feat(object): use bbox values as percent

go.mod

@@ -8,7 +8,7 @@ require (
 	github.com/aws/aws-sdk-go-v2/service/s3 v1.26.11
 	github.com/aws/aws-sdk-go-v2/service/sagemaker v1.32.1
 	github.com/cyrilix/robocar-base v0.1.7
-	github.com/cyrilix/robocar-protobuf/go v1.0.5
+	github.com/cyrilix/robocar-protobuf/go v1.1.0
 	github.com/disintegration/imaging v1.6.2
 	github.com/eclipse/paho.mqtt.golang v1.4.1
 	github.com/golang/protobuf v1.5.2

go.sum

@@ -38,8 +38,8 @@ github.com/benbjohnson/clock v1.1.0 h1:Q92kusRqC1XV2MjkWETPvjJVqKetz1OzxZB7mHJLj
 github.com/benbjohnson/clock v1.1.0/go.mod h1:J11/hYXuz8f4ySSvYwY0FKfm+ezbsZBKZxNJlLklBHA=
 github.com/cyrilix/robocar-base v0.1.7 h1:EVzZ0KjigSFpke5f3A/PybEH3WFUEIrYSc3z/dhOZ48=
 github.com/cyrilix/robocar-base v0.1.7/go.mod h1:4E11HQSNy2NT8e7MW188y6ST9C0RzarKyn7sK/3V/Lk=
-github.com/cyrilix/robocar-protobuf/go v1.0.5 h1:PX1At+pf6G7gJwT4LzJLQu3/LPFTTNNlZmZSYtnSELY=
+github.com/cyrilix/robocar-protobuf/go v1.1.0 h1:txIjGnnCF3UzedpsWu+sL7nMA+pNjSnX6HZlAmuReH4=
-github.com/cyrilix/robocar-protobuf/go v1.0.5/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
+github.com/cyrilix/robocar-protobuf/go v1.1.0/go.mod h1:Y3AE28K5V7EZxMXp/6A8RhkRz15VOfFy4CjST35FbtQ=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=

part/part.go

@@ -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())),
+			image.Rect(
-			color.RGBA{0, 255, 0, 0},
+				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)
 	}
 }

vendor/github.com/cyrilix/robocar-protobuf/go/events/events.pb.go

@@ -1,7 +1,7 @@
 // Code generated by protoc-gen-go. DO NOT EDIT.
 // versions:
-// 	protoc-gen-go v1.27.1
+// 	protoc-gen-go v1.28.1
-// 	protoc        v3.12.4
+// 	protoc        v3.21.4
 // source: events/events.proto
 
 package events
@@ -468,17 +468,17 @@ func (x *ObjectsMessage) GetFrameRef() *FrameRef {
 	return nil
 }
 
-// BoundingBox that contains an object
+// BoundingBox that contains an object, coordinates as percent
 type Object struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
 	Type       TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"`
-	Left       int32      `protobuf:"varint,2,opt,name=left,proto3" json:"left,omitempty"`
+	Left       float32    `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"`
-	Top        int32      `protobuf:"varint,3,opt,name=top,proto3" json:"top,omitempty"`
+	Top        float32    `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"`
-	Right      int32      `protobuf:"varint,4,opt,name=right,proto3" json:"right,omitempty"`
+	Right      float32    `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"`
-	Bottom     int32      `protobuf:"varint,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
+	Bottom     float32    `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"`
 	Confidence float32    `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"`
 }
 
@@ -521,28 +521,28 @@ func (x *Object) GetType() TypeObject {
 	return TypeObject_ANY
 }
 
-func (x *Object) GetLeft() int32 {
+func (x *Object) GetLeft() float32 {
 	if x != nil {
 		return x.Left
 	}
 	return 0
 }
 
-func (x *Object) GetTop() int32 {
+func (x *Object) GetTop() float32 {
 	if x != nil {
 		return x.Top
 	}
 	return 0
 }
 
-func (x *Object) GetRight() int32 {
+func (x *Object) GetRight() float32 {
 	if x != nil {
 		return x.Right
 	}
 	return 0
 }
 
-func (x *Object) GetBottom() int32 {
+func (x *Object) GetBottom() float32 {
 	if x != nil {
 		return x.Bottom
 	}
@@ -918,10 +918,10 @@ var file_events_events_proto_rawDesc = []byte{
 	0x0e, 0x32, 0x1a, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e,
 	0x74, 0x73, 0x2e, 0x54, 0x79, 0x70, 0x65, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x52, 0x04, 0x74,
 	0x79, 0x70, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x18, 0x02, 0x20, 0x01, 0x28,
-	0x05, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
+	0x02, 0x52, 0x04, 0x6c, 0x65, 0x66, 0x74, 0x12, 0x10, 0x0a, 0x03, 0x74, 0x6f, 0x70, 0x18, 0x03,
-	0x20, 0x01, 0x28, 0x05, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
+	0x20, 0x01, 0x28, 0x02, 0x52, 0x03, 0x74, 0x6f, 0x70, 0x12, 0x14, 0x0a, 0x05, 0x72, 0x69, 0x67,
-	0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x05, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
+	0x68, 0x74, 0x18, 0x04, 0x20, 0x01, 0x28, 0x02, 0x52, 0x05, 0x72, 0x69, 0x67, 0x68, 0x74, 0x12,
-	0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x05, 0x52,
+	0x16, 0x0a, 0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x18, 0x05, 0x20, 0x01, 0x28, 0x02, 0x52,
 	0x06, 0x62, 0x6f, 0x74, 0x74, 0x6f, 0x6d, 0x12, 0x1e, 0x0a, 0x0a, 0x63, 0x6f, 0x6e, 0x66, 0x69,
 	0x64, 0x65, 0x6e, 0x63, 0x65, 0x18, 0x06, 0x20, 0x01, 0x28, 0x02, 0x52, 0x0a, 0x63, 0x6f, 0x6e,
 	0x66, 0x69, 0x64, 0x65, 0x6e, 0x63, 0x65, 0x22, 0x2f, 0x0a, 0x13, 0x53, 0x77, 0x69, 0x74, 0x63,

vendor/modules.txt

@@ -111,7 +111,7 @@ github.com/aws/smithy-go/waiter
 ## explicit; go 1.18
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/service
-# github.com/cyrilix/robocar-protobuf/go v1.0.5
+# github.com/cyrilix/robocar-protobuf/go v1.1.0
 ## explicit; go 1.18
 github.com/cyrilix/robocar-protobuf/go/events
 # github.com/disintegration/imaging v1.6.2