input threadsafe

AutonomousMode/Input/input.cpp

 #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:\\Line-Following-Robot\\AutonomousMode\\Test_data\\video1.h264"), videoHeight(videoHeight), videoWidth(videoWidth)
+Input::Input(int videoHeight, int videoWidth) : cap("C:\\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)
 {
+    std::unique_lock<std::mutex> lock(mtx);
     this->cap.set(CAP_PROP_FRAME_HEIGHT, videoHeight);
     this->cap.set(CAP_PROP_FRAME_WIDTH, videoWidth);
 }
 
 Mat Input::readFile(String filePath)
 {
-    std::srand(std::time(0));
+    std::unique_lock<std::mutex> lock(mtx);
+    std::srand(static_cast<unsigned int>(std::time(0)));
     // Read all .jpg files from the specified folder
     cv::String folder = filePath;
     std::vector<cv::String> filenames;
 
 Mat Input::readWebcam()
 {
+    std::unique_lock<std::mutex> lock(mtx);
     Mat image;
 
     if(!cap.isOpened()) {
 
 void Input::freeWebcam()
 {
+    std::unique_lock<std::mutex> lock(mtx);
     this->cap.release();
 }

AutonomousMode/Input/input.h

 {
 private:
     VideoCapture cap;
-
+    mutable std::mutex mtx;
 public:
     int videoHeight;
     int videoWidth;