Add debug_viewer, target_finder, target_sender.
Change-Id: I50c3512c7444aa58cb8b80e1e46fe26637c68c81
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
new file mode 100644
index 0000000..0d53e2c
--- /dev/null
+++ b/y2019/vision/target_sender.cc
@@ -0,0 +1,136 @@
+#include <fstream>
+
+#include "aos/logging/implementations.h"
+#include "aos/logging/logging.h"
+#include "aos/vision/blob/codec.h"
+#include "aos/vision/blob/find_blob.h"
+#include "aos/vision/events/socket_types.h"
+#include "aos/vision/events/udp.h"
+#include "aos/vision/image/image_stream.h"
+#include "aos/vision/image/reader.h"
+
+#include "y2019/jevois/serial.h"
+#include "y2019/vision/target_finder.h"
+
+using ::aos::events::DataSocket;
+using ::aos::events::RXUdpSocket;
+using ::aos::events::TCPServer;
+using ::aos::vision::DataRef;
+using ::aos::vision::Int32Codec;
+using ::aos::monotonic_clock;
+using ::y2019::jevois::open_via_terminos;
+using aos::vision::Segment;
+
+class CameraStream : public ::aos::vision::ImageStreamEvent {
+ public:
+ CameraStream(::aos::vision::CameraParams params, const ::std::string &fname)
+ : ImageStreamEvent(fname, params) {}
+
+ void ProcessImage(DataRef data, monotonic_clock::time_point monotonic_now) {
+ LOG(INFO, "got frame: %d\n", (int)data.size());
+
+ static unsigned i = 0;
+
+ /*
+ std::ofstream ofs(std::string("/jevois/data/debug_viewer_jpeg_") +
+ std::to_string(i) + ".yuyv",
+ std::ofstream::out);
+ ofs << data;
+ ofs.close();
+ */
+ if (on_frame) on_frame(data, monotonic_now);
+ ++i;
+
+ if (i == 200) exit(-1);
+ }
+
+ std::function<void(DataRef, monotonic_clock::time_point)> on_frame;
+};
+
+int open_terminos(const char *tty_name) { return open_via_terminos(tty_name); }
+
+std::string GetFileContents(const std::string &filename) {
+ std::ifstream in(filename, std::ios::in | std::ios::binary);
+ if (in) {
+ std::string contents;
+ in.seekg(0, std::ios::end);
+ contents.resize(in.tellg());
+ in.seekg(0, std::ios::beg);
+ in.read(&contents[0], contents.size());
+ in.close();
+ return (contents);
+ }
+ fprintf(stderr, "Could not read file: %s\n", filename.c_str());
+ exit(-1);
+}
+
+int main(int argc, char **argv) {
+ (void)argc;
+ (void)argv;
+ using namespace y2019::vision;
+ // gflags::ParseCommandLineFlags(&argc, &argv, false);
+ ::aos::logging::Init();
+ ::aos::logging::AddImplementation(
+ new ::aos::logging::StreamLogImplementation(stderr));
+
+ int itsDev = open_terminos("/dev/ttyS0");
+ dup2(itsDev, 1);
+ dup2(itsDev, 2);
+
+ TargetFinder finder_;
+
+ // Check that our current results match possible solutions.
+ aos::vision::CameraParams params0;
+ params0.set_exposure(0);
+ params0.set_brightness(40);
+ params0.set_width(640);
+ // params0.set_fps(10);
+ params0.set_height(480);
+
+ ::std::unique_ptr<CameraStream> camera0(
+ new CameraStream(params0, "/dev/video0"));
+ camera0->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::DoThresholdYUYV(fmt, data.data(), 120));
+ finder_.PreFilter(&imgs);
+
+ bool verbose = false;
+ std::vector<std::vector<Segment<2>>> raw_polys;
+ for (const RangeImage &blob : imgs) {
+ std::vector<Segment<2>> polygon = finder_.FillPolygon(blob, verbose);
+ if (polygon.empty()) {
+ } else {
+ raw_polys.push_back(polygon);
+ }
+ }
+
+ // Calculate each component side of a possible target.
+ std::vector<TargetComponent> target_component_list =
+ finder_.FillTargetComponentList(raw_polys);
+
+ // Put the compenents together into targets.
+ std::vector<Target> target_list =
+ finder_.FindTargetsFromComponents(target_component_list, verbose);
+
+ // Use the solver to generate an intermediate version of our results.
+ std::vector<IntermediateResult> results;
+ for (const Target &target : target_list) {
+ results.emplace_back(finder_.ProcessTargetToResult(target, verbose));
+ }
+
+ results = finder_.FilterResults(results);
+ };
+
+ aos::events::EpollLoop loop;
+
+ for (int i = 0; i < 100; ++i) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(20));
+ camera0->ReadEvent();
+ }
+
+ // TODO: Fix event loop on jevois:
+ // loop.Add(camera0.get());
+ // loop.Run();
+}