Next batch of changes to support the vision code on the orin
Set up separate camera1 and camera2 data streams.
This includes both argus_camera and april tag detection
Enable channel selection for foxglove image converter
Build and deploy viewer app
Compile multi-camera calibration
Change-Id: I976f7b7594903d632c7481b06784d03c2c05190e
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/y2024/vision/viewer.cc b/y2024/vision/viewer.cc
new file mode 100644
index 0000000..6f83ec2
--- /dev/null
+++ b/y2024/vision/viewer.cc
@@ -0,0 +1,118 @@
+#include "absl/strings/match.h"
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/time/time.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/vision/vision_generated.h"
+#include "frc971/vision/vision_util_lib.h"
+#include "y2024/vision/vision_util.h"
+
+DEFINE_string(capture, "",
+ "If set, capture a single image and save it to this filename.");
+DEFINE_string(channel, "/camera", "Channel name for the image.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+DEFINE_int32(rate, 100, "Time in milliseconds to wait between images");
+DEFINE_double(scale, 1.0, "Scale factor for images being displayed");
+
+namespace y2024::vision {
+namespace {
+
+using frc971::vision::CameraImage;
+
+bool DisplayLoop(const cv::Mat intrinsics, const cv::Mat dist_coeffs,
+ aos::Fetcher<CameraImage> *image_fetcher) {
+ const CameraImage *image;
+
+ // Read next image
+ if (!image_fetcher->Fetch()) {
+ VLOG(2) << "Couldn't fetch next image";
+ return true;
+ }
+ image = image_fetcher->get();
+ CHECK(image != nullptr) << "Couldn't read image";
+
+ // Create color image:
+ cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
+ (void *)image->data()->data());
+ cv::Mat bgr_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
+ cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
+
+ if (!FLAGS_capture.empty()) {
+ if (absl::EndsWith(FLAGS_capture, ".bfbs")) {
+ aos::WriteFlatbufferToFile(FLAGS_capture,
+ image_fetcher->CopyFlatBuffer());
+ } else {
+ cv::imwrite(FLAGS_capture, bgr_image);
+ }
+
+ return false;
+ }
+
+ cv::Mat undistorted_image;
+ cv::undistort(bgr_image, undistorted_image, intrinsics, dist_coeffs);
+ if (FLAGS_scale != 1.0) {
+ cv::resize(undistorted_image, undistorted_image, cv::Size(), FLAGS_scale,
+ FLAGS_scale);
+ }
+ cv::imshow("Display", undistorted_image);
+
+ int keystroke = cv::waitKey(1);
+ if ((keystroke & 0xFF) == static_cast<int>('c')) {
+ // Convert again, to get clean image
+ cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
+ std::stringstream name;
+ name << "capture-" << aos::realtime_clock::now() << ".png";
+ cv::imwrite(name.str(), bgr_image);
+ LOG(INFO) << "Saved image file: " << name.str();
+ } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ return false;
+ }
+ return true;
+}
+
+void ViewerMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ frc971::constants::WaitForConstants<y2024::Constants>(&config.message());
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ frc971::constants::ConstantsFetcher<y2024::Constants> constants_fetcher(
+ &event_loop);
+ const auto *calibration_data = FindCameraCalibration(
+ constants_fetcher.constants(), event_loop.node()->name()->string_view());
+ const cv::Mat intrinsics = frc971::vision::CameraIntrinsics(calibration_data);
+ const cv::Mat dist_coeffs =
+ frc971::vision::CameraDistCoeffs(calibration_data);
+
+ aos::Fetcher<CameraImage> image_fetcher =
+ event_loop.MakeFetcher<CameraImage>(FLAGS_channel);
+
+ // Run the display loop
+ event_loop.AddPhasedLoop(
+ [&](int) {
+ if (!DisplayLoop(intrinsics, dist_coeffs, &image_fetcher)) {
+ LOG(INFO) << "Calling event_loop Exit";
+ event_loop.Exit();
+ };
+ },
+ ::std::chrono::milliseconds(FLAGS_rate));
+
+ event_loop.Run();
+
+ image_fetcher = aos::Fetcher<CameraImage>();
+}
+
+} // namespace
+} // namespace y2024::vision
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ y2024::vision::ViewerMain();
+}