Line-Following-Robot/AutonomousMode/lfr.cpp

#include "lfr.h"


LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
    : iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
{
    this->iAmLooping = false;
    this->thresholdBinary = thresholdBinary;
    this->gaussKernelSize = gaussKernelSize;
    this->thresholdCanny1 = thresholdCanny1;
    this->thresholdCanny2 = thresholdCanny2;
    this->apertureSizeCanny = apertureSizeCanny;
}

LFR::~LFR()
{
    if(iAmLooping)
    {
        this->endLoop();
    }
}

void LFR::loop()
{
    namedWindow("Display window");
    while(iAmLooping)
    {
        Mat image = input.readWebcam();
        processing.processImage(image, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
        std::vector<Vec4i> lines = processing.calculateLineSegments(image);
        for( size_t i = 0; i < lines.size(); i++ )
        {
            line( image, Point(lines[i][0], lines[i][1]),
            Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 );
        }  
        imshow("Display window", image);
        char c = (char)waitKey(1);
    }
    destroyWindow("Display window");
    input.freeWebcam();
}

void LFR::startLoop()
{
    iAmLooping = true;
    this->loopThread=thread(&LFR::loop, this);
}

void LFR::endLoop()
{
    iAmLooping = false;
    this->loopThread.join();
    return;
}