Add rockpi camera reader and viewer.
This uses our fancy media pipeline to configure the chip to take images.
Change-Id: I7393b3892e93252d8d6d28fdb905e94d9526cbf1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
new file mode 100644
index 0000000..990ad7a
--- /dev/null
+++ b/y2023/vision/viewer.cc
@@ -0,0 +1,88 @@
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/time/time.h"
+#include "frc971/vision/vision_generated.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+DEFINE_string(channel, "/camera", "Channel name for the image.");
+
+DEFINE_string(capture, "",
+ "If set, capture a single image and save it to this filename.");
+
+namespace frc971 {
+namespace vision {
+namespace {
+
+aos::Fetcher<CameraImage> image_fetcher;
+bool DisplayLoop() {
+ 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()) {
+ cv::imwrite(FLAGS_capture, bgr_image);
+ return false;
+ }
+
+ cv::imshow("Display", bgr_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);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ image_fetcher = event_loop.MakeFetcher<CameraImage>(FLAGS_channel);
+
+ // Run the display loop
+ event_loop.AddPhasedLoop(
+ [&event_loop](int) {
+ if (!DisplayLoop()) {
+ LOG(INFO) << "Calling event_loop Exit";
+ event_loop.Exit();
+ };
+ },
+ ::std::chrono::milliseconds(100));
+
+ event_loop.Run();
+
+ image_fetcher = aos::Fetcher<CameraImage>();
+}
+
+} // namespace
+} // namespace vision
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ frc971::vision::ViewerMain();
+}