update go example

go/cmd.go

@@ -2,45 +2,46 @@ package main
 
 import (
 	"context"
-	"image/color"
+	"image"
 
 	"github.com/edaniels/golog"
+	"github.com/webview/webview"
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/rimage"
 	robotimpl "go.viam.com/rdk/robot/impl"
 	"go.viam.com/rdk/services/vision"
-	"gocv.io/x/gocv"
+	"go.viam.com/rdk/vision/objectdetection"
 
 	// registers all cameras.
 	_ "go.viam.com/rdk/components/camera/register"
 	// registers the vision service
 	_ "go.viam.com/rdk/services/vision/register"
+	// registers the mlmodel service
+	_ "go.viam.com/rdk/services/mlmodel/register"
+)
+
+const (
+	pathHere = "/full/path/to/vision-service-examples/go/"
+	saveTo   = "output.jpg"
 )
 
 func main() {
+	// Setup robot client
 	logger := golog.NewDevelopmentLogger("opencv")
-	// read the robot config and create the robot
-	// if you want to create the robot directly from a JSON
-	r, err := robotimpl.RobotFromConfigPath(context.Background(), "camera_config.json", logger)
-	if err != nil {
-		logger.Fatalf("cannot create robot: %v", err)
-	}
-	/* if you want to read the robot from the app
-	r, err := client.New(
-		context.Background(),
-		"[THE ADDRESS OF YOUR ROBOT, GOTTEN FROM THE CONNECT TAB]",
-		logger,
-		client.WithDialOptions(rpc.WithCredentials(rpc.Credentials{
-			Type:    utils.CredentialsTypeRobotLocationSecret,
-			Payload: "[THE SECRET OF YOUR ROBOT GOTTEN FROM THE CONNECT TAB]",
-		})),
-	)
+
+	// if you want to create the robot directly from a JSON config
+	r, err := robotimpl.RobotFromConfigPath(context.Background(), "robot_config.json", logger)
+	// if you want to read the robot from the app
+	// r, err := robotFromConnection(logger)
 	if err != nil {
 		logger.Fatalf("cannot create robot: %v", err)
 	}
-	*/
 	defer r.Close(context.Background())
+
+	// Print available resources
 	logger.Info("Resources:")
 	logger.Info(r.ResourceNames())
+
 	// grab the camera from the robot
 	cameraName := "cam1" // make sure to use the same name as in the json/APP
 	cam, err := camera.FromRobot(r, cameraName)
@@ -52,47 +53,59 @@ func main() {
 		logger.Fatalf("cannot get camera stream: %v", err)
 	}
 	// grab Viam's vision service that already has the TF-Lite model for object detection
-	visionSrv, err := vision.FirstFromRobot(r)
+	myDetector, err := vision.FromRobot(r, "myDetector")
 	if err != nil {
 		logger.Fatalf("cannot get vision service: %v", err)
 	}
-	// make the display window and get the camera stream
-	window := gocv.NewWindow("Object Detect")
-	defer window.Close()
-	// loop forever: find objects using Viam Vision, and draw boxes aroung them using openCV
+
+	// Do not display any detection with confidence < confThreshold
+	confThreshold := 0.6
 	for {
 		// get image
 		img, release, err := camStream.Next(context.Background())
 		if err != nil {
 			logger.Fatalf("cannot get image: %v", err)
 		}
 		defer release()
+
 		// get detection bounding boxes
-		detections, err := visionSrv.Detections(context.Background(), img, "find_objects")
+		detections, err := myDetector.Detections(context.Background(), img, nil)
 		if err != nil {
 			logger.Errorf("detection error: %v", err)
-			continue
 		}
-		mat, err := gocv.ImageToMatRGBA(img)
-		if err != nil {
-			logger.Errorf("error converting image to OpenCV Mat type: %v", err)
-			continue
-		}
-		// get the objects that appear above a certain confidence (0.6 here)
-		conf := 0.6
+		// get the detections that appear above a certain confidence (0.6 here)
 		labels := make([]string, 0, 25)
+		filtered := make([]objectdetection.Detection, 0, len(detections))
 		for _, d := range detections {
-			if d.Score() > conf {
-				boundingBox := d.BoundingBox()
-				// draw rectangle around the object
-				gocv.Rectangle(&mat, *boundingBox, color.RGBA{255, 0, 0, 255}, 3)
+			if d.Score() > confThreshold {
+				filtered = append(filtered, d)
 				labels = append(labels, d.Label())
 			}
 		}
 		logger.Infof("found these objects in image: %v", labels)
-		// display
-		window.IMShow(mat)
-		window.WaitKey(1)
+
+		// draw the filtered detections onto the image
+		saveMe, err := objectdetection.Overlay(img, filtered)
+		if err != nil {
+			logger.Errorf("could not overlay image")
+		}
+
+		// save image locally and display if interesting
+		rimage.SaveImage(saveMe, saveTo)
+		if len(labels) > 0 {
+			displayImage(saveMe) // once this is called, you're done.
+		}
+
 	}
 
 }
+
+// displayImage will display the image stored in pathHere+saveTo
+func displayImage(img image.Image) {
+	webView := webview.New(true)
+	defer webView.Destroy()
+	webView.Navigate("file://" + pathHere + saveTo)
+	webView.SetSize(img.Bounds().Dx()+100, img.Bounds().Dy()+100, webview.HintFixed)
+	webView.Navigate("file://" + pathHere + saveTo)
+	webView.Run()
+}