verbesserte Linienerkennung

Processing/processing.cpp

@@ -23,66 +23,20 @@ void Processing::processImage(Mat& inputPicture, int thresholdValue, int gaussKe
     // 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.
-    
-    vector<Vec4i> lines;
-
     cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY);
     threshold(inputPicture, inputPicture, thresholdValue, 255, THRESH_BINARY);
-    GaussianBlur(inputPicture, inputPicture, Size(gaussKernelSize, gaussKernelSize), 0);
+    GaussianBlur(inputPicture, inputPicture, Size(gaussKernelSize, gaussKernelSize), 0); 
-    
+    Canny(inputPicture, inputPicture, 50, 100, 3);
-    Canny(inputPicture, inputPicture, 50, 200, 3);
-
-    HoughLinesP(inputPicture, lines, 1, CV_PI/180, 150, 0, 0);  
-    //Draw lines  
-    for( size_t i = 0; i < lines.size(); i++ )
-    {
-        line( inputPicture, Point(lines[i][0], lines[i][1]),
-        Point( lines[i][2], lines[i][3]), Scalar(0,0,255), 3, 8 );
-    }
-    vector<VectorOfLines> vectors;
-
-    Point point11;
-    Point point12;
-    Point point21;
-    Point point22;
-
-    for( size_t i = 0; i < lines.size(); i++ )
-    {
-        point11 = Point(lines[i][0], lines[i][1]);
-        point12 = Point( lines[i][2], lines[i][3]);
-        float gradient1 = VectorOfLines::calcGradient(point11, point12);
-        for( size_t j = 0; j < lines.size(); j++ )
-        {
-            if(j != i){
-            point21 = Point(lines[j][0], lines[j][1]);
-            point22 = Point(lines[j][2], lines[j][3]);
-            float gradient2 = VectorOfLines::calcGradient(point21, point22);
-            float gradient12 = VectorOfLines::calcGradient(point12, point21);
-            if((norm(gradient1 - gradient2) < 0.05) & (norm(gradient1 - gradient12) <  0.05))
-            {
-                //To Do: add line between 2 lines
-            }
-
-            }
-        }
-    }
-
-
-    imshow("Result", inputPicture);
-    waitKey(0);
-    destroyWindow("Result");
-
-    for( size_t i = 0; i < lines.size(); i++ )
-    {
-        line( inputPicture, Point(lines[i][0], lines[i][1]),
-        Point( lines[i][2], lines[i][3]), Scalar(0,0,255), 3, 8 );
-        
-    }
-    
 }
 
-std::vector<LFRLine> Processing::calculateLineSegments(const Mat& inputPicture)
+std::vector<Vec4i> Processing::calculateLineSegments(const Mat& inputPicture)
 {
+    //See following link
     //https://stackoverflow.com/questions/45322630/how-to-detect-lines-in-opencv
-    return std::vector<LFRLine>();
+    vector<Vec4i> lines;
+    VectorOfLines linesInVectors;
+    HoughLinesP(inputPicture, lines, 1, CV_PI/360, 150, 0, 250);
+    //lines = linesInVectors.findMiddleLine(lines);
+    
+    return lines;
 }

Processing/processing.h

@@ -21,5 +21,5 @@ public:
 
     void processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize);
 
-    std::vector<LFRLine> calculateLineSegments(const Mat& inputPicture);
+    std::vector<Vec4i> calculateLineSegments(const Mat& inputPicture);
 };

Utils/utils.cpp

@@ -50,12 +50,53 @@ VectorOfLines::VectorOfLines()
 {
 }
 
-float VectorOfLines::calcGradient(Point p0, Point p1)
+VectorOfLines::~VectorOfLines()
 {
-    return (p1.y - p0.y)/(p1.x - p0.x);
+}
+
+double VectorOfLines::calcGradient(Point p0, Point p1)
+{
+    double gradient = (p1.y - p0.y)/(p1.x - p0.x + 1e-10);
+    return p1.x > p0.x ? gradient : - gradient;
 }
     
 float VectorOfLines::calcZeroPoint(cv::Point x, float m)
 {
+    return 0.0;
+}
+
+double VectorOfLines::calcDistance(Point p0, Point p1)
+{
+    return sqrt(pow(p1.y - p0.y, 2) + pow(p1.x - p0.x, 2));
+}
+
+vector<Vec4i> VectorOfLines::findMiddleLine(vector<Vec4i> &lines){
+    Point point11;
+    Point point12;
+    Point point21;
+    Point point22;
+    vector<Vec4i> middleLines;
+    for( size_t i = 0; i < (lines.size() - 1); i++ )
+    {
+        point11 = Point(lines[i][0], lines[i][1]);
+        point12 = Point( lines[i][2], lines[i][3]);
+        double gradient1 = VectorOfLines::calcGradient(point11, point12);
+
+        //Compare every Line with the other
+        for( size_t j = 0; j < (lines.size()); j++ )
+        {
+            if(j != i)
+            {
+                point21 = Point(lines[j][0], lines[j][1]);
+                point22 = Point(lines[j][2], lines[j][3]);
+                double gradient2 = VectorOfLines::calcGradient(point21, point22);
+                if(norm(gradient1 - gradient2) < 0.15)
+                {
+                    middleLines.push_back(Vec4i((point11.x+point21.x)/2, (point11.y+point21.y)/2, (point12.x+point22.x)/2, (point12.y+point22.y)/2));   
+                }
+            }
+        }
     
+    }
+    return middleLines;
 }

Utils/utils.h

@@ -55,8 +55,9 @@ class VectorOfLines{
     float zeroPoint;
     VectorOfLines();
     ~VectorOfLines();
-    static float calcGradient(Point x, Point y);
+    static double calcGradient(Point x, Point y);
     float calcZeroPoint(cv::Point x, float m);
-
+    static double calcDistance(Point p0, Point p1);
+    vector<Vec4i> findMiddleLine(vector<Vec4i> &lines);
 
 };

autonomous_mode_main.cpp

@@ -9,7 +9,7 @@ int main(void)
     const int thresholdBinary = 140;
     const int videoHeight = 240;
     const int videoWidth = 320;
-    const int gaussKernelSize = 11;
+    const int gaussKernelSize = 21;
 
     LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize);
     lfr.startLoop();

lfr.cpp

@@ -23,8 +23,14 @@ void LFR::loop()
     while(iAmLooping)
     {
         Mat image = input.readFile("C:\\Line-Following-Robot\\Test_data");
-        processing.processImage(image, this->thresholdBinary, this->gaussKernelSize);
+        Mat processedImage = image;
-        std::vector<LFRLine> lines = processing.calculateLineSegments(image);
+        processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize);
+        std::vector<Vec4i> lines = processing.calculateLineSegments(processedImage);
+        for( size_t i = 0; i < lines.size(); i++ )
+        {
+            line( image, Point(lines[i][0], lines[i][1]),
+            Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 );
+        }  
         imshow("Display window", image);
         char c = (char)waitKey(1);
     }