Adding //aos/vision/debug:debug_framework.
This will allow easy construction of year-specific debug viewers.
Currently supported source types are:
- blobs over tcp
- jpegs from a camera
- blobs from a log
- a random list of jpegs
Change-Id: I1d73f82f98ca5f60b0135ea0dd588759056e0c40
diff --git a/aos/vision/debug/debug_framework.cc b/aos/vision/debug/debug_framework.cc
new file mode 100644
index 0000000..99dfd8b
--- /dev/null
+++ b/aos/vision/debug/debug_framework.cc
@@ -0,0 +1,128 @@
+#include "aos/vision/debug/debug_framework.h"
+
+#include <gtk/gtk.h>
+
+#include "aos/common/logging/implementations.h"
+#include "aos/common/logging/logging.h"
+#include "aos/vision/blob/find_blob.h"
+#include "aos/vision/blob/stream_view.h"
+#include "aos/vision/debug/debug_viewer.h"
+#include "aos/vision/events/epoll_events.h"
+#include "aos/vision/image/jpeg_routines.h"
+
+namespace aos {
+namespace vision {
+
+bool DecodeJpeg(aos::vision::DataRef data,
+ aos::vision::BlobStreamViewer *view) {
+ auto fmt = aos::vision::GetFmt(data);
+ auto value = view->img();
+ if (!value.fmt().Equals(fmt)) {
+ view->SetFormatAndClear(fmt);
+ }
+ return aos::vision::ProcessJpeg(data, view->img().data());
+}
+
+class DebugFramework : public DebugFrameworkInterface {
+ public:
+ explicit DebugFramework(FilterHarness *filter) : filter_(filter) {
+ view_.key_press_event = [this](uint32_t keyval) {
+ for (const auto &event : key_press_events()) {
+ event(keyval);
+ }
+ };
+ filter->InstallViewer(&view_);
+ }
+
+ // This the first stage in the pipeline that takes
+ void NewJpeg(DataRef data) override {
+ DecodeJpeg(data, &view_);
+
+ auto fmt = view_.img().fmt();
+ HandleBlobs(FindBlobs(filter_->Threshold(view_.img())), fmt);
+ }
+
+ void NewBlobList(BlobList blob_list, ImageFormat fmt) override {
+ view_.SetFormatAndClear(fmt);
+
+ HandleBlobs(std::move(blob_list), fmt);
+ }
+
+ void HandleBlobs(BlobList blob_list, ImageFormat fmt) {
+ filter_->HandleBlobs(std::move(blob_list), fmt);
+ view_.Redraw();
+ }
+
+ aos::events::EpollLoop *Loop() override { return &loop_; }
+
+ private:
+ FilterHarness *filter_;
+ BlobStreamViewer view_;
+
+ aos::events::EpollLoop loop_;
+};
+
+std::unique_ptr<ImageSource> MakeImageSource(
+ const std::string &image_source_string,
+ DebugFrameworkInterface *interface) {
+ (void)interface;
+ // Each of the image_source strings is of the form format_type:format_spec
+ auto it = image_source_string.find(':');
+ if (it == std::string::npos) {
+ fprintf(stderr, "invalid ImageSource: %s.\n", image_source_string.c_str());
+ exit(-1);
+ }
+ auto image_source_type = image_source_string.substr(0, it);
+ // Get std::function<std::unique_ptr<ImageSource>()> from the registration
+ // factory.
+ const auto &factory = ImageSourceGlobalFactory::Get(image_source_type);
+ if (!factory) {
+ fprintf(stderr, "invalid ImageSource: %s.\n", image_source_string.c_str());
+ exit(-1);
+ }
+ auto result = factory();
+ // Construct the image source.
+ result->Init(image_source_string.substr(it + 1), interface);
+ return result;
+}
+
+const char *kHelpMessage = R"(
+
+image_source is parsed out and selects where to get the images
+from. Each source type has a different configuration format string listed
+below. The colon separates the source specifier and the source config
+parameter. A single command line argument help will print this message.
+)";
+
+void DebugFrameworkMain(int argc, char **argv, FilterHarness *filter) {
+ ::aos::logging::Init();
+ ::aos::logging::AddImplementation(
+ new ::aos::logging::StreamLogImplementation(stdout));
+
+ gtk_init(&argc, &argv);
+
+ // Use fprintf because it is only supposed to be used interactively.
+ // This uses a registration system to pick out the individual file type
+ // registered by REGISTER_IMAGE_SOURCE.
+ // see jpeg_list-source.cc for ane sample of this.
+ if (argc < 2 || argv[1] == std::string("help")) {
+ fprintf(stderr, "Usage %s image_source:format_spec\n", argv[0]);
+ fprintf(stderr, "%s", kHelpMessage);
+ // Iterate through all registered entities in ImageSourceGlobalFactory
+ // and print out their individual help messages.
+ for (const auto &type : ImageSourceGlobalFactory::GetAll()) {
+ fprintf(stderr, " %s:\n", type.first.c_str());
+ fprintf(stderr, "%s", type.second()->GetHelpMessage());
+ }
+ exit(-1);
+ }
+
+ DebugFramework replay(filter);
+
+ std::unique_ptr<ImageSource> image_source = MakeImageSource(argv[1], &replay);
+
+ replay.Loop()->RunWithGtkMain();
+}
+
+} // namespace vision
+} // namespace aos