From e8e6043ae9d7e967f74bd9e77b20e3680e73ea69 Mon Sep 17 00:00:00 2001
From: Ethan Fahnestock <ekf@mit.edu>
Date: Mon, 9 Dec 2024 16:55:11 -0500
Subject: [PATCH] adding video common

---
 common/BUILD    | 11 +++++++++++
 common/video.cc | 15 +++++++++++++++
 common/video.hh |  9 +++++++++
 3 files changed, 35 insertions(+)
 create mode 100644 common/video.cc
 create mode 100644 common/video.hh

diff --git a/common/BUILD b/common/BUILD
index 9d2bf3da..412a2f52 100644
--- a/common/BUILD
+++ b/common/BUILD
@@ -78,3 +78,14 @@ cc_test(
     "@com_google_googletest//:gtest_main",
   ],
 )
+
+cc_library(
+    name = "video",
+    hdrs = ["video.hh"],
+    srcs = ["video.cc"],
+    deps = [
+        "@eigen",
+        "@opencv",
+    ],
+    visibility = ["//visibility:public"]
+)
\ No newline at end of file
diff --git a/common/video.cc b/common/video.cc
new file mode 100644
index 00000000..19cd6709
--- /dev/null
+++ b/common/video.cc
@@ -0,0 +1,15 @@
+#include "opencv2/opencv.hpp"
+
+namespace robot::common {
+
+bool images_equal(const cv::Mat& img1, const cv::Mat& img2) {
+    if (img1.size() != img2.size() || img1.type() != img2.type()) {
+        return false;
+    }
+    cv::Mat diff;
+    cv::absdiff(img1, img2, diff);
+    diff = diff.reshape(1);
+    return cv::countNonZero(diff) == 0;
+}
+
+}
diff --git a/common/video.hh b/common/video.hh
new file mode 100644
index 00000000..369f1a42
--- /dev/null
+++ b/common/video.hh
@@ -0,0 +1,9 @@
+#pragma once 
+
+#include "opencv2/opencv.hpp"
+
+namespace robot::common {
+
+bool images_equal(const cv::Mat& img1, const cv::Mat& img2);
+
+}
\ No newline at end of file