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

refactor: new road detection implementation

Browse Source
This commit is contained in:
Cyrille Nofficial
2024-04-14 12:09:06 +02:00
parent 322e6a65ae
commit a66e481df4
7 changed files with 786 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
cmd/rc-road/rc-road.go
View File

@ -3,21 +3,27 @@ package main
import (
"flag"
"github.com/cyrilix/robocar-base/cli"
"github.com/cyrilix/robocar-road/pkg/part"
"github.com/cyrilix/robocar-road/road"
"go.uber.org/zap"
"gocv.io/x/gocv"
"image"
"log"
"math"
"os"
)
const (
DefaultClientId = "robocar-road"
DefaultHorizon = 20
DefaultHorizon = 110
)
func main() {
var mqttBroker, username, password, clientId string
var cameraTopic, roadTopic string
var horizon int
var whiteThresholdLow, whiteThresholdHigh int
var cannyThresholdLow, cannyThresholdHigh int
var imgWidth, imgHeight int
err := cli.SetIntDefaultValueFromEnv(&horizon, "HORIZON", DefaultHorizon)
if err != nil {
@ -33,6 +39,23 @@ func main() {
flag.StringVar(&cameraTopic, "mqtt-topic-camera", os.Getenv("MQTT_TOPIC_CAMERA"), "Mqtt topic that contains camera frame values, use MQTT_TOPIC_CAMERA if args not set")
flag.IntVar(&horizon, "horizon", horizon, "Limit horizon in pixels from top, use HORIZON if args not set")
flag.IntVar(&imgWidth, "image-width", 160, "Video pixels width")
flag.IntVar(&imgHeight, "image-height", 128, "Video pixels height")
flag.IntVar(&whiteThresholdLow, "white-threshold-low", 20, "White pixels threshold, low limit")
flag.IntVar(&whiteThresholdHigh, "white-threshold-high", 255, "White pixels threshold, high limit")
flag.IntVar(&cannyThresholdLow, "canny-threshold-low", 100, "White pixels threshold, low limit")
flag.IntVar(&cannyThresholdHigh, "canny-threshold-high", 250, "White pixels threshold, high limit")
var houghLinesRho, houghLinesThreshold, houghLinesMinLineLength, houghLinesMaxLineGap int
var houghLinesTheta float64
flag.IntVar(&houghLinesRho, "hough-lines-rho", 2, "distance resolution in pixels of the Hough grid")
flag.Float64Var(&houghLinesTheta, "hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180")
flag.IntVar(&houghLinesThreshold, "hough-lines-threshold", 15, "minimum number of votes (intersections in Hough grid cell)")
flag.IntVar(&houghLinesMinLineLength, "hough-lines-min-line-length", 10, "minimum number of pixels making up a line")
flag.IntVar(&houghLinesMaxLineGap, "hough-lines-max-lines-gap", 20, "maximum gap in pixels between connectable line segments")
logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
flag.Parse()
@ -60,7 +83,21 @@ func main() {
}
defer client.Disconnect(50)
p := part.NewRoadPart(client, horizon, cameraTopic, roadTopic)
p := road.NewPart(client,
cameraTopic, roadTopic,
road.NewDetector(
road.WithWhiteFilter(whiteThresholdLow, whiteThresholdHigh),
road.WithYellowFilter(
gocv.NewMatFromScalar(gocv.Scalar{Val1: 90., Val2: 100., Val3: 100.}, gocv.MatTypeCV8U),
gocv.NewMatFromScalar(gocv.Scalar{Val1: 110., Val2: 255., Val3: 255.}, gocv.MatTypeCV8U),
),
road.WithCanny(cannyThresholdLow, cannyThresholdHigh),
road.WithGaussianBlur(3),
road.WithRegionOfInterest(imgWidth, imgHeight, horizon),
road.WithPointOnRoad(image.Point{X: imgWidth / 2, Y: imgHeight - 30}),
road.WithHoughLines(houghLinesRho, float32(houghLinesTheta), houghLinesThreshold, houghLinesMinLineLength, houghLinesMaxLineGap),
),
)
defer p.Stop()
cli.HandleExit(p)