Checking in blob routines.
Change-Id: I364331d6f9239763ccac492460ed752a0b16871f
diff --git a/aos/vision/blob/codec.cc b/aos/vision/blob/codec.cc
new file mode 100644
index 0000000..51ae129
--- /dev/null
+++ b/aos/vision/blob/codec.cc
@@ -0,0 +1,59 @@
+#include "aos/vision/blob/codec.h"
+
+namespace aos {
+namespace vision {
+
+size_t CalculateSize(const BlobList &blob_list) {
+ size_t count = Int16Codec::kSize;
+ for (const auto &blob : blob_list) {
+ count += 2 * Int16Codec::kSize;
+ for (int i = 0; i < static_cast<int>(blob.ranges().size()); ++i) {
+ count +=
+ Int16Codec::kSize + 2 * Int16Codec::kSize * blob.ranges()[i].size();
+ }
+ }
+ return count;
+}
+
+void SerializeBlob(const BlobList &blob_list, char *data) {
+ data = Int16Codec::Write(data, static_cast<uint16_t>(blob_list.size()));
+ for (const auto &blob : blob_list) {
+ data = Int16Codec::Write(data, static_cast<uint16_t>(blob.min_y()));
+ data = Int16Codec::Write(data, static_cast<uint16_t>(blob.ranges().size()));
+ for (int i = 0; i < (int)blob.ranges().size(); ++i) {
+ data = Int16Codec::Write(data,
+ static_cast<uint16_t>(blob.ranges()[i].size()));
+ for (const auto &range : blob.ranges()[i]) {
+ data = Int16Codec::Write(data, static_cast<uint16_t>(range.st));
+ data = Int16Codec::Write(data, static_cast<uint16_t>(range.ed));
+ }
+ }
+ }
+}
+
+const char *ParseBlobList(BlobList *blob_list, const char *data) {
+ int num_items = Int16Codec::Read(&data);
+ blob_list->clear();
+ blob_list->reserve(num_items);
+ for (int i = 0; i < num_items; ++i) {
+ std::vector<std::vector<ImageRange>> ranges_image;
+ int min_y = Int16Codec::Read(&data);
+ int num_ranges = Int16Codec::Read(&data);
+ ranges_image.reserve(num_ranges);
+ for (int j = 0; j < num_ranges; ++j) {
+ ranges_image.emplace_back();
+ auto &ranges = ranges_image.back();
+ int num_sub_ranges = Int16Codec::Read(&data);
+ for (int k = 0; k < num_sub_ranges; ++k) {
+ int st = Int16Codec::Read(&data);
+ int ed = Int16Codec::Read(&data);
+ ranges.emplace_back(st, ed);
+ }
+ }
+ blob_list->emplace_back(min_y, std::move(ranges_image));
+ }
+ return data;
+}
+
+} // namespace vision
+} // namespace aos