* status);
-CS_Sink CreateCvSink(std::string_view name, CS_Status* status);
 CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
                      CS_Status* status);
-CS_Sink CreateCvSinkCallback(std::string_view name,
-                             std::function<void(uint64_t time)> processFrame,
-                             CS_Status* status);
 CS_Sink CreateCvSinkCallback(std::string_view name,
                              VideoMode::PixelFormat pixelFormat,
                              std::function<void(uint64_t time)> processFrame,

diff --git a/cscore/src/main/native/include/cscore_cv.h b/cscore/src/main/native/include/cscore_cv.h
@@ -120,16 +120,6 @@ class CvSink : public ImageSink {
  public:
   CvSink() = default;
 
-  /**
-   * Create a sink for accepting OpenCV images.
-   *
-   * <p>WaitForFrame() must be called on the created sink to get each new
-   * image.
-   *
-   * @param name Source name (arbitrary unique identifier)
-   */
-  explicit CvSink(std::string_view name);
-
   /**
    * Create a sink for accepting OpenCV images.
    *
@@ -139,7 +129,8 @@ class CvSink : public ImageSink {
    * @param name Source name (arbitrary unique identifier)
    * @param pixelFormat Source pixel format
    */
-  explicit CvSink(std::string_view name, VideoMode::PixelFormat pixelFormat);
+  explicit CvSink(std::string_view name, 
+                  VideoMode::PixelFormat pixelFormat = VideoMode::PixelFormat::kBGR);
 
   /**
    * Create a sink for accepting OpenCV images in a separate thread.
@@ -152,25 +143,11 @@ class CvSink : public ImageSink {
    *        time=0 if an error occurred.  processFrame should call GetImage()
    *        or GetError() as needed, but should not call (except in very
    *        unusual circumstances) WaitForImage().
-   */
-  CvSink(std::string_view name,
-         std::function<void(uint64_t time)> processFrame);
-
-  /**
-   * Create a sink for accepting OpenCV 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 pixelFormat Source pixel format
-   * @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().
    */
-  CvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
-         std::function<void(uint64_t time)> processFrame);
+  CvSink(std::string_view name,
+         std::function<void(uint64_t time)> processFrame,
+         VideoMode::PixelFormat pixelFormat = VideoMode::PixelFormat::kBGR);
 
   /**
    * Wait for the next frame and get the image.
@@ -211,22 +188,14 @@ inline void CvSource::PutFrame(cv::Mat& image) {
   PutSourceFrame(m_handle, image, &m_status);
 }
 
-inline CvSink::CvSink(std::string_view name) {
-  m_handle = CreateCvSink(name, &m_status);
-}
-
 inline CvSink::CvSink(std::string_view name,
                       VideoMode::PixelFormat pixelFormat) {
   m_handle = CreateCvSink(name, pixelFormat, &m_status);
 }
 
 inline CvSink::CvSink(std::string_view name,
-                      std::function<void(uint64_t time)> processFrame) {
-  m_handle = CreateCvSinkCallback(name, processFrame, &m_status);
-}
-
-inline CvSink::CvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
-                      std::function<void(uint64_t time)> processFrame) {
+                      std::function<void(uint64_t time)> processFrame,
+                      VideoMode::PixelFormat pixelFormat) {
   m_handle = CreateCvSinkCallback(name, pixelFormat, processFrame, &m_status);
 }