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add command line flag to rotate image by 180 degrees #50

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merged 1 commit into from
Nov 2, 2024
Merged

add command line flag to rotate image by 180 degrees #50

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29 changes: 19 additions & 10 deletions src/ws_server.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,8 @@ using json = nlohmann::json;

DEFINE_int32(camera_idx, 0, "Camera index");
DEFINE_string(cal_file, "", "path name to calibration file");
DEFINE_bool(rotate_img, true,
"Rotates image by 180 degrees prior to detecting apriltags");

enum ExposureMode { AUTO = 0, MANUAL = 1 };

Expand Down Expand Up @@ -77,7 +79,7 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
settings_changed_ = true;
}
if (j["type"] == "rotate") {
rotate_img_ = j["value"].get<bool>();
gui_rotate_img_ = j["value"].get<bool>();
settings_changed_ = true;
}

Expand Down Expand Up @@ -173,10 +175,10 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
*bgr_img = rotatedImage.clone();
}

void startReadAndSendThread(const int camera_idx,
const std::string& cal_file) {
read_thread_ =
std::thread(&AprilTagHandler::readAndSend, this, camera_idx, cal_file);
void startReadAndSendThread(const int camera_idx, const std::string& cal_file,
const bool rotate_img) {
read_thread_ = std::thread(&AprilTagHandler::readAndSend, this, camera_idx,
cal_file, rotate_img);
}

void joinReadAndSendThread() {
Expand All @@ -202,7 +204,8 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
std::cout << "Contrast: " << cap.get(cv::CAP_PROP_CONTRAST) << std::endl;
}

void readAndSend(const int camera_idx, const std::string& cal_file) {
void readAndSend(const int camera_idx, const std::string& cal_file,
const bool rotate_img) {
std::cout << "Enabling video capture" << std::endl;
bool camera_started = false;
cv::VideoCapture cap;
Expand Down Expand Up @@ -280,8 +283,12 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
info.cx = cam.cx;
info.cy = cam.cy;

int frame_counter = 0;
// Set the value of the gui rotate image variable to the value
// that is passed in on the command line. The user can change it
// later on from the gui.
gui_rotate_img_ = rotate_img;

int frame_counter = 0;
cv::Mat bgr_img, yuyv_img;
while (running_) {
// Handle settings changes.
Expand All @@ -303,7 +310,7 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
frame_counter++;

auto overallstart = std::chrono::high_resolution_clock::now();
if (rotate_img_) {
if (gui_rotate_img_) {
rotateImage(&bgr_img, 180.0);
}
cv::cvtColor(bgr_img, yuyv_img, cv::COLOR_BGR2YUV_YUYV);
Expand Down Expand Up @@ -414,7 +421,7 @@ class AprilTagHandler : public seasocks::WebSocket::Handler {
std::atomic<int> exposure_{50};
std::atomic<int> exposure_mode_{0};
std::atomic<bool> settings_changed_{false};
std::atomic<bool> rotate_img_{false};
std::atomic<bool> gui_rotate_img_{false};
std::thread read_thread_;
};

Expand Down Expand Up @@ -442,7 +449,9 @@ int main(int argc, char* argv[]) {
auto handler = std::make_shared<AprilTagHandler>(server);
server->addWebSocketHandler("/ws", handler);

handler->startReadAndSendThread(FLAGS_camera_idx, FLAGS_cal_file);
handler
->startReadAndSendThread(FLAGS_camera_idx, FLAGS_cal_file,
FLAGS_rotate_img);
server->serve("", 8080);
handler->stop();
handler->joinReadAndSendThread();
Expand Down
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