yasarba71520/Line-Following-Robot
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Show calculated boxes like tested in spielwiese

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This commit is contained in:
Tim Zeuner 2022-12-07 20:06:54 +01:00
parent 633b75176c
commit 44a266629f
3 changed files with 30 additions and 21 deletions
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4
AutonomousMode/autonomous_mode_main.cpp
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@ -15,8 +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.saveOutputFlag = false;
lfr.outputFileName = "/home/pi/Line-Following-Robot/AutonomousMode/tmp/test.jpg"; lfr.videoFlag = true;
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;

44
AutonomousMode/lfr.cpp
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@ -2,7 +2,7 @@
LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny) 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->iAmLooping = false;
this->thresholdBinary = thresholdBinary; this->thresholdBinary = thresholdBinary;
@ -14,10 +14,6 @@ LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSi
this->videoFlag = false; this->videoFlag = false;
this->saveOutputFlag = false; this->saveOutputFlag = false;
this->outputFileName = ""; this->outputFileName = "";
cv::Point roiOrigin(0, videoHeight*(7.5/12.0));
roi = Rect(roiOrigin.x, roiOrigin.y, videoWidth, videoHeight/12);
} }
LFR::~LFR() LFR::~LFR()
@ -34,10 +30,14 @@ void LFR::loop()
while(iAmLooping) while(iAmLooping)
{ {
Mat originalImage = input.readWebcam(); 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); processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
FrameData data = processing.calculateLineSegments(processedImage, this->roi); FrameData data = processing.calculateLineSegments(processedImage, roi);
this->provideOutput(processedImage); this->provideOutput(originalImage, data, roi);
} }
if(this->videoFlag) {destroyWindow("Display window");} if(this->videoFlag) {destroyWindow("Display window");}
input.freeWebcam(); input.freeWebcam();
@ -56,15 +56,25 @@ void LFR::endLoop()
return; 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) if(this->videoFlag)
{ {
imshow("Display window", image); imshow("Display window", image);
char c = (char)waitKey(1); char c = (char)waitKey(25);
} }
if (this->saveOutputFlag && !(this->outputFileName.empty())) if (this->saveOutputFlag && !(this->outputFileName.empty()))
{ {
imwrite(this->outputFileName, image); imwrite(this->outputFileName, image);
} }
} }

3
AutonomousMode/lfr.h
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@ -30,9 +30,8 @@ class LFR
int thresholdCanny1; int thresholdCanny1;
int thresholdCanny2; int thresholdCanny2;
int apertureSizeCanny; int apertureSizeCanny;
cv::Rect roi;
void provideOutput(const Mat& image); void provideOutput(Mat image,const FrameData& frameData, const Rect& roi);
public: public: