Merge pull request #42 from FolkComputer/osnr/camera-pipeline

Run Camera in subprocess

1 files changed, 37 insertions, 0 deletions

diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
new file mode 100644
index 00000000..b865392e
--- /dev/null
+++ b/virtual-programs/camera.folk
@@ -0,0 +1,37 @@
+if {$::isLaptop} return
+
+namespace eval ::Camera {
+    variable WIDTH 1280
+    variable HEIGHT 720
+}
+
+On process {
+    source pi/Camera.tcl
+    source pi/AprilTags.tcl
+    Camera::init 1280 720
+    AprilTags::init
+
+    puts "Camera tid: [getTid]"
+    
+    while true {
+        set cameraTime [time {
+            set grayFrame [Camera::grayFrame]
+        }]
+        set aprilTime [time {
+            set tags [AprilTags::detect $grayFrame]
+        }]
+        
+        Commit {
+            Claim the camera frame is $grayFrame
+
+            Claim the camera time is $cameraTime
+            Claim the AprilTag time is $aprilTime
+
+            foreach tag $tags {
+                Claim tag [dict get $tag id] has center [dict get $tag center] size [dict get $tag size]
+                Claim tag [dict get $tag id] has corners [dict get $tag corners]
+            }
+        }
+        Step
+    }
+}