Add foxglove_image_converter to camera pis
This makes it so that we can more readily debug issues live by sending
JPEGs across the network instead of attempting to forward raw images and
then requiring the browser to handle them.
Also add the foxglove_websocket binary so that you can connect to the
pi.
Change-Id: Ia2164184fcbd6c43435bc90e4315129a159fb0b1
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/vision/foxglove_image_converter_lib.cc b/frc971/vision/foxglove_image_converter_lib.cc
new file mode 100644
index 0000000..f5ecb40
--- /dev/null
+++ b/frc971/vision/foxglove_image_converter_lib.cc
@@ -0,0 +1,58 @@
+#include "frc971/vision/foxglove_image_converter_lib.h"
+
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
+DEFINE_int32(jpeg_quality, 95,
+ "Compression quality of JPEGs, 0-100; lower numbers mean lower "
+ "quality and resulting image sizes.");
+
+namespace frc971::vision {
+std::string_view ExtensionForCompression(ImageCompression compression) {
+ switch (compression) {
+ case ImageCompression::kJpeg:
+ return "jpeg";
+ case ImageCompression::kPng:
+ return "png";
+ }
+}
+
+flatbuffers::Offset<foxglove::CompressedImage> CompressImage(
+ const cv::Mat image, const aos::monotonic_clock::time_point eof,
+ flatbuffers::FlatBufferBuilder *fbb, ImageCompression compression) {
+ std::string_view format = ExtensionForCompression(compression);
+ // imencode doesn't let us pass in anything other than an std::vector, and
+ // performance isn't yet a big enough issue to try to avoid the copy.
+ std::vector<uint8_t> buffer;
+ CHECK(cv::imencode(absl::StrCat(".", format), image, buffer,
+ {cv::IMWRITE_JPEG_QUALITY, FLAGS_jpeg_quality}));
+ const flatbuffers::Offset<flatbuffers::Vector<uint8_t>> data_offset =
+ fbb->CreateVector(buffer);
+ const struct timespec timestamp_t = aos::time::to_timespec(eof);
+ const foxglove::Time time{static_cast<uint32_t>(timestamp_t.tv_sec),
+ static_cast<uint32_t>(timestamp_t.tv_nsec)};
+ const flatbuffers::Offset<flatbuffers::String> format_offset =
+ fbb->CreateString(format);
+ foxglove::CompressedImage::Builder builder(*fbb);
+ builder.add_timestamp(&time);
+ builder.add_data(data_offset);
+ builder.add_format(format_offset);
+ return builder.Finish();
+}
+
+FoxgloveImageConverter::FoxgloveImageConverter(aos::EventLoop *event_loop,
+ std::string_view input_channel,
+ std::string_view output_channel,
+ ImageCompression compression)
+ : event_loop_(event_loop),
+ image_callback_(
+ event_loop_, input_channel,
+ [this, compression](const cv::Mat image,
+ const aos::monotonic_clock::time_point eof) {
+ auto builder = sender_.MakeBuilder();
+ builder.CheckOk(builder.Send(
+ CompressImage(image, eof, builder.fbb(), compression)));
+ }),
+ sender_(
+ event_loop_->MakeSender<foxglove::CompressedImage>(output_channel)) {}
+} // namespace frc971::vision