Factoring out camera_params.proto.
Change-Id: Idf886f9cb33764d505d5cff11ca766cea96d2024
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;