fix: compile after gocv upgrade
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ffb34da5de
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41083cb023
@ -126,10 +126,6 @@ image_final(){
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#buildah rmi localhost/$IMAGE_NAME
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#buildah manifest rm localhost/${IMAGE_NAME}
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image_build linux/amd64
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image_build linux/arm64
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image_build linux/arm/v7
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image_build
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# push image
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@ -44,7 +44,7 @@ func NewRoadDetector() *RoadDetector {
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}
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}
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func (rd *RoadDetector) DetectRoadContour(imgGray *gocv.Mat, horizonRow int) *[]image.Point {
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func (rd *RoadDetector) DetectRoadContour(imgGray *gocv.Mat, horizonRow int) *gocv.PointVector {
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kernel := gocv.NewMatWithSizeFromScalar(gocv.NewScalar(1, 1, 1, 1), rd.kernelSize, rd.kernelSize, gocv.MatTypeCV8U)
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@ -77,34 +77,37 @@ func (rd *RoadDetector) DetectRoadContour(imgGray *gocv.Mat, horizonRow int) *[]
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return rd.detectRoadContour(&img)
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}
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func (rd *RoadDetector) detectRoadContour(imgInversed *gocv.Mat) *[]image.Point {
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func (rd *RoadDetector) detectRoadContour(imgInversed *gocv.Mat) *gocv.PointVector {
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var (
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epsilon float64
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cntr []image.Point
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cntr gocv.PointVector
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)
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cntrs := gocv.FindContours(*imgInversed, gocv.RetrievalExternal, gocv.ChainApproxSimple)
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ptsVec := gocv.FindContours(*imgInversed, gocv.RetrievalExternal, gocv.ChainApproxSimple)
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defer ptsVec.Close()
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if len(cntrs) == 0 {
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emptyContours := make([]image.Point, 0)
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if ptsVec.Size() == 0 {
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emptyContours := gocv.NewPointVector()
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return &emptyContours
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} else if len(cntrs) == 1 {
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epsilon = rd.approxPolyEpsilonFactor * gocv.ArcLength(cntrs[0], true)
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cntr = cntrs[0]
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} else if ptsVec.Size() == 1 {
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epsilon = rd.approxPolyEpsilonFactor * gocv.ArcLength(ptsVec.At(0), true)
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cntr = ptsVec.At(0)
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} else {
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// Search biggest contour
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peris := make([]float64, len(cntrs))
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peris := make([]float64, ptsVec.Size())
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maxArcIdx := 0
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maxArcValue := 0.
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for i, c := range cntrs {
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//for i, c := range cntrs {
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for i := 0; i< ptsVec.Size(); i++ {
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c := ptsVec.At(i)
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peri := gocv.ArcLength(c, true)
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peris[i] = peri
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if peri > maxArcValue {
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maxArcValue = peri
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maxArcIdx = i
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}
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cntr = cntrs[maxArcIdx]
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cntr = ptsVec.At(maxArcIdx)
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}
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epsilon = rd.approxPolyEpsilonFactor * peris[maxArcIdx]
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}
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@ -114,8 +117,8 @@ func (rd *RoadDetector) detectRoadContour(imgInversed *gocv.Mat) *[]image.Point
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var EllipseNotFound = events.Ellipse{Confidence: 0.}
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func (rd *RoadDetector) ComputeEllipsis(road *[]image.Point) *events.Ellipse {
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if len(*road) < 5 {
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func (rd *RoadDetector) ComputeEllipsis(road *gocv.PointVector) *events.Ellipse {
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if road.Size() < 5 {
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return &EllipseNotFound
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}
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@ -65,42 +65,51 @@ func TestRoadDetection_DetectRoadContour(t *testing.T) {
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[]image.Point{image.Point{0, 45}, image.Point{0, 127}, image.Point{144, 127}, image.Point{95, 21}, image.Point{43, 21}},
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},
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{"image2", img2, 20,
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[]image.Point{{159,69}, {128,53}, {125,41}, {113,42}, {108,21}, {87,21}, {79,41}, {72,30}, {44,39}, {29,34}, {0,67}, {0,127}, {159,127}, {152,101},},
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[]image.Point{{159, 69}, {128, 53}, {125, 41}, {113, 42}, {108, 21}, {87, 21}, {79, 41}, {72, 30}, {44, 39}, {29, 34}, {0, 67}, {0, 127}, {159, 127}, {152, 101}},
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},
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{"image3", img3, 20,
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[]image.Point{{97,21}, {59,127}, {159,127}, {159,36}, {138,21},},
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[]image.Point{{97, 21}, {59, 127}, {159, 127}, {159, 36}, {138, 21}},
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},
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{"image4", img4, 20,
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[]image.Point{{0,21}, {0,77}, {68,22}, {0,96}, {0,127}, {159,127}, {159,21},},
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[]image.Point{{0, 21}, {0, 77}, {68, 22}, {0, 96}, {0, 127}, {159, 127}, {159, 21}},
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},
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{"image5", img5, 20,
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[]image.Point{{159,32}, {100,36}, {29,60}, {0,79}, {0,127}, {159,127},},
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[]image.Point{{159, 32}, {100, 36}, {29, 60}, {0, 79}, {0, 127}, {159, 127}},
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},
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}
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for _, c := range cases {
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imgGray := toGray(*c.img)
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contours := rd.DetectRoadContour(imgGray, c.horizon)
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imgGray.Close()
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log.Infof("[%v] contour: %v", c.name, *contours)
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if len(*contours) != len(c.expectedContour) {
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t.Errorf("[%v] bad contour size: %v point(s), wants %v", c.name, len(*contours), len(c.expectedContour))
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expected := gocv.NewPointVectorFromPoints(c.expectedContour)
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if contours.Size() != expected.Size() {
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t.Errorf("[%v] bad contour size: %v point(s), wants %v", c.name, contours.Size(), expected.Size())
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}
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for idx, pt := range c.expectedContour {
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if pt != (*contours)[idx] {
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t.Errorf("[%v] bad point: %v, wants %v", c.name, (*contours)[idx], pt)
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for idx := 0; idx< expected.Size(); idx++ {
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pt := expected.At(idx)
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if pt != contours.At(idx) {
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t.Errorf("[%v] bad point: %v, wants %v", c.name, contours.At(idx), pt)
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}
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}
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debugContour(*c.img, contours, fmt.Sprintf("/tmp/%v.jpg", c.name))
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expected.Close()
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imgGray.Close()
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contours.Close()
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}
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}
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func debugContour(img gocv.Mat, contour *[]image.Point, imgPath string) {
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func debugContour(img gocv.Mat, contour *gocv.PointVector, imgPath string) {
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imgColor := img.Clone()
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defer imgColor.Close()
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gocv.DrawContours(&imgColor, [][]image.Point{*contour,}, 0, color.RGBA{
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ptsVec := gocv.NewPointsVector()
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defer ptsVec.Close()
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ptsVec.Append(*contour)
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gocv.DrawContours(&imgColor, ptsVec, 0, color.RGBA{
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R: 0,
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G: 255,
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B: 0,
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@ -131,7 +140,7 @@ func TestRoadDetector_ComputeEllipsis(t *testing.T) {
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},
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},
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{"image2",
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[]image.Point{{159,69}, {128,53}, {125,41}, {113,42}, {108,21}, {87,21}, {79,41}, {72,30}, {44,39}, {29,34}, {0,67}, {0,127}, {159,127}, {152,101},},
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[]image.Point{{159, 69}, {128, 53}, {125, 41}, {113, 42}, {108, 21}, {87, 21}, {79, 41}, {72, 30}, {44, 39}, {29, 34}, {0, 67}, {0, 127}, {159, 127}, {152, 101}},
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events.Ellipse{
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Center: &events.Point{
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X: 77,
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@ -144,7 +153,7 @@ func TestRoadDetector_ComputeEllipsis(t *testing.T) {
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},
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},
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{"image3",
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[]image.Point{{97,21}, {59,127}, {159,127}, {159,36}, {138,21},},
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[]image.Point{{97, 21}, {59, 127}, {159, 127}, {159, 36}, {138, 21}},
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events.Ellipse{
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Center: &events.Point{
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X: 112,
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@ -157,7 +166,7 @@ func TestRoadDetector_ComputeEllipsis(t *testing.T) {
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},
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},
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{"image4",
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[]image.Point{{0,21}, {0,77}, {68,22}, {0,96}, {0,127}, {159,127}, {159,21},},
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[]image.Point{{0, 21}, {0, 77}, {68, 22}, {0, 96}, {0, 127}, {159, 127}, {159, 21}},
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events.Ellipse{
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Center: &events.Point{
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X: 86,
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@ -170,7 +179,7 @@ func TestRoadDetector_ComputeEllipsis(t *testing.T) {
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},
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},
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{"image5",
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[]image.Point{{159,32}, {100,36}, {29,60}, {0,79}, {0,127}, {159,127},},
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[]image.Point{{159, 32}, {100, 36}, {29, 60}, {0, 79}, {0, 127}, {159, 127}},
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events.Ellipse{
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Center: &events.Point{
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X: 109,
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@ -185,7 +194,9 @@ func TestRoadDetector_ComputeEllipsis(t *testing.T) {
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}
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for _, c := range cases {
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ellipse := rd.ComputeEllipsis(&c.contour)
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ct := gocv.NewPointVectorFromPoints(c.contour)
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ellipse := rd.ComputeEllipsis(&ct)
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ct.Close()
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if ellipse.String() != c.expectedEllipse.String() {
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t.Errorf("ComputeEllipsis(%v): %v, wants %v", c.name, ellipse.String(), c.expectedEllipse.String())
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}
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24
part/part.go
24
part/part.go
@ -23,7 +23,6 @@ func NewRoadPart(client mqtt.Client, horizon int, cameraTopic, roadTopic string)
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return &RoadPart{
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client: client,
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frameChan: make(chan frameToProcess),
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readyForNext: make(chan interface{}, 1),
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cancel: make(chan interface{}),
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roadDetector: NewRoadDetector(),
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horizon: horizon,
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@ -35,7 +34,6 @@ func NewRoadPart(client mqtt.Client, horizon int, cameraTopic, roadTopic string)
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func (r *RoadPart) Start() error {
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registerCallBacks(r)
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ready := true
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var frame = frameToProcess{}
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defer func() {
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if err := frame.Close(); err != nil {
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@ -52,13 +50,8 @@ func (r *RoadPart) Start() error {
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if err := oldFrame.Close(); err != nil {
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log.Errorf("unable to close msg: %v", err)
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}
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if ready {
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log.Debug("process msg")
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go r.processFrame(&frame)
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ready = false
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}
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case <-r.readyForNext:
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ready = true
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case <-r.cancel:
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log.Infof("Stop service")
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return nil
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@ -73,15 +66,15 @@ var registerCallBacks = func(r *RoadPart) {
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}
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}
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func (o *RoadPart) Stop() {
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func (r *RoadPart) Stop() {
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defer func() {
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if err := o.roadDetector.Close(); err != nil {
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if err := r.roadDetector.Close(); err != nil {
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log.Errorf("unable to close roadDetector: %v", err)
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}
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}()
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close(o.readyForNext)
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close(o.cancel)
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service.StopService("road", o.client, o.roadTopic)
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close(r.readyForNext)
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close(r.cancel)
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service.StopService("road", r.client, r.roadTopic)
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}
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func (r *RoadPart) OnFrame(_ mqtt.Client, msg mqtt.Message) {
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@ -120,10 +113,13 @@ func (r *RoadPart) processFrame(frame *frameToProcess) {
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gocv.CvtColor(img, &imgGray, gocv.ColorRGBToGray)
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road := r.roadDetector.DetectRoadContour(&imgGray, r.horizon)
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defer road.Close()
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ellipse := r.roadDetector.ComputeEllipsis(road)
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cntr := make([]*events.Point, 0, len(*road))
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for _, pt := range *road {
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cntr := make([]*events.Point, 0, road.Size())
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for i:=0;i< road.Size(); i++ {
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pt := road.At(i)
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cntr = append(cntr, &events.Point{X: int32(pt.X), Y: int32(pt.Y)})
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}
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@ -35,7 +35,7 @@ func TestRoadPart_OnFrame(t *testing.T) {
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cameraTopic := "topic/camera"
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roadTopic := "topic/road"
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rp := NewRoadPart(nil, 20, roadTopic)
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rp := NewRoadPart(nil, 20, cameraTopic, roadTopic)
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go func() {
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if err := rp.Start(); err != nil {
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t.Errorf("unable to start roadPart: %v", err)
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@ -53,7 +53,7 @@ func TestRoadPart_OnFrame(t *testing.T) {
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name: "image1",
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msg: loadFrame(t, cameraTopic, "image"),
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expectedCntr: []*events.Point{&events.Point{X: 0, Y: int32(45)}, &events.Point{X: 0, Y: 127}, &events.Point{X: 144, Y: 127}, &events.Point{X: 95, Y: 21}, &events.Point{X: 43, Y: 21}},
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expectedEllipse: events.Ellipse{Center: &events.Point{X: 71, Y: 87,}, Width: 139, Height: 176, Angle: 92.66927, Confidence: 1.,},
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expectedEllipse: events.Ellipse{Center: &events.Point{X: 71, Y: 87}, Width: 139, Height: 176, Angle: 92.66927, Confidence: 1.},
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},
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}
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