openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#include <cstdio>
#include <cstdlib>
#include <unistd.h>
#include <zmq.h>
#include "common/visionipc.h"
#include "common/timing.h"
#include "RawLogger.h"
int main() {
int err;
VisionStream stream;
VisionStreamBufs buf_info;
while (true) {
err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
if (err != 0) {
printf("visionstream fail\n");
usleep(100000);
}
break;
}
RawLogger vidlogger("prcamera", buf_info.width, buf_info.height, 20);
vidlogger.Open("o1");
for (int cnt=0; cnt<200; cnt++) {
VIPCBufExtra extra;
VIPSBuf* buf = visionstream_get(&stream, &extra);
if (buf == NULL) {
printf("visionstream get failed\n");
break;
}
if (cnt == 100) {
vidlogger.Rotate("o2", 2);
}
uint8_t *y = (uint8_t*)buf->addr;
uint8_t *u = y + (buf_info.width*buf_info.height);
uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
double t1 = millis_since_boot();
vidlogger.LogFrame(cnt, y, u, v, NULL);
double t2 = millis_since_boot();
printf("%d %.2f\n", cnt, (t2-t1));
}
vidlogger.Close();
visionstream_destroy(&stream);
return 0;
}