Merge "Allow saving all images in a logfile to a directory"
diff --git a/y2020/vision/viewer_replay.cc b/y2020/vision/viewer_replay.cc
index c81796a..82ab11a 100644
--- a/y2020/vision/viewer_replay.cc
+++ b/y2020/vision/viewer_replay.cc
@@ -11,6 +11,8 @@
DEFINE_string(config, "y2020/config.json", "Path to the config file to use.");
DEFINE_string(logfile, "", "Path to the log file to use.");
DEFINE_string(node, "pi1", "Node name to replay.");
+DEFINE_string(image_save_prefix, "/tmp/img",
+ "Prefix to use for saving images from the logfile.");
namespace frc971 {
namespace vision {
@@ -31,7 +33,8 @@
std::unique_ptr<aos::EventLoop> event_loop =
reader.event_loop_factory()->MakeEventLoop("player", node);
- event_loop->MakeWatcher("/camera", [](const CameraImage &image) {
+ int image_count = 0;
+ event_loop->MakeWatcher("/camera", [&image_count](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();
@@ -41,6 +44,10 @@
}
cv::imshow("Display", image_mat);
+ if (!FLAGS_image_save_prefix.empty()) {
+ cv::imwrite("/tmp/img" + std::to_string(image_count++) + ".png",
+ image_mat);
+ }
cv::waitKey(1);
});