t_frame_cv_mat_wrapper.hpp

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// Copyright 2021-2023, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Simple @ref xrt_frame wrapper around a cv::Mat.
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup aux_tracking
 */
 
#include "xrt/xrt_frame.h"
 
#include <opencv2/opencv.hpp>
 
 
namespace xrt::auxiliary::tracking {
 
 
/*!
 * This class implements the @ref xrt_frame interface, allowing interfacing to
 * @p cv::Mat from C code. Keeps a reference to the cv::Mat and so the data
 * alive, this class is freed when the reference count reaches zero.
 */
class FrameMat
{
public:
        //! Additional optional parameters for frame creation.
        class Params
        {
        public:
                enum xrt_stereo_format stereo_format;
                uint64_t timestamp_ns;
        };
 
        //! Exposed @ref xrt_frame API.
        struct xrt_frame frame = {};
 
        // The cv::Mat that holds the data.
        cv::Mat matrix = cv::Mat();
 
 
public: // Methods
        /*!
         * Wraps the given cv::Mat assuming it's a 24bit RGB format matrix.
         * In all but the most strange cases you probably want the pointer
         * pointed to by @p xf_ptr to be `nullptr`, if not `nullptr` it will have
         * its reference count decremented so make sure it's a valid pointer.
         */
        static void
        wrapR8G8B8(const cv::Mat &mat, xrt_frame **fm_out, Params params = {});
 
        /*!
         * Wraps the given cv::Mat assuming it's a 8bit format matrix.
         * In all but the most strange cases you probably want the pointer
         * pointed to by @p xf_ptr to be `nullptr`, if not `nullptr` it will have
         * its reference count decremented so make sure it's a valid pointer.
         */
        static void
        wrapL8(const cv::Mat &mat, xrt_frame **fm_out, Params params = {});
 
 
private:
        ~FrameMat();
        FrameMat();
 
        void
        fillInFields(cv::Mat mat, xrt_format format, const Params &params);
 
        //! C callback used when the reference of the frames reaches zero.
        static void
        destroyFrame(xrt_frame *frame);
};
 
 
 
} // namespace xrt::auxiliary::tracking