yasarba71520/Line-Following-Robot
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Choose between showing img and saving it

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This commit is contained in:
Tim Zeuner 2022-11-30 21:25:56 +01:00
parent e45f46c102
commit 01f29ca9cd
3 changed files with 25 additions and 6 deletions
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2
AutonomousMode/autonomous_mode_main.cpp
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@ -15,6 +15,8 @@ int main(void)
const int apertureSizeCanny = 3; const int apertureSizeCanny = 3;
LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny); LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
lfr.saveOutputFlag = true;
lfr.outputFileName = "/home/pi/Line-Following-Robot/AutonomousMode/tmp/test.jpg";
lfr.startLoop(); lfr.startLoop();
//To end the video stream, write any char in the console. //To end the video stream, write any char in the console.
char a; char a;

23
AutonomousMode/lfr.cpp
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@ -10,6 +10,10 @@ LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSi
this->thresholdCanny1 = thresholdCanny1; this->thresholdCanny1 = thresholdCanny1;
this->thresholdCanny2 = thresholdCanny2; this->thresholdCanny2 = thresholdCanny2;
this->apertureSizeCanny = apertureSizeCanny; this->apertureSizeCanny = apertureSizeCanny;
this->videoFlag = false;
this->saveOutputFlag = false;
this->outputFileName = "";
} }
LFR::~LFR() LFR::~LFR()
@ -22,7 +26,7 @@ LFR::~LFR()
void LFR::loop() void LFR::loop()
{ {
namedWindow("Display window"); if(this->videoFlag) {namedWindow("Display window");}
while(iAmLooping) while(iAmLooping)
{ {
Mat image = input.readWebcam(); Mat image = input.readWebcam();
@ -32,11 +36,18 @@ void LFR::loop()
{ {
line( image, Point(lines[i][0], lines[i][1]), line( image, Point(lines[i][0], lines[i][1]),
Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 ); Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 );
} }
imshow("Display window", image); if(this->videoFlag)
char c = (char)waitKey(1); {
imshow("Display window", image);
char c = (char)waitKey(1);
}
if (this->saveOutputFlag && !(this->outputFileName.empty()))
{
imwrite(this->outputFileName, image);
}
} }
destroyWindow("Display window"); if(this->videoFlag) {destroyWindow("Display window");}
input.freeWebcam(); input.freeWebcam();
} }
@ -51,4 +62,4 @@ void LFR::endLoop()
iAmLooping = false; iAmLooping = false;
this->loopThread.join(); this->loopThread.join();
return; return;
} }

6
AutonomousMode/lfr.h
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@ -39,5 +39,11 @@ public:
void startLoop(); void startLoop();
void endLoop(); void endLoop();
bool videoFlag;
bool saveOutputFlag;
std::string outputFileName;
}; };