Implement approach prev tested in spielwiese

AutonomousMode/Processing/processing.cpp

@@ -24,19 +24,37 @@ void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussK
     // 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, thresholdBinary, 255, THRESH_BINARY);
     GaussianBlur(inputPicture, inputPicture, Size(gaussKernelSize, gaussKernelSize), 0); 
-    Canny(inputPicture, inputPicture, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    threshold(inputPicture, inputPicture, thresholdBinary, 255, THRESH_BINARY);
+    
+    //Perform a opening
+    Mat kernel(5,5, CV_8UC1,1);
+    morphologyEx(inputPicture, inputPicture, 2, kernel);
 }
 
-std::vector<Vec4i> Processing::calculateLineSegments(const Mat& inputPicture)
+FrameData Processing::calculateLineSegments(const Mat& inputPicture, const cv::Rect& roi)
 {
-    //See following link
-    //https://stackoverflow.com/questions/45322630/how-to-detect-lines-in-opencv
-    vector<Vec4i> lines;
-    VectorOfLines linesInVectors;
-    HoughLinesP(inputPicture, lines, 1, CV_PI/360, 150, 0, 250);
-    //lines = linesInVectors.findMiddleLine(lines);
-    
-    return lines;
+    FrameData data;
+    cv::findContours(inputPicture, data.contours, RETR_LIST, CHAIN_APPROX_SIMPLE);
+
+    //Delete the areas that are too small
+    auto iterator = data.contours.begin();
+    while(iterator != data.contours.end())
+    {
+        if (contourArea(*iterator) < 3500)
+        {
+            iterator = data.contours.erase(iterator);
+        }
+        else
+        {
+            Rect boundingBox = boundingRect(*iterator);
+            boundingBox.x += roi.x;
+            boundingBox.y += roi.y;
+            data.boundingBoxes.push_back(boundingBox);
+            data.middlePoints.push_back(Point(boundingBox.x+boundingBox.width/2, boundingBox.y+boundingBox.height/2));
+            data.leftEdges.push_back(Point(boundingBox.x, boundingBox.y+boundingBox.height/2));
+            ++iterator;
+        }
+    }
+    return data;
 }

AutonomousMode/Processing/processing.h

@@ -21,5 +21,5 @@ public:
 
     void processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny);
 
-    std::vector<Vec4i> calculateLineSegments(const Mat& inputPicture);
+    FrameData calculateLineSegments(const Mat& inputPicture, const cv::Rect& roi);
 };