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Cleaned up snake/camel case inconsistencies, added parameter for gauss kernel size

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This commit is contained in:
Tim Zeuner 2022-11-10 21:08:35 +01:00
parent d00cd2945b
commit 0d619a22f8
7 changed files with 28 additions and 24 deletions
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6
Input/input.cpp
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@ -1,9 +1,9 @@
#include "input.h" #include "input.h"
Input::Input(int video_height, int video_width) : cap(0), video_height(video_height), video_width(video_width) Input::Input(int videoHeight, int videoWidth) : cap(0), videoHeight(videoHeight), videoWidth(videoWidth)
{ {
this->cap.set(CAP_PROP_FRAME_HEIGHT, video_height); this->cap.set(CAP_PROP_FRAME_HEIGHT, videoHeight);
this->cap.set(CAP_PROP_FRAME_WIDTH, video_width); this->cap.set(CAP_PROP_FRAME_WIDTH, videoWidth);
} }
Input::~Input() Input::~Input()

6
Input/input.h
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@ -17,9 +17,9 @@ private:
VideoCapture cap; VideoCapture cap;
public: public:
int video_height; int videoHeight;
int video_width; int videoWidth;
Input(int video_height, int video_width); Input(int videoHeight, int videoWidth);
Input() = delete; Input() = delete;
~Input(); ~Input();
Mat readFile(String filePath); Mat readFile(String filePath);

10
Processing/processing.cpp
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@ -8,15 +8,17 @@ Processing::~Processing()
{ {
} }
Mat Processing::calculate_binaray(Mat& inputPicture, int thresholdValue) void Processing::processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize)
{ {
//Mat &outputPicture; //Idea here is: Processing module consists of two methods:
// One (this) to do all kinds of stuff to the picture (grayscale conversion, threshold, gauss etc etc)
// And one (the other one) to segment the lines.
// No return value here as the input is passed by reference -> directly modified.
cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY); cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY);
threshold(inputPicture, inputPicture, thresholdValue, 255, THRESH_BINARY); threshold(inputPicture, inputPicture, thresholdValue, 255, THRESH_BINARY);
return inputPicture;
} }
std::vector<LFRLine> Processing::calculate_line_segments(const Mat& inputPicture) std::vector<LFRLine> Processing::calculateLineSegments(const Mat& inputPicture)
{ {
return std::vector<LFRLine>(); return std::vector<LFRLine>();
} }

4
Processing/processing.h
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@ -17,7 +17,7 @@ public:
// End und Anfangspunkt analysieren und Winkel und Ausrichtung der Linie extrahieren (Abstand des untersten Punktes von der Mitte) // End und Anfangspunkt analysieren und Winkel und Ausrichtung der Linie extrahieren (Abstand des untersten Punktes von der Mitte)
~Processing(); ~Processing();
Mat calculate_binaray(Mat& inputPicture, int thresholdValue); void processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize);
std::vector<LFRLine> calculate_line_segments(const Mat& inputPicture); std::vector<LFRLine> calculateLineSegments(const Mat& inputPicture);
}; };

9
autonomous_mode_main.cpp
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@ -6,11 +6,12 @@ int main(void)
//Disable opencv logging messages //Disable opencv logging messages
cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING); cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
const int threshold_binary = 110; const int thresholdBinary = 110;
const int video_height = 240; const int videoHeight = 240;
const int video_width = 320; const int videoWidth = 320;
const int gaussKernelSize = 5;
LFR lfr(video_height, video_width, threshold_binary); LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize);
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;

12
lfr.cpp
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@ -1,12 +1,12 @@
#include "lfr.h" #include "lfr.h"
const int threshold_binary = 110;
LFR::LFR(int video_height, int video_width, int threshold_binary) LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize)
: iAmLooping(false), input(video_height, video_width), processing(), controlModule(), interpreter(), intersectionHandler() : iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
{ {
this->iAmLooping = false; this->iAmLooping = false;
this->threshold_binary = threshold_binary; this->thresholdBinary = thresholdBinary;
this->gaussKernelSize = gaussKernelSize;
} }
LFR::~LFR() LFR::~LFR()
@ -23,8 +23,8 @@ void LFR::loop()
while(iAmLooping) while(iAmLooping)
{ {
Mat image = input.readWebcam(); Mat image = input.readWebcam();
processing.calculate_binaray(image, this->threshold_binary); processing.processImage(image, this->thresholdBinary, this->gaussKernelSize);
std::vector<LFRLine> lines = processing.calculate_line_segments(image); std::vector<LFRLine> lines = processing.calculateLineSegments(image);
imshow("Display window", image); imshow("Display window", image);
char c = (char)waitKey(1); char c = (char)waitKey(1);
} }

5
lfr.h
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@ -25,12 +25,13 @@ class LFR
volatile bool iAmLooping; volatile bool iAmLooping;
void loop(); void loop();
thread loopThread; thread loopThread;
int threshold_binary; int thresholdBinary;
int gaussKernelSize;
public: public:
LFR() = delete; LFR() = delete;
LFR(int video_height, int video_width, int threshold_binary); LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize);
~LFR(); ~LFR();
void startLoop(); void startLoop();