robocars/robocar-steering-tflite-edgetpu
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fix: bad pixel conversion to byte

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This commit is contained in:
Cyrille Nofficial 2021-12-11 18:22:36 +01:00
parent bb99d3b7c9
commit 67d1a1d8e5
1 changed files with 3 additions and 4 deletions
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7
pkg/steering/steering.go
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@ -137,7 +137,6 @@ func (p *Part) onFrame(_ mqtt.Client, message mqtt.Message) {
frameAge := now - msg.Id.CreatedAt.AsTime().UnixMilli() frameAge := now - msg.Id.CreatedAt.AsTime().UnixMilli()
go metrics.FrameAge.Record(context.Background(), frameAge) go metrics.FrameAge.Record(context.Background(), frameAge)
img, _, err := image.Decode(bytes.NewReader(msg.GetFrame())) img, _, err := image.Decode(bytes.NewReader(msg.GetFrame()))
if err != nil { if err != nil {
zap.L().Error("unable to decode frame, skip frame", zap.Error(err)) zap.L().Error("unable to decode frame, skip frame", zap.Error(err))
@ -197,9 +196,9 @@ func (p *Part) Value(img image.Image) (float32, float32, error) {
for y := 0; y < dy; y++ { for y := 0; y < dy; y++ {
for x := 0; x < dx; x++ { for x := 0; x < dx; x++ {
r, g, b, _ := img.At(x, y).RGBA() r, g, b, _ := img.At(x, y).RGBA()
bb[(y*dx+x)*3+0] = byte(float64(r) / 255.0) bb[(y*dx+x)*3+0] = byte(float64(r) / 257.0)
bb[(y*dx+x)*3+1] = byte(float64(g) / 255.0) bb[(y*dx+x)*3+1] = byte(float64(g) / 257.0)
bb[(y*dx+x)*3+2] = byte(float64(b) / 255.0) bb[(y*dx+x)*3+2] = byte(float64(b) / 257.0)
} }
} }
status = input.CopyFromBuffer(bb) status = input.CopyFromBuffer(bb)