commit ff7b3dea633bfdd4646030b6529f6a692ac447d5
author Jim Ostrowski <yimmy13@gmail.com> Sat Jan 22 22:20:26 2022 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Sat Jan 29 13:05:43 2022 -0800
tree 5b26e6eb9ec9b59bff880f7de98f45399f0cb5c1
parent 77387772e735e8a359b4308b099621dd74778e81

Adding in a stripped down camera_reader

This camera_reader will serve as routing point of images getting processed
on the pi's

Change-Id: I8e7472d44d6cfec1e8453be55f03234476f106a4
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2022/vision/camera_reader_main.cc

diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index ee65cfe..6f65a6d 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -1,6 +1,6 @@
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
-#include "y2020/vision/camera_reader.h"
+#include "y2022/vision/camera_reader.h"
 
 // config used to allow running camera_reader independently.  E.g.,
 // bazel run //y2022/vision:camera_reader -- --config y2022/config.json
@@ -22,13 +22,6 @@
       SiftTrainingData());
   CHECK(training_data.Verify());
 
-  const auto index_params = cv::makePtr<cv::flann::IndexParams>();
-  index_params->setAlgorithm(cvflann::FLANN_INDEX_KDTREE);
-  index_params->setInt("trees", 5);
-  const auto search_params =
-      cv::makePtr<cv::flann::SearchParams>(/* checks */ 50);
-  cv::FlannBasedMatcher matcher(index_params, search_params);
-
   aos::ShmEventLoop event_loop(&config.message());
 
   // First, log the data for future reference.
@@ -40,11 +33,11 @@
   }
 
   V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
-  CameraReader camera_reader(&event_loop, &training_data.message(),
-                             &v4l2_reader, index_params, search_params);
-
   v4l2_reader.SetExposure(FLAGS_exposure);
 
+  CameraReader camera_reader(&event_loop, &training_data.message(),
+                             &v4l2_reader);
+
   event_loop.Run();
 }