robocars/robocar-steering-tflite-edgetpu
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feat(image): resize images and crop horizon at runtime

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This commit is contained in:
Cyrille Nofficial
2021-11-25 17:12:16 +01:00
parent 6fd794f7d1
commit 85fe69dcaa
35 changed files with 7070 additions and 5 deletions
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11
cmd/rc-steering/rc-steering.go
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@@ -18,6 +18,7 @@ func main() {
var cameraTopic, steeringTopic string
var modelPath string
var edgeVerbosity int
var imgWidth, imgHeight, horizon int
var debug bool
@@ -30,6 +31,9 @@ func main() {
flag.StringVar(&steeringTopic, "mqtt-topic-road", os.Getenv("MQTT_TOPIC_STEERING"), "Mqtt topic to publish road detection result, use MQTT_TOPIC_STEERING if args not set")
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(&edgeVerbosity, "edge-verbosity", 0, "Edge TPU Verbosity")
flag.IntVar(&imgWidth, "img-width", 0, "image width expected by model (mandatory)")
flag.IntVar(&imgHeight, "img-height", 0, "image height expected by model (mandatory)")
flag.IntVar(&horizon, "horizon", 0, "upper zone to crop from image. Models expect size 'imgHeight - horizon'")
flag.BoolVar(&debug, "debug", false, "Display debug logs")
flag.Parse()
@@ -60,6 +64,11 @@ func main() {
flag.PrintDefaults()
os.Exit(1)
}
if imgWidth <= 0 || imgHeight <= 0 {
zap.L().Error("img-width and img-height are mandatory")
flag.PrintDefaults()
os.Exit(1)
}
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
@@ -67,7 +76,7 @@ func main() {
}
defer client.Disconnect(50)
p := steering.NewPart(client, modelPath, steeringTopic, cameraTopic, edgeVerbosity)
p := steering.NewPart(client, modelPath, steeringTopic, cameraTopic, edgeVerbosity, imgWidth, imgHeight, horizon)
defer p.Stop()
cli.HandleExit(p)