y2020/vision/viewer.cc

#include <opencv2/calib3d.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>

#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "y2020/vision/vision_generated.h"

DEFINE_string(config, "config.json", "Path to the config file to use.");

namespace frc971 {
namespace vision {
namespace {

void ViewerMain() {
  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
      aos::configuration::ReadConfig(FLAGS_config);

  aos::ShmEventLoop event_loop(&config.message());

  event_loop.MakeWatcher("/camera", [](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();
    for (int i = 0; i < number_pixels; ++i) {
      reinterpret_cast<uint8_t *>(image_mat.data)[i] =
          image.data()->data()[i * 2];
    }

    cv::imshow("Display", image_mat);
    cv::waitKey(1);
  });

  event_loop.Run();
}

}  // namespace
}  // namespace vision
}  // namespace frc971

// Quick and lightweight grayscale viewer for images
int main(int argc, char **argv) {
  aos::InitGoogle(&argc, &argv);
  frc971::vision::ViewerMain();
}