yasarba71520/Line-Following-Robot
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This commit is contained in:
Tim Zeuner 2022-12-08 11:42:02 +01:00
parent 6b0e4b04ce
commit 103eeadf0b
3 changed files with 15 additions and 2 deletions
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2
AutonomousMode/Input/input.cpp
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@ -1,5 +1,7 @@
#include "input.h" #include "input.h"
// TODO: Wenn ihr in die Zeile den Pfad zum Testvideo statt der 0 packt, benmutzt er das Testvideo.
//Input::Input(int videoHeight, int videoWidth) : cap("C:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester Winter 22 23\\Projekt\\Line-Following-Robot\\AutonomousMode\\Test_data\\video1.h264"), videoHeight(videoHeight), videoWidth(videoWidth)
Input::Input(int videoHeight, int videoWidth) : cap(0), videoHeight(videoHeight), videoWidth(videoWidth) Input::Input(int videoHeight, int videoWidth) : cap(0), videoHeight(videoHeight), videoWidth(videoWidth)
{ {
this->cap.set(CAP_PROP_FRAME_HEIGHT, videoHeight); this->cap.set(CAP_PROP_FRAME_HEIGHT, videoHeight);

8
AutonomousMode/Processing/processing.cpp
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@ -101,6 +101,14 @@ FrameData Processing::calculateLineSegments(Mat& inputPicture, const cv::Rect& r
Mat inputPictureRoi = inputPicture(roi); Mat inputPictureRoi = inputPicture(roi);
cv::findContours(inputPictureRoi, data.contours, RETR_LIST, CHAIN_APPROX_SIMPLE); cv::findContours(inputPictureRoi, data.contours, RETR_LIST, CHAIN_APPROX_SIMPLE);
/* TODO:
* Was ich mir hier vorstelle:
* Wir haben die konturen und die hough linien
* Konturen haben schwäche mit Reflektionen, hough linien sind unvollständig.
* Irgendwie sollten die beiden Datensätze gemerged werden, um das "gute" aus beiden zu vereinen.
* Evtl in richtung "Schau den Bereich der Contour (+ Toleranz?) im hough bild an. Wenn keine Linie im Bereich ist, ist die Contour eine Reflektion"
*/
vector<Vec4i> lines; vector<Vec4i> lines;
Canny(inputPicture, inputPicture, 50, 100, 3); Canny(inputPicture, inputPicture, 50, 100, 3);
HoughLinesP(inputPicture, lines, 1, CV_PI/180, 100, 30, 150); HoughLinesP(inputPicture, lines, 1, CV_PI/180, 100, 30, 150);

7
AutonomousMode/Spielwiese/spielwiese.cpp
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@ -10,6 +10,9 @@
#include <interpreter.h> #include <interpreter.h>
#include <intersection_handler.h> #include <intersection_handler.h>
// ToDo:
// Hab ich nicht mehr aktuell gehalten. Wenn Ihr hier arbeiten wollt, an aktuellen Stand anpassen.
/*
void sweep_em_all(int thresholdBinary, int videoHeight, int videoWidth, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny) void sweep_em_all(int thresholdBinary, int videoHeight, int videoWidth, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
{ {
Input input(videoHeight, videoWidth); Input input(videoHeight, videoWidth);
@ -119,7 +122,7 @@ void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWi
imwrite(current_output + "\\06_contours.jpg", original_image); imwrite(current_output + "\\06_contours.jpg", original_image);
i++; i++;
} }
} }*/
int main(void) int main(void)
@ -136,5 +139,5 @@ int main(void)
const int apertureSizeCanny = 3; const int apertureSizeCanny = 3;
//sweep_em_all(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny); //sweep_em_all(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
in_depth_processing_chain(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny); //in_depth_processing_chain(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
} }