update comments

main.go

@@ -14,12 +14,12 @@ import (
 const (
 	minimumMotionArea       = 3000 // Motion detection minimum area needed to move
 	recordLengthAfterMotion = 30   // Number of seconds to keep recording going after motion was last detected
-	motionDetectInterval    = 30   //number of frames between motion detection attempts // TBD: Implement this, currently does nothing
+	motionDetectInterval    = 30   // Number of frames between motion detection algorithm running
-	deviceID                = 0    // raspberry pi camera index
+	deviceID                = 0    // Raspberry Pi camera index - should be 0 if using the camera connector.  Might be different if using USB webcam
 	syncFolder              = "/sync"
 )
 
-var (
+var ( // evil global variables
 	lastMotionDetectedTime   time.Time
 	currentRecording         *gocv.VideoWriter
 	img, imgDelta, imgThresh gocv.Mat
@@ -27,21 +27,8 @@ var (
 	osdColor                 color.RGBA
 )
 
-func init() {
-
-	img = gocv.NewMat()
-	imgDelta = gocv.NewMat()
-	imgThresh = gocv.NewMat()
-	mog2 = gocv.NewBackgroundSubtractorMOG2()
-	osdColor = color.RGBA{0, 0, 255, 0}
-}
-
 func main() {
-	defer img.Close()
+	// Override log output from stdout to a file on disk
-	defer imgDelta.Close()
-	defer imgThresh.Close()
-	defer mog2.Close()
-
 	f, err := os.OpenFile(fmt.Sprintf("%s/storage-security.log", syncFolder), os.O_RDWR|os.O_CREATE|os.O_APPEND, 0666)
 	if err != nil {
 		log.Fatalf("error opening log file: %v", err)
@@ -50,6 +37,20 @@ func main() {
 	log.SetOutput(f)
 	log.Print("storage-security starting")
 
+	// LIGHTS
+	img = gocv.NewMat()
+	imgDelta = gocv.NewMat()
+	imgThresh = gocv.NewMat()
+	mog2 = gocv.NewBackgroundSubtractorMOG2()
+	osdColor = color.RGBA{0, 0, 255, 0}
+	frameCount := 0
+
+	defer img.Close()
+	defer imgDelta.Close()
+	defer imgThresh.Close()
+	defer mog2.Close()
+
+	// CAMERA
 	webcam, err := gocv.OpenVideoCapture(deviceID)
 	if err != nil {
 		log.Fatalf("error opening video capture device: %v\n", deviceID)
@@ -59,7 +60,9 @@ func main() {
 
 	fmt.Printf("Start reading device: %v\n", deviceID)
 
-	// This is a warm up ladies and gentlemen.
+	// This is a warm up ladies and gentlemen
+	// There will always be motion / changes in the first few frames
+	// this just bypasses starting a recording upon initialization
 	for i := 0; i < 20; i++ {
 		if ok := webcam.Read(&img); !ok {
 			log.Fatalf("video capture device closed: %v\n", deviceID)
@@ -68,9 +71,8 @@ func main() {
 		detectMotion(img)
 	}
 
-	frameCount := 0
+	// ACTION
-
+	// main loop - each iteration is a different video frame
-	// main loop
 	for {
 		if ok := webcam.Read(&img); !ok {
 			log.Fatalf("video capture device closed: %v\n", deviceID)
@@ -80,9 +82,12 @@ func main() {
 			continue
 		}
 
+		// Do not run the motion detect algorithm on every frame - it's a very expensive operation (CPU)
+		// While the raspberry pi hardware can keep up, it consumes a lot of unneeded power
+		// It will only run every motionDetectInterval frames.
 		if frameCount >= motionDetectInterval {
 			if detectMotion(img) {
-				// Determine if a new recording needs to start
+				// Determine if a new recording needs to start, we may already have one running
 				if time.Now().After(lastMotionDetectedTime.Add(time.Second * recordLengthAfterMotion)) { //
 					fileName := fmt.Sprintf("%s/storage-security-%s.avi", syncFolder, time.Now().Format("2006-01-02-15-04-05"))
 					log.Printf("motion detected, started recording to file named %s", fileName)
@@ -99,11 +104,10 @@ func main() {
 		}
 		frameCount++
 
-		// Determine if we are currently recording and if so, then save the frame to the video
+		// Determine if we are currently recording and if so, then write the video frame to the current recording file
 		if currentRecording != nil {
-			// OSD / timestamp
+			// OSD / timestamp in upper left of video
 			gocv.PutText(&img, time.Now().Format(time.RFC3339), image.Pt(10, 20), gocv.FontHersheyPlain, 1.2, osdColor, 2)
-
 			currentRecording.Write(img)
 			// Determine if we should stop recording
 			if lastMotionDetectedTime.Add(time.Second * recordLengthAfterMotion).Before(time.Now()) {
@@ -121,20 +125,29 @@ func main() {
 
 // Returns true if motion detected in current frame
 func detectMotion(frame gocv.Mat) bool {
-	// first phase of cleaning up image, obtain foreground only
+	// First phase of cleaning up image, obtain foreground only
+	// See https://docs.opencv.org/master/d1/dc5/tutorial_background_subtraction.html
 	mog2.Apply(frame, &imgDelta)
 
-	// remaining cleanup of the image to use for finding contours.
+	// Next the goal is to find contours in the foreground image
-	// first use threshold
+	// But first it needs to be cleaned up
+
+	// First use threshold
+	// https://docs.opencv.org/master/d7/d4d/tutorial_py_thresholding.html
 	gocv.Threshold(imgDelta, &imgThresh, 25, 255, gocv.ThresholdBinary)
 
-	// then dilate
+	// Then dilate
+	// https://docs.opencv.org/3.4/db/df6/tutorial_erosion_dilatation.html
 	kernel := gocv.GetStructuringElement(gocv.MorphRect, image.Pt(3, 3))
 	defer kernel.Close()
 	gocv.Dilate(imgThresh, &imgThresh, kernel)
 
-	// now find contours
+	// Now find contours
+	// https://docs.opencv.org/3.4/d4/d73/tutorial_py_contours_begin.html
 	contours := gocv.FindContours(imgThresh, gocv.RetrievalExternal, gocv.ChainApproxSimple)
+
+	// No matter what, every camera frame will be slightly different than the subsequent frame
+	// Noise is a thing, so we must search the contours larger than a specified threshold
 	for _, c := range contours {
 		area := gocv.ContourArea(c)
 		if area < minimumMotionArea {