refactor: new road detection implementation

cmd/road-debug/road-debug.go

@@ -0,0 +1,65 @@
+package main
+
+import (
+	"flag"
+	"github.com/cyrilix/robocar-road/road"
+	"go.uber.org/zap"
+	"gocv.io/x/gocv"
+	"image"
+	"image/color"
+	"log"
+	"os"
+)
+
+func main() {
+	var imgName string
+	flag.StringVar(&imgName, "image", "", "path to image file")
+
+	logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
+	flag.Parse()
+
+	if imgName == "" {
+		zap.S().Errorf("bad image value")
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	if len(os.Args) <= 1 {
+		flag.PrintDefaults()
+		os.Exit(1)
+	}
+
+	config := zap.NewDevelopmentConfig()
+	config.Level = zap.NewAtomicLevelAt(*logLevel)
+	lgr, err := config.Build()
+	if err != nil {
+		log.Fatalf("unable to init logger: %v", err)
+	}
+	defer func() {
+		if err := lgr.Sync(); err != nil {
+			log.Printf("unable to Sync logger: %v\n", err)
+		}
+	}()
+	zap.ReplaceGlobals(lgr)
+
+	d := road.NewDetector(160, 120)
+
+	img := gocv.IMRead(imgName, gocv.IMReadColor)
+	defer func(img *gocv.Mat) {
+		err := img.Close()
+		if err != nil {
+			zap.S().Warnf("unable to close image: %v", err)
+		}
+	}(&img)
+	if img.Empty() {
+		zap.S().Errorf("image %s is not a valid image", imgName)
+		os.Exit(1)
+	}
+	roadLimits := d.Detect(&img)
+
+	gocv.FillPoly(&img, gocv.NewPointsVectorFromPoints([][]image.Point{roadLimits}), color.RGBA{0, 0, 255, 128})
+	window := gocv.NewWindow("Road")
+	window.IMShow(img)
+	window.WaitKey(0)
+
+}