Merge "Adding an image viewer for quick image display"
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index 5e65387..b95bca3 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -59,3 +59,24 @@
srcs = ["vision.fbs"],
visibility = ["//y2020:__subpackages__"],
)
+
+cc_binary(
+ name = "viewer",
+ srcs = [
+ "viewer.cc",
+ ],
+ data = [
+ "//y2020:config.json",
+ ],
+ restricted_to = [
+ "//tools:k8",
+ "//tools:armhf-debian",
+ ],
+ visibility = ["//y2020:__subpackages__"],
+ deps = [
+ ":vision_fbs",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//third_party:opencv",
+ ],
+)
diff --git a/y2020/vision/viewer.cc b/y2020/vision/viewer.cc
new file mode 100644
index 0000000..be9b980
--- /dev/null
+++ b/y2020/vision/viewer.cc
@@ -0,0 +1,46 @@
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2020/vision/vision_generated.h"
+
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+
+namespace frc971 {
+namespace vision {
+namespace {
+
+void ViewerMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ 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);
+ });
+
+ event_loop.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();
+}