Create image replay viewer for looking at logged images
Change-Id: I1d41aa61bfc9eded83f83d64dc9599e25931ed17
diff --git a/y2020/vision/viewer_replay.cc b/y2020/vision/viewer_replay.cc
new file mode 100644
index 0000000..c81796a
--- /dev/null
+++ b/y2020/vision/viewer_replay.cc
@@ -0,0 +1,58 @@
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/logging/logger.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "y2020/vision/vision_generated.h"
+
+DEFINE_string(config, "y2020/config.json", "Path to the config file to use.");
+DEFINE_string(logfile, "", "Path to the log file to use.");
+DEFINE_string(node, "pi1", "Node name to replay.");
+
+namespace frc971 {
+namespace vision {
+namespace {
+
+void ViewerMain() {
+ CHECK(!FLAGS_logfile.empty()) << "You forgot to specify a logfile.";
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::logger::LogReader reader(FLAGS_logfile, &config.message());
+ reader.Register();
+ const aos::Node *node = nullptr;
+ if (aos::configuration::MultiNode(reader.configuration())) {
+ node = aos::configuration::GetNode(reader.configuration(), FLAGS_node);
+ }
+ std::unique_ptr<aos::EventLoop> event_loop =
+ reader.event_loop_factory()->MakeEventLoop("player", node);
+
+ event_loop->MakeWatcher("/camera", [](const CameraImage &image) {
+ cv::Mat image_mat(image.rows(), image.cols(), CV_8U);
+ CHECK(image_mat.isContinuous());
+ const int number_pixels = image.rows() * image.cols();
+ for (int i = 0; i < number_pixels; ++i) {
+ reinterpret_cast<uint8_t *>(image_mat.data)[i] =
+ image.data()->data()[i * 2];
+ }
+
+ cv::imshow("Display", image_mat);
+ cv::waitKey(1);
+ });
+
+ reader.event_loop_factory()->Run();
+}
+
+} // namespace
+} // namespace vision
+} // namespace frc971
+
+// Quick and lightweight grayscale viewer for images
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ frc971::vision::ViewerMain();
+}