robocars/robocar-tools
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feat(object): use bbox values as percent

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This commit is contained in:
Cyrille Nofficial
2022-08-21 22:32:21 +02:00
parent 653ee95311
commit 3d12e00bfc
5 changed files with 33 additions and 22 deletions
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17
part/part.go
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@ -11,6 +11,7 @@ import (
"image"
"image/color"
"log"
"time"
)
func NewPart(client mqtt.Client, frameTopic, objectsTopic, roadTopic string, withObjects, withRoad bool) *FramePart {
@ -52,9 +53,11 @@ func (p *FramePart) Start() error {
var img = gocv.NewMat()
var objectsMsg events.ObjectsMessage
var roadMsg events.RoadMessage
ticker := time.NewTicker(1 * time.Second)
for {
select {
case <-ticker.C:
img = gocv.NewMatWithSize(120, 120, gocv.MatTypeCV8S)
case newImg := <-p.imgChan:
img.Close()
img = newImg
@ -67,6 +70,7 @@ func (p *FramePart) Start() error {
return nil
}
p.drawFrame(&img, &objectsMsg, &roadMsg)
ticker.Reset(1 * time.Second)
}
}
@ -105,6 +109,7 @@ func (p *FramePart) onObjects(_ mqtt.Client, message mqtt.Message) {
return
}
zap.S().Infow("new objects", zap.String("topic", message.Topic()), zap.String("object", msg.Objects[0].String()))
p.objectsChan <- msg
}
@ -156,11 +161,17 @@ func (p *FramePart) drawFrame(img *gocv.Mat, objects *events.ObjectsMessage, roa
}
func (p *FramePart) drawObjects(img *gocv.Mat, objects *events.ObjectsMessage) {
zap.S().Debugf("draw object %v", objects)
for _, obj := range objects.GetObjects() {
gocv.Rectangle(
img,
image.Rect(int(obj.GetLeft()), int(obj.GetTop()), int(obj.GetRight()), int(obj.GetBottom())),
color.RGBA{0, 255, 0, 0},
image.Rect(
int(obj.GetLeft()*float32(img.Cols())),
int(obj.GetTop()*float32(img.Rows())),
int(obj.GetRight()*float32(img.Cols())),
int(obj.GetBottom()*float32(img.Rows())),
),
color.RGBA{R: 0, G: 255, B: 0, A: 0},
2)
}
}