58 lines
3.7 KiB
C++
58 lines
3.7 KiB
C++
#include "camera_pipeline.hpp"
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#include "config.hpp"
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#include "stop_signals.hpp"
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#include "visualizer.hpp"
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#include <cstdlib>
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#include <functional>
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#include <iostream>
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#include <map>
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int main(int argc,char** argv)try {
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auto root=std::filesystem::canonical("/proc/self/exe").parent_path().parent_path();
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auto configPath=root/"config/camera.json";
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cms::OutputOptions output;output.directory=root/"output";
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bool visualize=true,disableCan=false;
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std::filesystem::path recordSession,replaySession;
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std::map<std::string,std::function<void(int&)>> arguments{
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{"--record-session",[&](int&i){if(++i>=argc)throw std::invalid_argument("--record-session needs a directory");recordSession=argv[i];}},
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{"--replay-session",[&](int&i){if(++i>=argc)throw std::invalid_argument("--replay-session needs a directory");replaySession=argv[i];}},
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{"--save-original",[&](int&){output.original=true;}},
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{"--save-annotated",[&](int&){output.annotated=true;}},
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{"--save-results",[&](int&){output.results=true;}},
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{"--no-can",[&](int&){disableCan=true;}},
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{"--visualize",[&](int&){visualize=true;}},
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{"--no-visualize",[&](int&){visualize=false;}},
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{"--config",[&](int&i){if(++i>=argc)throw std::invalid_argument("--config needs a file");configPath=argv[i];}},
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{"--help",[](int&){std::cout<<"camera_risk [--record-session NEW_DIR] [--replay-session DIR] [--save-original] [--save-annotated] [--save-results] [--config FILE] [--no-can] [--visualize|--no-visualize]\nLive CAN/CANFD reception on CH0 and change-triggered 0x1F6 binary risk transmission on CH1 are enabled by default.\nRisk: clear/watch/unavailable=0, warning/danger/unknown=1; send initial state once, then only binary changes. No automatic retries. --no-can disables reception and transmission.\nReplay uses recorded CAN only and never transmits.\nVisualization is enabled by default for live inference, recording and replay.\nContinuous camera inference; replay runs to EOF without a camera.\nH.264 sessions require a new recording directory. Stop with Ctrl+C or SIGTERM to finalize video.\n";std::exit(0);}}
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};
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for(int i=1;i<argc;++i){auto handler=arguments.find(argv[i]);if(handler==arguments.end())throw std::invalid_argument("Unknown option: "+std::string(argv[i]));handler->second(i);}
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auto config=cms::loadConfig(configPath);config.output=output;config.record_session=recordSession;config.replay_session=replaySession;
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if(disableCan)config.can.enabled=false;
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cms::CameraPipeline pipeline(config);
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cms::StopSignals signals(pipeline);
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pipeline.start();
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/*
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* 下游使用示例：在下游自己的线程/调用位置读取最新结果。
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* 首帧尚未完成时 result 为空；读取不会影响取图和推理。
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*
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* auto result = pipeline.latest();
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* if (result) {
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* const auto& risk = result->risk;
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* const auto& people = result->persons;
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* // result->frame_index / track_ids / boxes
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* // result->image / door_mask_pixels / capture / timing
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* // people[i].selected / smoothed / temporal：各 133 个关键点
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* }
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*/
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// Optional observer. Closing/failing the window never requests inference stop.
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if(visualize) {
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auto display=std::getenv("DISPLAY");auto wayland=std::getenv("WAYLAND_DISPLAY");
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if((!display||!*display)&&(!wayland||!*wayland))std::cerr<<"No display session; inference continues without visualization.\n";
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else try {cms::runLocalVisualization(pipeline);}
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catch(std::exception const& e){std::cerr<<"Visualization unavailable; inference continues: "<<e.what()<<std::endl;}
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}
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pipeline.join();
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return 0;
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}catch(std::exception const& e){std::cerr<<"Camera pipeline failed: "<<e.what()<<std::endl;return 1;}
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