aos/vision/tools/camera_primer.cc

#include <stdio.h>
#include <stdlib.h>

#include <string>

#include "aos/time/time.h"
#include "aos/vision/events/epoll_events.h"
#include "aos/vision/image/camera_params.pb.h"
#include "aos/vision/image/image_stream.h"
#include "aos/vision/image/image_types.h"

class ImageStream : public aos::vision::ImageStreamEvent {
 public:
  ImageStream(const std::string &fname, aos::vision::CameraParams params)
      : ImageStreamEvent(fname, params) {}
  void ProcessImage(aos::vision::DataRef /*data*/,
                    aos::monotonic_clock::time_point) override {
    if (i_ > 20) {
      exit(0);
    }
    ++i_;
  }

 private:
  int i_ = 0;
};

// camera_primer drops the first 20 frames. This is to get around issues
// where the first N frames from the camera are garbage. Thus each year
// you should write a startup script like so:
//
// camera_primer
// target_sender
int main(int argc, char **argv) {
  aos::vision::CameraParams params;

  if (argc != 2) {
    fprintf(stderr, "usage: %s path_to_camera\n", argv[0]);
    exit(-1);
  }
  ImageStream stream(argv[1], params);

  aos::events::EpollLoop loop;
  loop.Add(&stream);
  loop.Run();
}