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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26
pkg/steering/steering.go
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@ -5,6 +5,7 @@ import (
"fmt"
"github.com/cyrilix/robocar-base/service"
"github.com/cyrilix/robocar-protobuf/go/events"
"github.com/disintegration/imaging"
mqtt "github.com/eclipse/paho.mqtt.golang"
"github.com/golang/protobuf/proto"
"github.com/mattn/go-tflite"
@ -15,13 +16,16 @@ import (
"sort"
)
func NewPart(client mqtt.Client, modelPath, steeringTopic, cameraTopic string, edgeVerbosity int) *Part {
func NewPart(client mqtt.Client, modelPath, steeringTopic, cameraTopic string, edgeVerbosity int, imgWidth, imgHeight, horizon int) *Part {
return &Part{
client: client,
modelPath: modelPath,
steeringTopic: steeringTopic,
cameraTopic: cameraTopic,
edgeVebosity: edgeVerbosity,
imgWidth: imgWidth,
imgHeight: imgHeight,
horizon: horizon,
}
}
@ -38,6 +42,10 @@ type Part struct {
modelPath string
model *tflite.Model
edgeVebosity int
imgWidth int
imgHeight int
horizon int
}
func (p *Part) Start() error {
@ -132,7 +140,7 @@ func (p *Part) onFrame(_ mqtt.Client, message mqtt.Message) {
if err != nil {
zap.S().Errorw("unable to compute sterring",
"frame", msg.GetId().GetId(),
"error", err,
"error", err,
)
return
}
@ -164,9 +172,19 @@ func (p *Part) Value(img image.Image) (float32, float32, error) {
dx := img.Bounds().Dx()
dy := img.Bounds().Dy()
if dx != p.imgWidth || dy != p.imgHeight {
img = imaging.Resize(img, p.imgWidth, p.imgHeight, imaging.NearestNeighbor)
}
if p.horizon > 0 {
img = imaging.Crop(img, image.Rect(0, p.horizon, img.Bounds().Dx(), img.Bounds().Dy()))
}
dx = img.Bounds().Dx()
dy = img.Bounds().Dy()
bb := make([]byte, dx*dy*3)
for y := 0; y < 128; y++ {
for x := 0; x < 160; x++ {
for y := 0; y < dy; y++ {
for x := 0; x < dx; x++ {
r, g, b, _ := img.At(x, y).RGBA()
bb[(y*dx+x)*3+0] = byte(float64(r) / 255.0)
bb[(y*dx+x)*3+1] = byte(float64(g) / 255.0)