robocars/robocar-camera
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

feat: publish region of interest to new mqtt topic

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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)