robocars/robocar-steering
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refactor: use preprocessed objects from objects-detection service

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This commit is contained in:
Cyrille Nofficial
2024-03-10 11:30:13 +01:00
parent 8e6b7edec9
commit 6a59f55f97
91 changed files with 32 additions and 18805 deletions
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6
cmd/rc-steering/rc-steering.go
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@ -16,7 +16,6 @@ const (
func main() {
var mqttBroker, username, password, clientId string
var steeringTopic, driveModeTopic, rcSteeringTopic, tfSteeringTopic, objectsTopic string
var imgWidth, imgHeight int
var enableObjectsCorrection, enableObjectsCorrectionOnUserMode bool
var gridMapConfig, objectsMoveFactorsConfig string
var deltaMiddle float64
@ -31,8 +30,6 @@ func main() {
flag.StringVar(&tfSteeringTopic, "mqtt-topic-tf-steering", os.Getenv("MQTT_TOPIC_TF_STEERING"), "Mqtt topic that contains tenorflow steering value, use MQTT_TOPIC_TF_STEERING if args not set")
flag.StringVar(&driveModeTopic, "mqtt-topic-drive-mode", os.Getenv("MQTT_TOPIC_DRIVE_MODE"), "Mqtt topic that contains DriveMode value, use MQTT_TOPIC_DRIVE_MODE if args not set")
flag.StringVar(&objectsTopic, "mqtt-topic-objects", os.Getenv("MQTT_TOPIC_OBJECTS"), "Mqtt topic that contains Objects from object detection value, use MQTT_TOPIC_OBJECTS if args not set")
flag.IntVar(&imgWidth, "image-width", 160, "Video pixels width")
flag.IntVar(&imgHeight, "image-height", 128, "Video pixels height")
flag.BoolVar(&enableObjectsCorrection, "enable-objects-correction", false, "Adjust steering to avoid objects")
flag.BoolVar(&enableObjectsCorrectionOnUserMode, "enable-objects-correction-user", false, "Adjust steering to avoid objects on user mode driving")
flag.StringVar(&gridMapConfig, "grid-map-config", "", "Json file path to configure grid object correction")
@ -69,7 +66,6 @@ func main() {
zap.S().Infof("objects correction on user mode : %v", enableObjectsCorrectionOnUserMode)
zap.S().Infof("grid map file config : %v", gridMapConfig)
zap.S().Infof("objects move factors grid config: %v", objectsMoveFactorsConfig)
zap.S().Infof("image width x height : %v x %v", imgWidth, imgHeight)
client, err := cli.Connect(mqttBroker, username, password, clientId)
if err != nil {
@ -85,8 +81,6 @@ func main() {
steering.WidthDeltaMiddle(deltaMiddle),
steering.WithGridMap(gridMapConfig),
steering.WithObjectMoveFactors(objectsMoveFactorsConfig),
steering.WithImageSize(imgWidth, imgHeight),
steering.WithSizeThreshold(0.75),
),
),
steering.WithObjectsCorrectionEnabled(enableObjectsCorrection, enableObjectsCorrectionOnUserMode),