129 lines
4.9 KiB
Go
129 lines
4.9 KiB
Go
package main
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import (
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"flag"
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"github.com/cyrilix/robocar-base/cli"
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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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"log"
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"math"
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"os"
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)
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const (
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DefaultClientId = "robocar-road"
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DefaultHorizon = 110
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)
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func main() {
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var mqttBroker, username, password, clientId string
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var cameraTopic, roadTopic string
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var horizon int
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var whiteThresholdLow, whiteThresholdHigh int
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var cannyThresholdLow, cannyThresholdHigh int
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var imgWidth, imgHeight int
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err := cli.SetIntDefaultValueFromEnv(&horizon, "HORIZON", DefaultHorizon)
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if err != nil {
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log.Printf("unable to parse horizon value arg: %v", err)
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}
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mqttQos := cli.InitIntFlag("MQTT_QOS", 0)
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_, mqttRetain := os.LookupEnv("MQTT_RETAIN")
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cli.InitMqttFlags(DefaultClientId, &mqttBroker, &username, &password, &clientId, &mqttQos, &mqttRetain)
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flag.StringVar(&roadTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_ROAD"), "Mqtt topic to publish road detection result, use MQTT_TOPIC_ROAD if args not set")
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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")
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flag.IntVar(&horizon, "horizon", horizon, "Limit horizon in pixels from top, use HORIZON if args not set")
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flag.IntVar(&imgWidth, "image-width", 160, "Video pixels width")
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flag.IntVar(&imgHeight, "image-height", 120, "Video pixels height")
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flag.IntVar(&whiteThresholdLow, "white-threshold-low", 20, "White pixels threshold, low limit")
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flag.IntVar(&whiteThresholdHigh, "white-threshold-high", 255, "White pixels threshold, high limit")
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flag.IntVar(&cannyThresholdLow, "canny-threshold-low", 100, "White pixels threshold, low limit")
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flag.IntVar(&cannyThresholdHigh, "canny-threshold-high", 250, "White pixels threshold, high limit")
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var houghLinesRho, houghLinesThreshold, houghLinesMinLineLength, houghLinesMaxLineGap int
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var houghLinesTheta float64
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flag.IntVar(&houghLinesRho, "hough-lines-rho", 2, "distance resolution in pixels of the Hough grid")
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flag.Float64Var(&houghLinesTheta, "hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180")
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flag.IntVar(&houghLinesThreshold, "hough-lines-threshold", 15, "minimum number of votes (intersections in Hough grid cell)")
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flag.IntVar(&houghLinesMinLineLength, "hough-lines-min-line-length", 10, "minimum number of pixels making up a line")
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flag.IntVar(&houghLinesMaxLineGap, "hough-lines-max-lines-gap", 20, "maximum gap in pixels between connectable line segments")
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logLevel := zap.LevelFlag("log", zap.InfoLevel, "log level")
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flag.Parse()
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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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zap.S().Infof("topic road : %v", roadTopic)
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zap.S().Infof("topic camera : %v", cameraTopic)
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zap.S().Infof("horizon : %v", horizon)
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zap.S().Infof("image width : %v", imgWidth)
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zap.S().Infof("image height : %v", imgHeight)
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zap.S().Infof("white threshold low : %v", whiteThresholdLow)
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zap.S().Infof("white threshold high : %v", whiteThresholdHigh)
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zap.S().Infof("canny threshold low : %v", cannyThresholdLow)
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zap.S().Infof("canny threshold high : %v", cannyThresholdHigh)
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zap.S().Infof("hough lines rho : %v", houghLinesRho)
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zap.S().Infof("hough lines theta : %v", houghLinesTheta)
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zap.S().Infof("hough lines threshold : %v", houghLinesThreshold)
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zap.S().Infof("hough lines min line length: %v", houghLinesMinLineLength)
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zap.S().Infof("hough lines max line gap : %v", houghLinesMaxLineGap)
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client, err := cli.Connect(mqttBroker, username, password, clientId)
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if err != nil {
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zap.S().Fatalf("unable to connect to mqtt bus: %v", err)
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}
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defer client.Disconnect(50)
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monitor := &road.DefaultMonitor{}
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go monitor.Start()
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p := road.NewPart(client,
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cameraTopic, roadTopic,
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road.NewDetector(
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road.WithWhiteFilter(whiteThresholdLow, whiteThresholdHigh),
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road.WithYellowFilter(
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gocv.NewMatFromScalar(gocv.Scalar{Val1: 90., Val2: 100., Val3: 100.}, gocv.MatTypeCV8U),
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gocv.NewMatFromScalar(gocv.Scalar{Val1: 110., Val2: 255., Val3: 255.}, gocv.MatTypeCV8U),
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),
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road.WithCanny(cannyThresholdLow, cannyThresholdHigh),
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road.WithGaussianBlur(3),
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road.WithRegionOfInterest(imgWidth, imgHeight, horizon),
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road.WithPointOnRoad(image.Point{X: imgWidth / 2, Y: imgHeight - 30}),
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road.WithHoughLines(houghLinesRho, float32(houghLinesTheta), houghLinesThreshold, houghLinesMinLineLength, houghLinesMaxLineGap),
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road.WithMonitor(monitor),
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),
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)
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defer p.Stop()
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cli.HandleExit(p)
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err = p.Start()
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if err != nil {
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zap.S().Fatalf("unable to start service: %v", err)
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}
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}
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