vision.cpp

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#include "vision.h"
 
#include "cpp-tools/src/resources.h"
 
 
// cs::CvSink switchedCameraVision(const std::vector<VisionCamera>& cameras, std::shared_ptr<nt::NetworkTable> table) {
//  if(!table->ContainsKey("Camera Index")) {
//      table->PutNumber("Camera Index", 0);
//  }
//  if(!table->ContainsKey("Cameras Available")) {
//      table->PutNumber("Cameras Available", cameras.size());
//  }
//  static cs::CvSink source;
//  if(cameras.size() > 0) {
//      source = cameras[0].getSink();
//  }
//  table->GetEntry("Camera Index").AddListener(
//      [&cameras](const nt::EntryNotification& event) {
//          if(event.value->IsDouble()) {
//              size_t idx = event.value->GetDouble();
//              if(idx >= 0 && idx < cameras.size()) {
//                  source.SetSource(cameras[idx]);
//                  source.SetConfigJson(cameras[idx].getStreamJson());
//              }
//          }
//      },
//      NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE
//  );
//  return source;
// }
 
cs::VideoMode getJsonVideoMode(const wpi::json& config) {
    cs::VideoMode mode;
 
// the following is copied from: https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/cpp/SourceImpl.cpp#L184
    if (config.count("pixel format") != 0) {
        try {
            std::string str = config.at("pixel format").get<std::string>();
            if (wpi::equals_lower(str, "mjpeg")) {
                mode.pixelFormat = cs::VideoMode::kMJPEG;
            } else if (wpi::equals_lower(str, "yuyv")) {
                mode.pixelFormat = cs::VideoMode::kYUYV;
            } else if (wpi::equals_lower(str, "rgb565")) {
                mode.pixelFormat = cs::VideoMode::kRGB565;
            } else if (wpi::equals_lower(str, "bgr")) {
                mode.pixelFormat = cs::VideoMode::kBGR;
            } else if (wpi::equals_lower(str, "gray")) {
                mode.pixelFormat = cs::VideoMode::kGray;
            } else {
                mode.pixelFormat = cs::VideoMode::kUnknown;
            }
        } catch (const wpi::json::exception& e) {
            mode.pixelFormat = cs::VideoMode::kUnknown;
        }
    }
    if (config.count("width") != 0) {
        try {
            mode.width = config.at("width").get<unsigned int>();
        } catch (const wpi::json::exception& e) {
            mode.width = 0;
        }
    }
    if (config.count("height") != 0) {
        try {
            mode.height = config.at("height").get<unsigned int>();
        } catch (const wpi::json::exception& e) {}
    }
    if (config.count("fps") != 0) {
        try {
            mode.fps = config.at("fps").get<unsigned int>();
        } catch (const wpi::json::exception& e) {}
    }
    return mode;
}
 
// void addNetTableVar(bool& var, const std::string& name, std::shared_ptr<nt::NetworkTable> table) {
//  if(!table->ContainsKey(name)) {
//      table->PutBoolean(name, var);
//  } else {}
//  table->GetEntry(name).AddListener(
//      [&var](const nt::EntryNotification& event){
//          if(event.value->IsBoolean()) {
//              var = event.value->GetBoolean();
//              //std::cout << " Networktable var(bool) updated to : " << var << newline;
//          }
//      },
//      NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE
//  );
// }
 
// const std::array<std::array<cv::Scalar, 3>, 3> markup_map = {
//     std::array<cv::Scalar, 3>{cv::Scalar(255, 0, 0), cv::Scalar(255, 127, 0), cv::Scalar(255, 255, 0)},  //blue
//  std::array<cv::Scalar, 3>{cv::Scalar(0, 255, 0), cv::Scalar(0, 255, 127), cv::Scalar(0, 255, 255)}, //green
//  std::array<cv::Scalar, 3>{cv::Scalar(0, 0, 255), cv::Scalar(127, 0, 255), cv::Scalar(255, 0, 255)}, //red
// };