robotpy-cscore 2027.0.0a3__cp314-cp314-macosx_13_0_arm64.whl

cscore/cvnp/cvnp.h

@@ -0,0 +1,434 @@
+#pragma once
+#include "cvnp/cvnp_synonyms.h"
+
+#include <opencv2/core/core.hpp>
+#include <pybind11/numpy.h>
+
+#include <iostream>
+#include <stdexcept>
+#include <vector>
+#include <stdlib.h>
+//
+// Explicit transformers between cv::Mat / cv::Matx and numpy.ndarray, with *possibly*/ shared memory
+// Also see automatic casters in the namespace pybind11:detail below
+//
+namespace cvnp
+{
+    //
+    // Public interface
+    //
+
+    // For cv::Mat (*with* shared memory)
+    pybind11::array mat_to_nparray(const cv::Mat& m);
+    cv::Mat         nparray_to_mat(pybind11::array& a);
+
+    // For cv::Matx (*without* shared memory)
+    template<typename _Tp, int _rows, int _cols>
+    pybind11::array matx_to_nparray(const cv::Matx<_Tp, _rows, _cols>& m);
+    template<typename _Tp, int _rows, int _cols>
+    void            nparray_to_matx(pybind11::array &a, cv::Matx<_Tp, _rows, _cols>& out_matrix);
+
+
+    //
+    // Private details and implementations below
+    //
+    namespace detail
+    {
+        template<typename _Tp, int _rows, int _cols>
+        pybind11::capsule make_capsule_matx(const cv::Matx<_Tp, _rows, _cols>& m)
+        {
+            return pybind11::capsule(new cv::Matx<_Tp, _rows, _cols>(m)
+                , [](void *v) { delete reinterpret_cast<cv::Matx<_Tp, _rows, _cols>*>(v); }
+            );
+        }
+    } // namespace detail
+
+    template<typename _Tp, int _rows, int _cols>
+    pybind11::array matx_to_nparray(const cv::Matx<_Tp, _rows, _cols>& m)
+    {
+        return pybind11::array(
+            pybind11::dtype::of<_Tp>()
+            , std::vector<std::size_t> {_rows, _cols}
+            , std::vector<std::size_t>{_cols * sizeof(_Tp), sizeof(_Tp)} // Strides
+            , m.val
+        );
+    }
+
+    template<typename _Tp, int _rows, int _cols>
+    void nparray_to_matx(pybind11::array &a, cv::Matx<_Tp, _rows, _cols>& out_matrix)
+    {
+        size_t mat_size = (size_t)(_rows * _cols);
+        if (a.size() != mat_size)
+            throw std::runtime_error("Bad size");
+
+        _Tp* arrayValues = (_Tp*) a.data(0);
+        for (size_t i = 0; i < mat_size; ++i)
+            out_matrix.val[i] = arrayValues[i];
+    }
+} // namespace cvnp
+
+
+
+//
+// 1. Casts with shared memory between {cv::Mat, cv::Matx, cv::Vec} and numpy.ndarray
+//
+// 2. Casts without shared memory between {cv::Size, cv::Point, cv::Point3} and python tuples
+//
+namespace pybind11
+{
+    namespace detail
+    {
+        //
+        // Cast between cv::Mat and numpy.ndarray
+        // The cast between cv::Mat and numpy.ndarray works
+        //   - *with* shared memory when going from C++ to Python
+        //   - *with* shared memory when going from Python to C++
+        //   any modification to the Matrix size, type, and values is immediately impacted on both sides.
+        template<>
+        struct type_caster<cv::Mat>
+        {
+        public:
+        PYBIND11_TYPE_CASTER(cv::Mat, _("numpy.ndarray"));
+
+            /**
+             * Conversion part 1 (Python->C++):
+             * Return false upon failure.
+             * The second argument indicates whether implicit conversions should be applied.
+             */
+            bool load(handle src, bool)
+            {
+                if (!isinstance<array>(src))
+                    return false;
+
+                auto a = reinterpret_borrow<array>(src);
+                auto new_mat = cvnp::nparray_to_mat(a);
+                value = new_mat;
+                return true;
+            }
+
+            /**
+             * Conversion part 2 (C++ -> Python):
+             * The second and third arguments are used to indicate the return value policy and parent object
+             * (for ``return_value_policy::reference_internal``) and are generally
+             * ignored by implicit casters.
+             */
+            static handle cast(const cv::Mat &m, return_value_policy, handle defval)
+            {
+                auto a = cvnp::mat_to_nparray(m);
+                return a.release();
+            }
+        };
+
+        //
+        // Cast between cv::Mat_ and numpy.ndarray
+        // The cast between cv::Mat_ and numpy.ndarray works
+        //   - *with* shared memory when going from C++ to Python
+        //   - *with* shared memory when going from Python to C++
+        //   any modification to the Matrix size, type, and values is immediately impacted on both sides.
+        template<typename _Tp>
+        struct type_caster<cv::Mat_<_Tp>>
+        {
+            using MatTp = cv::Mat_<_Tp>;
+        public:
+        PYBIND11_TYPE_CASTER(MatTp, _("numpy.ndarray"));
+
+            /**
+             * Conversion part 1 (Python->C++):
+             * Return false upon failure.
+             * The second argument indicates whether implicit conversions should be applied.
+             */
+            bool load(handle src, bool)
+            {
+                if (!isinstance<array>(src))
+                    return false;
+
+                auto a = reinterpret_borrow<array>(src);
+                auto new_mat = cvnp::nparray_to_mat(a);
+                value = new_mat;
+                return true;
+            }
+
+            /**
+             * Conversion part 2 (C++ -> Python):
+             * The second and third arguments are used to indicate the return value policy and parent object
+             * (for ``return_value_policy::reference_internal``) and are generally
+             * ignored by implicit casters.
+             */
+            static handle cast(const MatTp &m, return_value_policy, handle defval)
+            {
+                auto a = cvnp::mat_to_nparray(m);
+                return a.release();
+            }
+        };
+
+
+
+        // Cast between cv::Matx<_rows,_cols> (aka Matx33d, Matx21d, etc) and numpy.ndarray
+        // *without* shared memory.
+        template<typename _Tp, int _rows, int _cols>
+        struct type_caster<cv::Matx<_Tp, _rows, _cols> >
+        {
+            using Matxxx = cv::Matx<_Tp, _rows, _cols>;
+
+        public:
+        PYBIND11_TYPE_CASTER(Matxxx, _("numpy.ndarray"));
+
+            // Conversion part 1 (Python->C++)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<array>(src))
+                    return false;
+
+                auto a = reinterpret_borrow<array>(src);
+                cvnp::nparray_to_matx<_Tp, _rows, _cols>(a, value);
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python)
+            static handle cast(const Matxxx &m, return_value_policy, handle defval)
+            {
+                auto a = cvnp::matx_to_nparray<_Tp, _rows, _cols>(m);
+                return a.release();
+            }
+        };
+
+
+        // Cast between cv::Vec<_rows> and numpy.ndarray
+        // *without* shared memory.
+        template<typename _Tp, int _rows>
+        struct type_caster<cv::Vec<_Tp, _rows> >
+        {
+            using Vecxxx = cv::Vec<_Tp, _rows>;
+
+        public:
+        PYBIND11_TYPE_CASTER(Vecxxx, _("numpy.ndarray"));
+
+            // Conversion part 1 (Python->C++)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<array>(src))
+                    return false;
+
+                auto a = reinterpret_borrow<array>(src);
+                cvnp::nparray_to_matx<_Tp, _rows, 1>(a, value);
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python)
+            static handle cast(const Vecxxx &m, return_value_policy, handle defval)
+            {
+                auto a = cvnp::matx_to_nparray<_Tp, _rows, 1>(m);
+                return a.release();
+            }
+        };
+
+
+        //
+        // Cast between cv::Size and a simple python tuple.
+        // No shared memory, you cannot modify the width or the height without
+        // transferring the whole Size from C++, or the tuple from python
+        //
+        template<typename _Tp>
+        struct type_caster<cv::Size_<_Tp>>
+        {
+            using SizeTp = cv::Size_<_Tp>;
+
+        public:
+        PYBIND11_TYPE_CASTER(SizeTp, _("tuple"));
+
+            // Conversion part 1 (Python->C++, i.e tuple -> Size)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<pybind11::tuple>(src))
+                    return false;
+
+                auto tuple = pybind11::reinterpret_borrow<pybind11::tuple>(src);
+                if (tuple.size() != 2)
+                    throw std::invalid_argument("Size should be in a tuple of size 2");
+
+                SizeTp r;
+                r.width =  tuple[0].cast<_Tp>();
+                r.height = tuple[1].cast<_Tp>();
+
+                value = r;
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python, i.e Size -> tuple)
+            static handle cast(const SizeTp &value, return_value_policy, handle defval)
+            {
+                auto result = pybind11::make_tuple(value.width, value.height);
+                return result.release();
+            }
+        };
+
+
+        //
+        // Cast between cv::Point and a simple python tuple
+        // No shared memory, you cannot modify x or y without
+        // transferring the whole Point from C++, or the tuple from python
+        //
+        template<typename _Tp>
+        struct type_caster<cv::Point_<_Tp>>
+        {
+            using PointTp = cv::Point_<_Tp>;
+
+        public:
+        PYBIND11_TYPE_CASTER(PointTp , _("tuple"));
+
+            // Conversion part 1 (Python->C++)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<pybind11::tuple>(src))
+                    return false;
+
+                auto tuple = pybind11::reinterpret_borrow<pybind11::tuple>(src);
+                if (tuple.size() != 2)
+                    throw std::invalid_argument("Point should be in a tuple of size 2");
+
+                PointTp r;
+                r.x = tuple[0].cast<_Tp>();
+                r.y = tuple[1].cast<_Tp>();
+
+                value = r;
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python)
+            static handle cast(const PointTp &value, return_value_policy, handle defval)
+            {
+                auto result = pybind11::make_tuple(value.x, value.y);
+                return result.release();
+            }
+        };
+
+
+        //
+        // Point3
+        // No shared memory
+        //
+        template<typename _Tp>
+        struct type_caster<cv::Point3_<_Tp>>
+        {
+            using PointTp = cv::Point3_<_Tp>;
+
+        public:
+        PYBIND11_TYPE_CASTER(PointTp , _("tuple"));
+
+            // Conversion part 1 (Python->C++)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<pybind11::tuple>(src))
+                    return false;
+
+                auto tuple = pybind11::reinterpret_borrow<pybind11::tuple>(src);
+                if (tuple.size() != 3)
+                    throw std::invalid_argument("Point3 should be in a tuple of size 3");
+
+                PointTp r;
+                r.x = tuple[0].cast<_Tp>();
+                r.y = tuple[1].cast<_Tp>();
+                r.z = tuple[2].cast<_Tp>();
+
+                value = r;
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python)
+            static handle cast(const PointTp &value, return_value_policy, handle defval)
+            {
+                auto result = pybind11::make_tuple(value.x, value.y, value.z);
+                return result.release();
+            }
+        };
+
+        //
+        // Scalar
+        // No shared memory
+        //
+        template<typename _Tp>
+        struct type_caster<cv::Scalar_<_Tp>>
+        {
+            using ScalarTp = cv::Scalar_<_Tp>;
+
+        public:
+        PYBIND11_TYPE_CASTER(ScalarTp , _("tuple"));
+
+            // Conversion part 1 (Python->C++)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<pybind11::tuple>(src))
+                    return false;
+
+                auto tuple = pybind11::reinterpret_borrow<pybind11::tuple>(src);
+                const auto tupleSize = tuple.size();
+                if (tupleSize > 4)
+                    throw std::invalid_argument("Scalar should be a tuple with at most 4 elements. Got " + std::to_string(tupleSize));
+
+                ScalarTp r;
+                if (tupleSize == 1)
+                    r = ScalarTp(tuple[0].cast<_Tp>());
+                else if (tupleSize == 2)
+                    r = ScalarTp(tuple[0].cast<_Tp>(), tuple[1].cast<_Tp>());
+                else if (tupleSize == 3)
+                    r = ScalarTp(tuple[0].cast<_Tp>(), tuple[1].cast<_Tp>(), tuple[2].cast<_Tp>());
+                else if (tupleSize == 4)
+                    r = ScalarTp(tuple[0].cast<_Tp>(), tuple[1].cast<_Tp>(), tuple[2].cast<_Tp>(), tuple[3].cast<_Tp>());
+
+                value = r;
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python)
+            static handle cast(const ScalarTp &value, return_value_policy, handle defval)
+            {
+                auto result = pybind11::make_tuple(value[0], value[1], value[2], value[3]);
+                return result.release();
+            }
+        };
+
+        //
+        // Rect_
+        // No shared memory
+        //
+        template<typename _Tp>
+        struct type_caster<cv::Rect_<_Tp>>
+        {
+            using RectTp = cv::Rect_<_Tp>;
+
+        public:
+        PYBIND11_TYPE_CASTER(RectTp , _("tuple"));
+
+            // Conversion part 1 (Python->C++)
+            bool load(handle src, bool)
+            {
+                if (!isinstance<pybind11::tuple>(src))
+                    return false;
+
+                auto tuple = pybind11::reinterpret_borrow<pybind11::tuple>(src);
+                const auto tupleSize = tuple.size();
+                if (tupleSize != 4)
+                    throw std::invalid_argument("Rect should be a tuple with 4 elements. Got " + std::to_string(tupleSize));
+
+                RectTp r;
+                r.x = tuple[0].cast<_Tp>();
+                r.y = tuple[1].cast<_Tp>();
+                r.width = tuple[2].cast<_Tp>();
+                r.height = tuple[3].cast<_Tp>();
+
+                value = r;
+                return true;
+            }
+
+            // Conversion part 2 (C++ -> Python)
+            static handle cast(const RectTp &value, return_value_policy, handle defval)
+            {
+                auto result = pybind11::make_tuple(value.x, value.y, value.width, value.height);
+                return result.release();
+            }
+        };
+
+
+    }  // namespace detail
+}  // namespace pybind11
+

cscore/cvnp/cvnp_synonyms.cpp

@@ -0,0 +1,70 @@
+#include "cvnp/cvnp_synonyms.h"
+#include <string>
+#include <iostream>
+
+
+namespace cvnp
+{
+    std::vector<TypeSynonyms> sTypeSynonyms
+    {
+        { CV_8U,  "CV_8U", pybind11::format_descriptor<uint8_t>::format(),   "np.uint8" },
+        { CV_8S,  "CV_8S", pybind11::format_descriptor<int8_t>::format(),    "np.int8" },
+        { CV_16U, "CV_16U", pybind11::format_descriptor<uint16_t>::format(), "np.uint16" },
+        { CV_16S, "CV_16S", pybind11::format_descriptor<int16_t>::format(),  "np.int16" },
+        { CV_32S, "CV_32S", pybind11::format_descriptor<int32_t>::format(),  "np.int32" },
+        { CV_32F, "CV_32F", pybind11::format_descriptor<float>::format(),    "float" },
+        { CV_64F, "CV_64F", pybind11::format_descriptor<double>::format(),   "np.float64" },
+
+        // Note: this format needs adaptations
+        //#if (CV_MAJOR_VERSION >= 4)
+        //        { CV_16F, "CV_16F", pybind11::format_descriptor<cv::float16_t>::format() },
+        //#endif
+    };
+
+
+    static int sColumnWidth = 12;
+
+    static std::string align_center(const std::string& s)
+    {
+        int nb_spaces = s.size() < sColumnWidth ? sColumnWidth - s.size() : 0;
+        int nb_spaces_left = nb_spaces / 2;
+        int nb_spaces_right = sColumnWidth - s.size() - nb_spaces_left;
+        if (nb_spaces_right < 0)
+            nb_spaces_right = 0;
+        return std::string((size_t)nb_spaces_left, ' ') + s + std::string( (size_t)nb_spaces_right, ' ');
+    }
+    static std::string align_center(const int v)
+    {
+        return align_center(std::to_string(v));
+    }
+
+    std::string TypeSynonyms::str() const
+    {
+        return    align_center(cv_depth) + align_center(cv_depth_name) 
+                + align_center(np_format) + align_center(np_format_long);
+    }
+
+    
+    std::string _print_types_synonyms_str()
+    {
+        std::string title = 
+              align_center("cv_depth") + align_center("cv_depth_name") 
+            + align_center("np_format") + align_center("np_format_long");; 
+
+        std::string r;
+        r = title + "\n";
+        for (const auto& format: sTypeSynonyms)
+            r = r + format.str() + "\n";
+        return r;
+    }
+
+    std::vector<TypeSynonyms> list_types_synonyms()
+    {
+        return sTypeSynonyms;
+    }
+
+    void print_types_synonyms()
+    {
+        std::cout << _print_types_synonyms_str();
+    }
+}

cscore/cvnp/cvnp_synonyms.h

@@ -0,0 +1,25 @@
+#pragma once
+#include <opencv2/core.hpp>
+#include <pybind11/numpy.h>
+#include <string>
+#include <vector>
+
+
+namespace cvnp
+{
+    struct TypeSynonyms
+    {
+        int         cv_depth = -1;
+        std::string cv_depth_name;
+        std::string np_format;
+        std::string np_format_long;
+
+        pybind11::dtype dtype() { return pybind11::dtype(np_format); }
+        std::string str() const;
+    };
+
+    extern std::vector<TypeSynonyms> sTypeSynonyms;
+
+    std::vector<TypeSynonyms> list_types_synonyms();
+    void                      print_types_synonyms();
+}

cscore/grip.py

@@ -0,0 +1,41 @@
+import inspect
+
+from .cameraserver import CameraServer
+
+
+def run(grip_pipeline):
+    """
+    A function that can be used to run python image processing code
+    as generated by GRIP
+    """
+
+    if inspect.isclass(grip_pipeline):
+        grip_pipeline = grip_pipeline()
+
+    cs = CameraServer.getInstance()
+    cs.enableLogging()
+
+    cs.startAutomaticCapture()
+    cvSink = cs.getVideo()
+
+    outputStream = None
+    img = None
+
+    while True:
+        time, img = cvSink.grabFrame(img)
+        if time == 0:
+            if outputStream:
+                outputStream.notifyError(cvSink.getError())
+
+            continue
+
+        # Process it with GRIP
+        out_img = grip_pipeline.process(img)
+        if out_img is not None:
+            try:
+                outputStream.putFrame(out_img)
+            except AttributeError:
+                if outputStream is None:
+                    outputStream = cs.putVideo("GRIP", img.shape[1], img.shape[0])
+                else:
+                    raise