commit ec41e13f713e1bdce7a8dee0491603df2ee7b4ae
author Milind Upadhyay <milind.upadhyay@gmail.com> Sat Feb 05 17:14:05 2022 -0800
committer milind-u <milind.upadhyay@gmail.com> Fri Feb 11 17:58:33 2022 -0800
tree 5fdb1c6b4b3bc85c5d48e4a116cd381ee573dffe
parent 72280dfd031f7e101efda3cdd94d7d5a86bbe875

Look for blobs that fit within certain angles

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I2bc2cf2123e2c0e163944c91b37f0f4d614fce3e

y2022/vision/viewer.cc

diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 6ee6144..c9c2aff 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -76,11 +76,11 @@
   // Create color image:
   cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
                           (void *)image->data()->data());
-  cv::Mat rgb_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
-  cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+  cv::Mat bgr_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
+  cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2RGB_YUYV);
 
   if (!FLAGS_capture.empty()) {
-    cv::imwrite(FLAGS_capture, rgb_image);
+    cv::imwrite(FLAGS_capture, bgr_image);
     return false;
   }
 
@@ -100,15 +100,15 @@
     cv::imshow("blobs", ret_image);
   }
 
-  cv::imshow("image", rgb_image);
+  cv::imshow("image", 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, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+    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(), rgb_image);
+    cv::imwrite(name.str(), bgr_image);
     LOG(INFO) << "Saved image file: " << name.str();
   } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
     return false;