Log the training data
Change-Id: Iaa3b984a5f07cb0bc0500cbe4163f81e93cacede
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index ca41905..25b2dae 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -353,6 +353,15 @@
cv::FlannBasedMatcher matcher(index_params, search_params);
aos::ShmEventLoop event_loop(&config.message());
+
+ // First, log the data for future reference.
+ {
+ aos::Sender<sift::TrainingData> training_data_sender =
+ event_loop.MakeSender<sift::TrainingData>("/camera");
+ training_data_sender.Send(
+ aos::FlatbufferString<sift::TrainingData>(training_data_bfbs));
+ }
+
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
CameraReader camera_reader(&event_loop, training_data, &v4l2_reader,
&matcher);