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