From 44a266629fda86456b0c5f8e0499a2ce87d843d7 Mon Sep 17 00:00:00 2001
From: TimZnr <zeunerti74726@th-nuernberg.de>
Date: Wed, 7 Dec 2022 20:06:54 +0100
Subject: [PATCH] Show calculated boxes like tested in spielwiese

---
 AutonomousMode/autonomous_mode_main.cpp |  4 +--
 AutonomousMode/lfr.cpp                  | 44 +++++++++++++++----------
 AutonomousMode/lfr.h                    |  3 +-
 3 files changed, 30 insertions(+), 21 deletions(-)

diff --git a/AutonomousMode/autonomous_mode_main.cpp b/AutonomousMode/autonomous_mode_main.cpp
index fb17b25..18f2f56 100644
--- a/AutonomousMode/autonomous_mode_main.cpp
+++ b/AutonomousMode/autonomous_mode_main.cpp
@@ -15,8 +15,8 @@ int main(void)
     const int apertureSizeCanny = 3;
 
     LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
-    lfr.saveOutputFlag = true;
-    lfr.outputFileName = "/home/pi/Line-Following-Robot/AutonomousMode/tmp/test.jpg";
+    lfr.saveOutputFlag = false;
+    lfr.videoFlag = true;
     lfr.startLoop();
     //To end the video stream, write any char in the console.
     char a;
diff --git a/AutonomousMode/lfr.cpp b/AutonomousMode/lfr.cpp
index ae95cf2..50da73f 100644
--- a/AutonomousMode/lfr.cpp
+++ b/AutonomousMode/lfr.cpp
@@ -2,7 +2,7 @@
 
 
 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(), roi()
+    : iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
 {
     this->iAmLooping = false;
     this->thresholdBinary = thresholdBinary;
@@ -14,10 +14,6 @@ LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSi
     this->videoFlag = false;
     this->saveOutputFlag = false;
     this->outputFileName = "";
-
-    cv::Point roiOrigin(0, videoHeight*(7.5/12.0));
-    roi = Rect(roiOrigin.x, roiOrigin.y, videoWidth, videoHeight/12);
-
 }
 
 LFR::~LFR()
@@ -34,10 +30,14 @@ void LFR::loop()
     while(iAmLooping)
     {
         Mat originalImage = input.readWebcam();
-        Mat processedImage = originalImage;
+
+        Point roiOrigin(0, int(originalImage.rows*(7.5/12.0)));
+        Rect roi(roiOrigin.x, roiOrigin.y, originalImage.cols, originalImage.rows/12);
+        Mat processedImage = originalImage(roi);
+
         processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
-        FrameData data = processing.calculateLineSegments(processedImage, this->roi);
-        this->provideOutput(processedImage);
+        FrameData data = processing.calculateLineSegments(processedImage, roi);
+        this->provideOutput(originalImage, data, roi);
     }
     if(this->videoFlag) {destroyWindow("Display window");}
     input.freeWebcam();
@@ -56,15 +56,25 @@ void LFR::endLoop()
     return;
 }
 
-void LFR::provideOutput(const Mat& image)
+void LFR::provideOutput(Mat image, const FrameData& frameData, const Rect& roi)
 {
+    for(int i = 0; i < frameData.contours.size(); i++)
+    {
+        drawContours(image, frameData.contours, i, Scalar(0,255,255), 1, 8, noArray(), 0, Point(roi.x, roi.y));
+
+        rectangle(image, frameData.boundingBoxes[i], Scalar(0,255,0));
+        Rect center(Point(frameData.middlePoints[i].x-2, frameData.middlePoints[i].y-2), Point(frameData.middlePoints[i].x+2, frameData.middlePoints[i].y+2));
+        rectangle(image, center, Scalar(0,0,255));
+        Rect leftRect(Point(frameData.leftEdges[i].x-2, frameData.leftEdges[i].y-2), Point(frameData.leftEdges[i].x+2, frameData.leftEdges[i].y+2));
+        rectangle(image, leftRect, Scalar(0,0,255));
+    }
     if(this->videoFlag)
-        {
-            imshow("Display window", image);
-            char c = (char)waitKey(1);
-        }
-        if (this->saveOutputFlag && !(this->outputFileName.empty()))
-        {
-            imwrite(this->outputFileName, image);        
-        }
+    {
+        imshow("Display window", image);
+        char c = (char)waitKey(25);
+    }
+    if (this->saveOutputFlag && !(this->outputFileName.empty()))
+    {
+        imwrite(this->outputFileName, image);        
+    }
 }
diff --git a/AutonomousMode/lfr.h b/AutonomousMode/lfr.h
index 76460ec..238b9e6 100644
--- a/AutonomousMode/lfr.h
+++ b/AutonomousMode/lfr.h
@@ -30,9 +30,8 @@ class LFR
     int thresholdCanny1;
     int thresholdCanny2;
     int apertureSizeCanny;
-    cv::Rect roi;
 
-    void provideOutput(const Mat& image);
+    void provideOutput(Mat image,const FrameData& frameData, const Rect& roi);
 
 public: