Factoring out camera_params.proto.
Change-Id: Idf886f9cb33764d505d5cff11ca766cea96d2024
diff --git a/y2016/vision/BUILD b/y2016/vision/BUILD
index e8d0b17..d8ca87c 100644
--- a/y2016/vision/BUILD
+++ b/y2016/vision/BUILD
@@ -143,7 +143,7 @@
"//aos/vision/events:tcp_client",
"//aos/vision/events:epoll_events",
"//aos/vision/events:gtk_event",
- "//aos/vision/debug:debug_viewer",
+ "//aos/vision/debug:debug_window",
"//aos/vision/blob:range_image",
"//aos/vision/blob:codec",
"//aos/vision/blob:stream_view",
diff --git a/y2016/vision/debug_receiver.cc b/y2016/vision/debug_receiver.cc
index 7039c53..d3c527c 100644
--- a/y2016/vision/debug_receiver.cc
+++ b/y2016/vision/debug_receiver.cc
@@ -12,7 +12,6 @@
#include "aos/vision/events/socket_types.h"
#include "aos/vision/events/tcp_client.h"
#include "aos/vision/events/epoll_events.h"
-#include "aos/vision/debug/debug_viewer.h"
#include "aos/vision/blob/range_image.h"
#include "aos/vision/blob/codec.h"
#include "aos/vision/blob/stream_view.h"
@@ -69,9 +68,9 @@
private:
void DrawCross(PixelLinesOverlay &overlay, Vector<2> center, PixelRef color) {
- overlay.add_line(Vector<2>(center.x() - 50, center.y()),
+ overlay.AddLine(Vector<2>(center.x() - 50, center.y()),
Vector<2>(center.x() + 50, center.y()), color);
- overlay.add_line(Vector<2>(center.x(), center.y() - 50),
+ overlay.AddLine(Vector<2>(center.x(), center.y() - 50),
Vector<2>(center.x(), center.y() + 50), color);
}
diff --git a/y2016/vision/target_sender.cc b/y2016/vision/target_sender.cc
index 2790a83..85e62c4 100644
--- a/y2016/vision/target_sender.cc
+++ b/y2016/vision/target_sender.cc
@@ -1,5 +1,6 @@
#include <stdio.h>
#include <stdlib.h>
+#include <sys/stat.h>
#include <fstream>
#include <iostream>
#include <memory>
@@ -37,13 +38,15 @@
using aos::events::DataSocket;
using aos::vision::ImageFormat;
-::camera::CameraParams GetCameraParams(const Calibration &calibration) {
- return ::camera::CameraParams{.width = calibration.camera_image_width(),
- .height = calibration.camera_image_height(),
- .exposure = calibration.camera_exposure(),
- .brightness = calibration.camera_brightness(),
- .gain = calibration.camera_gain(),
- .fps = calibration.camera_fps()};
+::aos::vision::CameraParams GetCameraParams(const Calibration &calibration) {
+ ::aos::vision::CameraParams params;
+ params.set_width(calibration.camera_image_width());
+ params.set_height(calibration.camera_image_height());
+ params.set_exposure(calibration.camera_exposure());
+ params.set_brightness(calibration.camera_brightness());
+ params.set_gain(calibration.camera_gain());
+ params.set_fps(calibration.camera_fps());
+ return params;
}
int64_t Nanos(aos::monotonic_clock::duration time_diff) {
@@ -62,13 +65,14 @@
class ImageSender : public ImageStreamEvent {
public:
- ImageSender(int camera_index, camera::CameraParams params,
+ ImageSender(int camera_index, aos::vision::CameraParams params,
const std::string &fname, const std::string &ipadder, int port)
: ImageStreamEvent(fname, params),
camera_index_(camera_index),
udp_serv_(ipadder, 8080),
tcp_serv_(port),
- blob_filt_(ImageFormat(params.width, params.height), 40, 750, 250000),
+ blob_filt_(ImageFormat(params.width(), params.height()), 40, 750,
+ 250000),
finder_(0.25, 35) {
int index = 0;
while (true) {
@@ -94,9 +98,8 @@
DecodeJpeg(data, &image_);
auto fmt = image_.fmt();
- RangeImage rimg = DoThreshold(image_.get(), [](PixelRef &px) {
- return (px.g > 88);
- });
+ RangeImage rimg =
+ DoThreshold(image_.get(), [](PixelRef &px) { return (px.g > 88); });
// flip the right image as this camera is mount backward
if (camera_index_ == 0) {
@@ -202,11 +205,11 @@
private:
};
-void RunCamera(int camera_index, camera::CameraParams params,
+void RunCamera(int camera_index, aos::vision::CameraParams params,
const std::string &device, const std::string &ip_addr,
int port) {
- printf("Creating camera %d (%d, %d).\n", camera_index, params.width,
- params.height);
+ printf("Creating camera %d (%d, %d).\n", camera_index, params.width(),
+ params.height());
ImageSender strm(camera_index, params, device, ip_addr, port);
aos::events::EpollLoop loop;
diff --git a/y2016/vision/tools/BUILD b/y2016/vision/tools/BUILD
index a9e25ac..a7824c7 100644
--- a/y2016/vision/tools/BUILD
+++ b/y2016/vision/tools/BUILD
@@ -9,7 +9,7 @@
"//aos/vision/events:epoll_events",
"//aos/vision/events:gtk_event",
"//aos/vision/events:tcp_server",
- "//aos/vision/debug:debug_viewer",
+ "//aos/vision/debug:debug_window",
"//aos/vision/blob:range_image",
"//aos/vision/blob:stream_view",
"//y2016/vision:blob_filters",
diff --git a/y2016/vision/tools/blob_stream_replay.cc b/y2016/vision/tools/blob_stream_replay.cc
index f972fae..acf4d4b 100644
--- a/y2016/vision/tools/blob_stream_replay.cc
+++ b/y2016/vision/tools/blob_stream_replay.cc
@@ -4,6 +4,7 @@
#include <vector>
#include <memory>
#include <endian.h>
+#include <sys/stat.h>
#include <fstream>
#include <gdk/gdk.h>
#include <gtk/gtk.h>
@@ -13,7 +14,6 @@
#include "aos/vision/image/image_stream.h"
#include "aos/vision/events/epoll_events.h"
#include "aos/vision/events/tcp_server.h"
-#include "aos/vision/debug/debug_viewer.h"
#include "aos/vision/blob/stream_view.h"
#include "y2016/vision/blob_filters.h"
// #include "y2016/vision/process_targets.h"
@@ -362,57 +362,57 @@
void DrawSuperSpeed() {
PixelRef color = {0, 255, 255};
// S
- overlay_.add_line(Vector<2>(200, 100), Vector<2>(100, 100), color);
- overlay_.add_line(Vector<2>(100, 100), Vector<2>(100, 300), color);
- overlay_.add_line(Vector<2>(100, 300), Vector<2>(200, 300), color);
- overlay_.add_line(Vector<2>(200, 300), Vector<2>(200, 500), color);
- overlay_.add_line(Vector<2>(200, 500), Vector<2>(100, 500), color);
+ overlay_.AddLine(Vector<2>(200, 100), Vector<2>(100, 100), color);
+ overlay_.AddLine(Vector<2>(100, 100), Vector<2>(100, 300), color);
+ overlay_.AddLine(Vector<2>(100, 300), Vector<2>(200, 300), color);
+ overlay_.AddLine(Vector<2>(200, 300), Vector<2>(200, 500), color);
+ overlay_.AddLine(Vector<2>(200, 500), Vector<2>(100, 500), color);
// U
- overlay_.add_line(Vector<2>(250, 100), Vector<2>(250, 500), color);
- overlay_.add_line(Vector<2>(250, 500), Vector<2>(350, 500), color);
- overlay_.add_line(Vector<2>(350, 500), Vector<2>(350, 100), color);
+ overlay_.AddLine(Vector<2>(250, 100), Vector<2>(250, 500), color);
+ overlay_.AddLine(Vector<2>(250, 500), Vector<2>(350, 500), color);
+ overlay_.AddLine(Vector<2>(350, 500), Vector<2>(350, 100), color);
// P
- overlay_.add_line(Vector<2>(400, 100), Vector<2>(400, 500), color);
- overlay_.add_line(Vector<2>(400, 100), Vector<2>(500, 100), color);
- overlay_.add_line(Vector<2>(500, 100), Vector<2>(500, 300), color);
- overlay_.add_line(Vector<2>(500, 300), Vector<2>(400, 300), color);
+ overlay_.AddLine(Vector<2>(400, 100), Vector<2>(400, 500), color);
+ overlay_.AddLine(Vector<2>(400, 100), Vector<2>(500, 100), color);
+ overlay_.AddLine(Vector<2>(500, 100), Vector<2>(500, 300), color);
+ overlay_.AddLine(Vector<2>(500, 300), Vector<2>(400, 300), color);
// E
- overlay_.add_line(Vector<2>(550, 100), Vector<2>(550, 500), color);
- overlay_.add_line(Vector<2>(550, 100), Vector<2>(650, 100), color);
- overlay_.add_line(Vector<2>(550, 300), Vector<2>(650, 300), color);
- overlay_.add_line(Vector<2>(550, 500), Vector<2>(650, 500), color);
+ overlay_.AddLine(Vector<2>(550, 100), Vector<2>(550, 500), color);
+ overlay_.AddLine(Vector<2>(550, 100), Vector<2>(650, 100), color);
+ overlay_.AddLine(Vector<2>(550, 300), Vector<2>(650, 300), color);
+ overlay_.AddLine(Vector<2>(550, 500), Vector<2>(650, 500), color);
// R
- overlay_.add_line(Vector<2>(700, 100), Vector<2>(700, 500), color);
- overlay_.add_line(Vector<2>(700, 100), Vector<2>(800, 100), color);
- overlay_.add_line(Vector<2>(800, 100), Vector<2>(800, 300), color);
- overlay_.add_line(Vector<2>(800, 300), Vector<2>(700, 300), color);
- overlay_.add_line(Vector<2>(700, 350), Vector<2>(800, 500), color);
+ overlay_.AddLine(Vector<2>(700, 100), Vector<2>(700, 500), color);
+ overlay_.AddLine(Vector<2>(700, 100), Vector<2>(800, 100), color);
+ overlay_.AddLine(Vector<2>(800, 100), Vector<2>(800, 300), color);
+ overlay_.AddLine(Vector<2>(800, 300), Vector<2>(700, 300), color);
+ overlay_.AddLine(Vector<2>(700, 350), Vector<2>(800, 500), color);
// S
- overlay_.add_line(Vector<2>(200, 550), Vector<2>(100, 550), color);
- overlay_.add_line(Vector<2>(100, 550), Vector<2>(100, 750), color);
- overlay_.add_line(Vector<2>(100, 750), Vector<2>(200, 750), color);
- overlay_.add_line(Vector<2>(200, 750), Vector<2>(200, 950), color);
- overlay_.add_line(Vector<2>(200, 950), Vector<2>(100, 950), color);
+ overlay_.AddLine(Vector<2>(200, 550), Vector<2>(100, 550), color);
+ overlay_.AddLine(Vector<2>(100, 550), Vector<2>(100, 750), color);
+ overlay_.AddLine(Vector<2>(100, 750), Vector<2>(200, 750), color);
+ overlay_.AddLine(Vector<2>(200, 750), Vector<2>(200, 950), color);
+ overlay_.AddLine(Vector<2>(200, 950), Vector<2>(100, 950), color);
// P
- overlay_.add_line(Vector<2>(250, 550), Vector<2>(250, 950), color);
- overlay_.add_line(Vector<2>(250, 550), Vector<2>(350, 550), color);
- overlay_.add_line(Vector<2>(350, 550), Vector<2>(350, 750), color);
- overlay_.add_line(Vector<2>(350, 750), Vector<2>(250, 750), color);
+ overlay_.AddLine(Vector<2>(250, 550), Vector<2>(250, 950), color);
+ overlay_.AddLine(Vector<2>(250, 550), Vector<2>(350, 550), color);
+ overlay_.AddLine(Vector<2>(350, 550), Vector<2>(350, 750), color);
+ overlay_.AddLine(Vector<2>(350, 750), Vector<2>(250, 750), color);
// E
- overlay_.add_line(Vector<2>(400, 550), Vector<2>(400, 950), color);
- overlay_.add_line(Vector<2>(400, 550), Vector<2>(500, 550), color);
- overlay_.add_line(Vector<2>(400, 750), Vector<2>(500, 750), color);
- overlay_.add_line(Vector<2>(400, 950), Vector<2>(500, 950), color);
+ overlay_.AddLine(Vector<2>(400, 550), Vector<2>(400, 950), color);
+ overlay_.AddLine(Vector<2>(400, 550), Vector<2>(500, 550), color);
+ overlay_.AddLine(Vector<2>(400, 750), Vector<2>(500, 750), color);
+ overlay_.AddLine(Vector<2>(400, 950), Vector<2>(500, 950), color);
// E
- overlay_.add_line(Vector<2>(550, 550), Vector<2>(550, 950), color);
- overlay_.add_line(Vector<2>(550, 550), Vector<2>(650, 550), color);
- overlay_.add_line(Vector<2>(550, 750), Vector<2>(650, 750), color);
- overlay_.add_line(Vector<2>(550, 950), Vector<2>(650, 950), color);
+ overlay_.AddLine(Vector<2>(550, 550), Vector<2>(550, 950), color);
+ overlay_.AddLine(Vector<2>(550, 550), Vector<2>(650, 550), color);
+ overlay_.AddLine(Vector<2>(550, 750), Vector<2>(650, 750), color);
+ overlay_.AddLine(Vector<2>(550, 950), Vector<2>(650, 950), color);
// D
- overlay_.add_line(Vector<2>(700, 550), Vector<2>(700, 950), color);
- overlay_.add_line(Vector<2>(700, 550), Vector<2>(800, 575), color);
- overlay_.add_line(Vector<2>(800, 575), Vector<2>(800, 925), color);
- overlay_.add_line(Vector<2>(800, 925), Vector<2>(700, 950), color);
+ overlay_.AddLine(Vector<2>(700, 550), Vector<2>(700, 950), color);
+ overlay_.AddLine(Vector<2>(700, 550), Vector<2>(800, 575), color);
+ overlay_.AddLine(Vector<2>(800, 575), Vector<2>(800, 925), color);
+ overlay_.AddLine(Vector<2>(800, 925), Vector<2>(700, 950), color);
}
void UpdateNewTime(int new_delta) {
@@ -524,9 +524,9 @@
}
void DrawCross(PixelLinesOverlay &overlay, Vector<2> center, PixelRef color) {
- overlay.add_line(Vector<2>(center.x() - 25, center.y()),
+ overlay.AddLine(Vector<2>(center.x() - 25, center.y()),
Vector<2>(center.x() + 25, center.y()), color);
- overlay.add_line(Vector<2>(center.x(), center.y() - 25),
+ overlay.AddLine(Vector<2>(center.x(), center.y() - 25),
Vector<2>(center.x(), center.y() + 25), color);
}