commit 309dd72c9be9a2ef8bbbba29adb64d53a2536b8b
author Parker Schuh <parker.schuh+gerrit_code_review@gmail.com> Sat Feb 25 11:31:18 2017 -0800
committer Parker Schuh <parker.schuh+gerrit_code_review@gmail.com> Sun Feb 26 13:23:46 2017 -0800
tree 85ae669b983844f1d6013cbf294a9adacc3718dc
parent 009b09ffa5200866c10c3147be915d0827589953

Sundry tweaks to aos/vision libs

Change-Id: Ia5578dcf2d42ac53b81af239bf329eb084fcf1d9

aos/vision/tools/jpeg_vision_test.cc

diff --git a/aos/vision/tools/jpeg_vision_test.cc b/aos/vision/tools/jpeg_vision_test.cc
index 37d9ffe..52dd22f 100644
--- a/aos/vision/tools/jpeg_vision_test.cc
+++ b/aos/vision/tools/jpeg_vision_test.cc
@@ -2,42 +2,64 @@
 // should not placed on a robot. This is okay as it is a utility of limited use
 // only.
 
-#include <stdio.h>
-#include <stdlib.h>
+#include <gtk/gtk.h>
 #include <netdb.h>
 #include <poll.h>
+#include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
-#include <gtk/gtk.h>
-#include <vector>
-#include <memory>
 #include <fstream>
+#include <memory>
+#include <vector>
 
-#include "aos/common/logging/logging.h"
 #include "aos/common/logging/implementations.h"
-#include "aos/vision/math/vector.h"
-#include "aos/vision/image/reader.h"
-#include "aos/vision/image/jpeg_routines.h"
-#include "aos/vision/blob/threshold.h"
+#include "aos/common/logging/logging.h"
 #include "aos/vision/blob/range_image.h"
 #include "aos/vision/blob/stream_view.h"
+#include "aos/vision/blob/threshold.h"
 #include "aos/vision/events/epoll_events.h"
-#include "aos/vision/image/image_stream.h"
 #include "aos/vision/events/tcp_server.h"
+#include "aos/vision/image/image_stream.h"
+#include "aos/vision/image/jpeg_routines.h"
+#include "aos/vision/image/reader.h"
+#include "aos/vision/math/vector.h"
 
 namespace aos {
 namespace vision {
 
+void DrawVLine(ImagePtr ptr, int x, PixelRef color = {255, 0, 0}) {
+  for (int y = 0; y < ptr.fmt().h; ++y) {
+    ptr.get_px(x, y) = color;
+  }
+}
+void DrawHLine(ImagePtr ptr, int y, PixelRef color = {255, 0, 0}) {
+  for (int x = 0; x < ptr.fmt().w; ++x) {
+    ptr.get_px(x, y) = color;
+  }
+}
+
 // Connects up a camera with our processing.
 class ChannelImageStream : public ImageStreamEvent {
  public:
   ChannelImageStream(const std::string &fname,
                      const camera::CameraParams &params)
-      : ImageStreamEvent(fname, params), view_(true) {
+      : ImageStreamEvent(fname, params), view_(false) {
     // Lambda to record image data to a file on key press.
-    view_.view()->key_press_event = [this](uint32_t /*keyval*/) {
-      std::ofstream ofs("/tmp/test.jpg", std::ofstream::out);
-      ofs << prev_data_;
-      ofs.close();
+    view_.view()->key_press_event = [this](uint32_t keyval) {
+      if (keyval == 'j') {
+        std::ofstream ofs("/tmp/test.jpg", std::ofstream::out);
+        ofs << prev_data_;
+        ofs.close();
+      } else if (keyval == 'a') {
+        ++dx;
+      } else if (keyval == 'd') {
+        --dx;
+      } else if (keyval == 'w') {
+        ++dy;
+      } else if (keyval == 's') {
+        --dy;
+      }
+      fprintf(stderr, "dx: %d dy: %d\n", dx, dy);
     };
   }
 
@@ -51,7 +73,6 @@
     ImagePtr img_ptr = view_.img();
     prev_data_ = data.to_string();
 
-
     // Threshold the image with the given lambda.
     RangeImage rimg = DoThreshold(img_ptr, [](PixelRef &px) {
       if (px.g > 88) {
@@ -65,6 +86,13 @@
       return false;
     });
 
+    DrawVLine(img_ptr, fmt.w / 4);
+    DrawVLine(img_ptr, fmt.w / 2 + dy, {0, 255, 0});
+    DrawVLine(img_ptr, fmt.w - fmt.w / 4);
+
+    DrawHLine(img_ptr, fmt.h / 4);
+    DrawHLine(img_ptr, fmt.h / 2 + dx, {0, 255, 0});
+    DrawHLine(img_ptr, fmt.h - fmt.h / 4);
     view_.DrawBlobList({rimg}, {255, 255, 255});
 
     view_.Redraw();
@@ -75,6 +103,9 @@
 
   // responsible for handling drawing
   BlobStreamViewer view_;
+
+  int dx = 0;
+  int dy = 0;
 };
 }  // namespace aos
 }  // namespace vision
@@ -91,7 +122,7 @@
                                  .exposure = 10,
                                  .brightness = 128,
                                  .gain = 0,
-                                 .fps = 10};
+                                 .fps = 25};
 
   aos::vision::ChannelImageStream strm1("/dev/video1", params);