Introduce variables for canny stuff instead of hardcoding

Processing/processing.cpp

@@ -17,16 +17,16 @@ static double angle( Point pt1, Point pt2, Point pt0 )
     return (dx1*dx2 + dy1*dy2)/sqrt((dx1*dx1 + dy1*dy1)*(dx2*dx2 + dy2*dy2) + 1e-10);
 }
 
-void Processing::processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize)
+void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
 {
     //Idea here is: Processing module consists of two methods:
     // 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.
     cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY);
-    threshold(inputPicture, inputPicture, thresholdValue, 255, THRESH_BINARY);
+    threshold(inputPicture, inputPicture, thresholdBinary, 255, THRESH_BINARY);
     GaussianBlur(inputPicture, inputPicture, Size(gaussKernelSize, gaussKernelSize), 0); 
-    Canny(inputPicture, inputPicture, 50, 100, 3);
+    Canny(inputPicture, inputPicture, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
 }
 
 std::vector<Vec4i> Processing::calculateLineSegments(const Mat& inputPicture)

Processing/processing.h

@@ -19,7 +19,7 @@ public:
     // End und Anfangspunkt analysieren und Winkel und Ausrichtung der Linie extrahieren (Abstand des untersten Punktes von der Mitte)
     ~Processing();
 
-    void processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize);
+    void processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny);
 
     std::vector<Vec4i> calculateLineSegments(const Mat& inputPicture);
 };

Spielwiese/spielwiese.cpp

@@ -18,6 +18,9 @@ int main(void)
     const int videoHeight = 720;
     const int videoWidth = 960;
     const int gaussKernelSize = 21;
+    const int thresholdCanny1 = 50;
+    const int thresholdCanny2 = 100;
+    const int apertureSizeCanny = 3;
 
 
 
@@ -29,7 +32,7 @@ int main(void)
     {
         Mat image = input.readFile("Der\\Pfad\\zum\\Input\\Bilder\\Ordner\\auf\\deinem\\System");
         Mat processedImage = image;
-        processing.processImage(processedImage, thresholdBinary, gaussKernelSize);
+        processing.processImage(processedImage, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2 ,apertureSizeCanny);
         std::vector<Vec4i> lines = processing.calculateLineSegments(processedImage);
         for( size_t i = 0; i < lines.size(); i++ )
         {

autonomous_mode_main.cpp

@@ -10,8 +10,11 @@ int main(void)
     const int videoHeight = 240;
     const int videoWidth = 320;
     const int gaussKernelSize = 21;
+    const int thresholdCanny1 = 50;
+    const int thresholdCanny2 = 100;
+    const int apertureSizeCanny = 3;
 
-    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize);
+    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
     lfr.startLoop();
     //To end the video stream, write any char in the console.
     char a;

lfr.cpp

@@ -1,12 +1,15 @@
 #include "lfr.h"
 
 
-LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize)
+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()
 {
     this->iAmLooping = false;
     this->thresholdBinary = thresholdBinary;
     this->gaussKernelSize = gaussKernelSize;
+    this->thresholdCanny1 = thresholdCanny1;
+    this->thresholdCanny2 = thresholdCanny2;
+    this->apertureSizeCanny = apertureSizeCanny;
 }
 
 LFR::~LFR()
@@ -23,7 +26,7 @@ void LFR::loop()
     while(iAmLooping)
     {
         Mat image = input.readWebcam();
-        processing.processImage(image, this->thresholdBinary, this->gaussKernelSize);
+        processing.processImage(image, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
         std::vector<Vec4i> lines = processing.calculateLineSegments(image);
         for( size_t i = 0; i < lines.size(); i++ )
         {

lfr.h

@@ -27,11 +27,14 @@ class LFR
     thread loopThread;
     int thresholdBinary;
     int gaussKernelSize;
+    int thresholdCanny1;
+    int thresholdCanny2;
+    int apertureSizeCanny;
 
 public:
 
     LFR() = delete;
-    LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize);
+    LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny);
     ~LFR();
 
     void startLoop();