robocars/robocar-camera
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feat: publish region of interest to new mqtt topic

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This commit is contained in:
Cyrille Nofficial 2021-11-01 11:59:22 +01:00
parent 98382833de
commit 1d2e00b1e6
3 changed files with 76 additions and 30 deletions
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18
cmd/rc-camera/rc-camera.go
View File

@ -2,6 +2,7 @@ package main
import (
"flag"
"fmt"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-camera/pkg/camera"
"go.uber.org/zap"
@ -13,8 +14,8 @@ import (
const DefaultClientId = "robocar-camera"
func main() {
var mqttBroker, username, password, clientId, topicBase string
var pubFrequency int
var mqttBroker, username, password, clientId, topicBase, topicRoi string
var pubFrequency, horizon int
var device, videoWidth, videoHeight int
var debug bool
@ -22,14 +23,20 @@ func main() {
_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
err := cli.SetIntDefaultValueFromEnv(&horizon, "HORIZON", 0)
if err != nil {
log.Printf("unable to parse horizon value arg: %v", err)
}
flag.StringVar(&topicBase, "mqtt-topic", os.Getenv("MQTT_TOPIC"), "Mqtt topic to publish camera frames, use MQTT_TOPIC if args not set")
flag.StringVar(&topicRoi, "mqtt-topic-roi", os.Getenv("MQTT_TOPIC_ROI"), "Mqtt topic to publish camera frames cropped to horizon value, mqtt-topic value with '-roi' suffix if args not set")
flag.IntVar(&pubFrequency, "mqtt-pub-frequency", 25., "Number of messages to publish per second")
flag.IntVar(&device, "video-device", 0, "Video device number")
flag.IntVar(&videoWidth, "video-width", 160, "Video pixels width")
flag.IntVar(&videoHeight, "video-height", 128, "Video pixels height")
flag.IntVar(&horizon, "horizon", horizon, "Limit region of interest to horizon in pixels from top, use HORIZON if args not set")
flag.BoolVar(&debug, "debug", false, "Display raw value to debug")
flag.Parse()
@ -65,7 +72,10 @@ func main() {
videoProperties[gocv.VideoCaptureFrameWidth] = float64(videoWidth)
videoProperties[gocv.VideoCaptureFrameHeight] = float64(videoHeight)
c := camera.New(client, topicBase, pubFrequency, videoProperties)
if topicRoi == "" {
topicRoi = fmt.Sprintf( "%s-roi", topicBase)
}
c := camera.New(client, topicBase, topicRoi, pubFrequency, videoProperties, horizon)
defer c.Stop()
cli.HandleExit(c)

32
pkg/camera/camera.go
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@ -8,6 +8,7 @@ import (
"github.com/golang/protobuf/ptypes/timestamp"
"go.uber.org/zap"
"gocv.io/x/gocv"
"image"
"io"
"sync"
"time"
@ -22,13 +23,16 @@ type OpencvCameraPart struct {
client mqtt.Client
vc VideoSource
topic string
topicRoi string
publishFrequency int
muImgBuffered sync.Mutex
imgBuffered *gocv.Mat
horizon int
cancel chan interface{}
}
func New(client mqtt.Client, topic string, publishFrequency int, videoProperties map[gocv.VideoCaptureProperties]float64) *OpencvCameraPart {
func New(client mqtt.Client, topic string, topicRoi string, publishFrequency int,
videoProperties map[gocv.VideoCaptureProperties]float64, horizon int) *OpencvCameraPart {
zap.S().Info("run camera part")
vc, err := gocv.OpenVideoCapture(0)
@ -44,6 +48,7 @@ func New(client mqtt.Client, topic string, publishFrequency int, videoProperties
client: client,
vc: vc,
topic: topic,
topicRoi: topicRoi,
publishFrequency: publishFrequency,
imgBuffered: &img,
}
@ -60,7 +65,7 @@ func (o *OpencvCameraPart) Start() error {
select {
case tickerTime := <-ticker.C:
o.publishFrame(tickerTime)
o.publishFrames(tickerTime)
case <-o.cancel:
return nil
}
@ -79,15 +84,29 @@ func (o *OpencvCameraPart) Stop() {
}
}
func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
func (o *OpencvCameraPart) publishFrames(tickerTime time.Time) {
o.muImgBuffered.Lock()
defer o.muImgBuffered.Unlock()
o.vc.Read(o.imgBuffered)
img, err := gocv.IMEncode(gocv.JPEGFileExt, *o.imgBuffered)
// Publish raw image
o.publishFrame(tickerTime, o.topic, o.imgBuffered)
if o.horizon == 0 {
return
}
// Region of interest
roi := o.imgBuffered.Region(image.Rect(0, o.horizon, o.imgBuffered.Cols(), o.imgBuffered.Rows()))
defer roi.Close()
o.publishFrame(tickerTime, o.topicRoi, &roi)
}
func (o *OpencvCameraPart) publishFrame(tickerTime time.Time, topic string, frame *gocv.Mat) {
img, err := gocv.IMEncode(gocv.JPEGFileExt, *frame)
if err != nil {
zap.S().Errorf("unable to convert image to jpeg: %v", err)
zap.S().With("topic", topic).Errorf("unable to convert image to jpeg: %v", err)
return
}
@ -108,9 +127,10 @@ func (o *OpencvCameraPart) publishFrame(tickerTime time.Time) {
zap.S().Errorf("unable to marshal protobuf message: %v", err)
}
publish(o.client, o.topic, &payload)
publish(o.client, topic, &payload)
}
var publish = func(client mqtt.Client, topic string, payload *[]byte) {
token := client.Publish(topic, 0, false, *payload)
token.WaitTimeout(10 * time.Millisecond)

56
pkg/camera/camera_test.go
View File

@ -37,7 +37,7 @@ func TestOpencvCameraPart(t *testing.T) {
publish = oldPublish
}()
waitEvent := sync.WaitGroup{}
waitEvent.Add(1)
waitEvent.Add(2)
publish = func(_ mqtt.Client, topic string, payload *[]byte) {
muPubEvents.Lock()
defer muPubEvents.Unlock()
@ -46,40 +46,56 @@ func TestOpencvCameraPart(t *testing.T) {
}
const topic = "topic/test/camera"
const topicRoi = "topic/test/camera-roi"
imgBuffer := gocv.NewMat()
part := OpencvCameraPart{
client: nil,
vc: fakeVideoSource{},
topic: topic,
topicRoi: topicRoi,
publishFrequency: 2, // Send 2 img/s for tests
imgBuffered: &imgBuffer,
horizon: 30,
}
go part.Start()
waitEvent.Wait()
var frameMsg events.FrameMessage
muPubEvents.Lock()
err := proto.Unmarshal(*(publishedEvents[topic]), &frameMsg)
if err != nil {
t.Errorf("unable to unmarshal pubblished frame")
}
muPubEvents.Unlock()
for _, tpc := range []string{topic, topicRoi} {
if frameMsg.GetId().GetName() != "camera" {
t.Errorf("bad name frame: %v, wants %v", frameMsg.GetId().GetName(), "camera")
}
if len(frameMsg.GetId().GetId()) != 13 {
t.Errorf("bad id length: %v, wants %v", len(frameMsg.GetId().GetId()), 13)
}
var frameMsg events.FrameMessage
muPubEvents.Lock()
err := proto.Unmarshal(*(publishedEvents[tpc]), &frameMsg)
if err != nil {
t.Errorf("unable to unmarshal published frame to topic %v", tpc)
}
muPubEvents.Unlock()
if frameMsg.GetId().GetCreatedAt() == nil {
t.Errorf("missin CreatedAt field")
}
if frameMsg.GetId().GetName() != "camera" {
t.Errorf("bad name frame: %v, wants %v", frameMsg.GetId().GetName(), "camera")
}
if len(frameMsg.GetId().GetId()) != 13 {
t.Errorf("bad id length: %v, wants %v", len(frameMsg.GetId().GetId()), 13)
}
_, err = jpeg.Decode(bytes.NewReader(frameMsg.GetFrame()))
if err != nil {
t.Errorf("image published can't be decoded: %v", err)
if frameMsg.GetId().GetCreatedAt() == nil {
t.Errorf("missin CreatedAt field")
}
_, err = jpeg.Decode(bytes.NewReader(frameMsg.GetFrame()))
if err != nil {
t.Errorf("image published can't be decoded: %v", err)
}
// Uncomment to debug image cropping
/*
dir, f := path.Split(fmt.Sprintf("/tmp/%s.jpg", tpc))
os.MkdirAll(dir, os.FileMode(0755))
err = ioutil.WriteFile(path.Join(dir, f), frameMsg.GetFrame(), os.FileMode(0644) )
if err != nil {
t.Errorf("unable to write image for topic %s: %v", tpc, err)
}
*/
}
}