| #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_ |