commit 17e13a2c1ca00bcebaff3c9f1a574a2fab854fa1
author Ravago Jones <ravagojones@gmail.com> Sat Jan 28 17:12:11 2023 -0800
committer Ravago Jones <ravagojones@gmail.com> Sun Jan 29 14:20:29 2023 -0800
tree 381c8d1260398e29cde5d8ae2ae47ce611b53e74
parent 31ebde8b77388f2adb7fb4d0337c1682bf00fbbd

Make viewer capture bfbs files as well

When invoked with the --capture flag it imwrites and writes a binary
flatbuffer file

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I2d015e5a9cc1ce316188d3b5429e91b595c20e8a

y2023/vision/BUILD

diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 6ef0657..cafdfb7 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -69,9 +69,11 @@
     visibility = ["//y2023:__subpackages__"],
     deps = [
         "//aos:init",
+        "//aos:json_to_flatbuffer",
         "//aos/events:shm_event_loop",
         "//frc971/vision:vision_fbs",
         "//third_party:opencv",
+        "@com_google_absl//absl/strings",
     ],
 )
 

y2023/vision/viewer.cc

diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
index 990ad7a..08def5b 100644
--- a/y2023/vision/viewer.cc
+++ b/y2023/vision/viewer.cc
@@ -1,8 +1,10 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc.hpp>
 
+#include "absl/strings/match.h"
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
 #include "aos/time/time.h"
 #include "frc971/vision/vision_generated.h"
 
@@ -36,7 +38,12 @@
   cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
 
   if (!FLAGS_capture.empty()) {
-    cv::imwrite(FLAGS_capture, bgr_image);
+    if (absl::EndsWith(FLAGS_capture, ".bfbs")) {
+      aos::WriteFlatbufferToFile(FLAGS_capture, image_fetcher.CopyFlatBuffer());
+    } else {
+      cv::imwrite(FLAGS_capture, bgr_image);
+    }
+
     return false;
   }