commit 1f34eea67e323e5ea832f6bbce811c4171a6e494
author Henry Speiser <100027428@mvla.net> Sun Jan 30 14:35:21 2022 -0800
committer Henry Speiser <henry@speiser.net> Sun Jan 30 22:16:26 2022 -0800
tree c125231aaf78e2c9ab1ef1fdb3718ad9189ef80b
parent 4ad1b4a33e81bace3e4187c6736784e7db6c95c9

Allows images to be either inserted manually, or taken through the v4l2 camera reader

Change-Id: Ib0496b3c5780f5a4e40b49765472006669551406
Signed-off-by: Henry Speiser <100027428@mvla.net>

y2022/vision/camera_reader.h

diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 6880248..78abaa5 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -5,9 +5,10 @@
 
 #include <opencv2/calib3d.hpp>
 #include <opencv2/features2d.hpp>
+#include <opencv2/imgcodecs.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
 #include "aos/flatbuffer_merge.h"
 #include "aos/network/team_number.h"
 #include "frc971/vision/v4l2_reader.h"
@@ -26,7 +27,7 @@
 
 class CameraReader {
  public:
-  CameraReader(aos::EventLoop *event_loop,
+  CameraReader(aos::ShmEventLoop *event_loop,
                const sift::TrainingData *training_data, V4L2Reader *reader)
       : event_loop_(event_loop),
         training_data_(training_data),
@@ -44,7 +45,7 @@
   const sift::CameraCalibration *FindCameraCalibration() const;
 
   // Processes an image (including sending the results).
-  void ProcessImage(const CameraImage &image);
+  void ProcessImage(const cv::Mat &image);
 
   // Reads an image, and then performs all of our processing on it.
   void ReadImage();
@@ -75,7 +76,7 @@
     return result;
   }
 
-  aos::EventLoop *const event_loop_;
+  aos::ShmEventLoop *const event_loop_;
   const sift::TrainingData *const training_data_;
   const sift::CameraCalibration *const camera_calibration_;
   V4L2Reader *const reader_;