commit 20b5777b006c2f6621134a950035df2e76deec86
author Brian Silverman <bsilver16384@gmail.com> Sat Mar 23 22:02:49 2019 -0700
committer Brian Silverman <bsilver16384@gmail.com> Sun Mar 24 16:10:30 2019 -0700
tree 1081745d44458c182bd126db821d7c739cb4fb89
parent a67b697eebaf2a9bf0c0bd9131dfe2895b36a469

Shard image thresholding

It's down to ~9ms per frame now.

Change-Id: If5b0b51105d3d9e8a2435b1f077e46eeb9f3e94a

y2019/vision/target_sender.cc

diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index 52b81ad..04e52ac 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -89,13 +89,15 @@
   params0.set_fps(15);
   params0.set_height(480);
 
+  aos::vision::FastYuyvYPooledThresholder thresholder;
+
   ::std::unique_ptr<CameraStream> camera0(
       new CameraStream(params0, "/dev/video0"));
   camera0->set_on_frame([&](DataRef data,
                             monotonic_clock::time_point monotonic_now) {
     aos::vision::ImageFormat fmt{640, 480};
-    aos::vision::BlobList imgs = aos::vision::FindBlobs(
-        aos::vision::FastYuyvYThreshold(fmt, data.data(), 120));
+    aos::vision::BlobList imgs =
+        aos::vision::FindBlobs(thresholder.Threshold(fmt, data.data(), 120));
     finder_.PreFilter(&imgs);
     LOG(INFO, "Blobs: (%zu).\n", imgs.size());