WIP: Start implementing AprilTag detector. defineFolkImages shm

2 files changed, 25 insertions, 21 deletions

diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index 40950eb9..4075162c 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -1,33 +1,32 @@
 if {$::isLaptop} return
 
+namespace eval ::Camera {
+    variable WIDTH 1280
+    variable HEIGHT 720
+}
+
 On process {
     source pi/Camera.tcl
     # FIXME: do these in outer scope
     Camera::init 1280 720
     puts "Camera tid: [getTid]"
 
-    set grayFrames [list]
-    while true {
-        # Hack: we free old images. Really this should be done on
-        # the main thread when it's actually done with them.
-        if {[llength $grayFrames] > 10} {
-            Camera::freeImage [lindex $grayFrames 0]
-            set grayFrames [lreplace $grayFrames 0 0]
-        }
-        set cameraTime [time { set grayFrame [Camera::grayFrame] }]
-        lappend grayFrames $grayFrame
+}
 
-        Commit camera {
-            Claim the camera time is $cameraTime
-            Claim the camera frame is $grayFrame
+On process {
+    Wish $::nodename receives statements like [list /someone/ claims the camera frame is /frame/]
+
+    source pi/AprilTags.tcl
+    AprilTags::init
+
+    When the camera frame is /frame/ {
+        set aprilTime [time { set tags [AprilTags::detect $frame] }]
+        Commit {
+            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
     }
 }
-
-#     AprilTags::init
-            # 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]
-            # }
-
diff --git a/virtual-programs/tags-and-calibration.folk b/virtual-programs/tags-and-calibration.folk
index d6c4fad7..36086099 100644
--- a/virtual-programs/tags-and-calibration.folk
+++ b/virtual-programs/tags-and-calibration.folk
@@ -2,6 +2,11 @@ Wish $this has filename "tags-and-calibration.folk"
 
 if {$::isLaptop} { return }
 
+namespace eval ::Camera {
+    variable WIDTH 1280
+    variable HEIGHT 720
+}
+
 package require math::linearalgebra
 namespace import ::math::linearalgebra::add \
 	::math::linearalgebra::sub \