Rest of 2016 vision code.
Vision2016Debug:
- Added live debug (debug_reciever);
- Added file replay (blob_stream_replay).
- Add gtk event code.
- Updated code and fixed compile errors after rebase.
- Added useful tools for reference. As per Austins directions.
Change-Id: I7c5e7df01eb09057178bcb99dd3e302ca274ac76
diff --git a/aos/vision/tools/jpeg_vision_test.cc b/aos/vision/tools/jpeg_vision_test.cc
new file mode 100644
index 0000000..37d9ffe
--- /dev/null
+++ b/aos/vision/tools/jpeg_vision_test.cc
@@ -0,0 +1,100 @@
+// This file is to collect data from a camera to use for debug and testing. This
+// should not placed on a robot. This is okay as it is a utility of limited use
+// only.
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <netdb.h>
+#include <poll.h>
+#include <string.h>
+#include <gtk/gtk.h>
+#include <vector>
+#include <memory>
+#include <fstream>
+
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/implementations.h"
+#include "aos/vision/math/vector.h"
+#include "aos/vision/image/reader.h"
+#include "aos/vision/image/jpeg_routines.h"
+#include "aos/vision/blob/threshold.h"
+#include "aos/vision/blob/range_image.h"
+#include "aos/vision/blob/stream_view.h"
+#include "aos/vision/events/epoll_events.h"
+#include "aos/vision/image/image_stream.h"
+#include "aos/vision/events/tcp_server.h"
+
+namespace aos {
+namespace vision {
+
+// Connects up a camera with our processing.
+class ChannelImageStream : public ImageStreamEvent {
+ public:
+ ChannelImageStream(const std::string &fname,
+ const camera::CameraParams ¶ms)
+ : ImageStreamEvent(fname, params), view_(true) {
+ // Lambda to record image data to a file on key press.
+ view_.view()->key_press_event = [this](uint32_t /*keyval*/) {
+ std::ofstream ofs("/tmp/test.jpg", std::ofstream::out);
+ ofs << prev_data_;
+ ofs.close();
+ };
+ }
+
+ // Handle an image from the camera.
+ void ProcessImage(DataRef data,
+ aos::monotonic_clock::time_point /*timestamp*/) {
+ ImageFormat fmt = GetFmt(data);
+ if (!fmt.Equals(view_.img().fmt())) view_.SetFormatAndClear(fmt);
+ if (!ProcessJpeg(data, view_.img().data())) return;
+
+ ImagePtr img_ptr = view_.img();
+ prev_data_ = data.to_string();
+
+
+ // Threshold the image with the given lambda.
+ RangeImage rimg = DoThreshold(img_ptr, [](PixelRef &px) {
+ if (px.g > 88) {
+ uint8_t min = std::min(px.b, px.r);
+ uint8_t max = std::max(px.b, px.r);
+ if (min >= px.g || max >= px.g) return false;
+ uint8_t a = px.g - min;
+ uint8_t b = px.g - max;
+ return (a > 10 && b > 10);
+ }
+ return false;
+ });
+
+ view_.DrawBlobList({rimg}, {255, 255, 255});
+
+ view_.Redraw();
+ }
+
+ private:
+ std::string prev_data_;
+
+ // responsible for handling drawing
+ BlobStreamViewer view_;
+};
+} // namespace aos
+} // namespace vision
+
+int main(int argc, char *argv[]) {
+ ::aos::logging::Init();
+ ::aos::logging::AddImplementation(
+ new ::aos::logging::StreamLogImplementation(stdout));
+ aos::events::EpollLoop loop;
+ gtk_init(&argc, &argv);
+
+ camera::CameraParams params = {.width = 640 * 2,
+ .height = 480 * 2,
+ .exposure = 10,
+ .brightness = 128,
+ .gain = 0,
+ .fps = 10};
+
+ aos::vision::ChannelImageStream strm1("/dev/video1", params);
+
+ loop.Add(&strm1);
+ loop.RunWithGtkMain();
+}