blob: 62661c60e7caedd99f20f4328d98c2bf3c6287b7 [file] [log] [blame]
#ifndef _AOS_VISION_IMAGE_IMAGE_STREAM_H_
#define _AOS_VISION_IMAGE_IMAGE_STREAM_H_
#include "aos/vision/events/epoll_events.h"
#include "aos/vision/image/camera_params.pb.h"
#include "y2019/jevois/camera/reader.h"
#include <memory>
namespace y2019 {
namespace camera {
// Converts a camera reader into a virtual base class that calls ProcessImage
// on each new image.
class ImageStreamEvent : public ::aos::events::EpollEvent {
public:
static std::unique_ptr<Reader> GetCamera(const std::string &fname,
ImageStreamEvent *obj,
aos::vision::CameraParams params) {
using namespace std::placeholders;
std::unique_ptr<Reader> camread(new Reader(
fname, std::bind(&ImageStreamEvent::ProcessHelper, obj, _1, _2),
params));
camread->StartAsync();
return camread;
}
explicit ImageStreamEvent(std::unique_ptr<Reader> reader)
: ::aos::events::EpollEvent(reader->fd()), reader_(std::move(reader)) {}
explicit ImageStreamEvent(const std::string &fname,
aos::vision::CameraParams params)
: ImageStreamEvent(GetCamera(fname, this, params)) {}
void ProcessHelper(aos::vision::DataRef data,
aos::monotonic_clock::time_point timestamp) {
if (data.size() < 300) {
LOG(INFO, "got bad img of size(%d)\n", static_cast<int>(data.size()));
return;
}
ProcessImage(data, timestamp);
}
virtual void ProcessImage(aos::vision::DataRef data,
aos::monotonic_clock::time_point timestamp) = 0;
void ReadEvent() override { reader_->HandleFrame(); }
private:
std::unique_ptr<Reader> reader_;
};
} // namespace vision
} // namespace aos
#endif // _AOS_VISION_DEBUG_IMAGE_STREAM_H_