Erster Entwurft für Controlling

AutonomousMode/Processing/processing.cpp

@@ -11,15 +11,6 @@ Processing::~Processing()
 {
 }
 
-static double angle( Point pt1, Point pt2, Point pt0 )
-{
-    double dx1 = pt1.x - pt0.x;
-    double dy1 = pt1.y - pt0.y;
-    double dx2 = pt2.x - pt0.x;
-    double dy2 = pt2.y - pt0.y;
-    return (dx1*dx2 + dy1*dy2)/sqrt((dx1*dx1 + dy1*dy1)*(dx2*dx2 + dy2*dy2) + 1e-10);
-}
-
 void Processing::filterReflections(FrameData& frameData)
 {
     //Try to filter reflections from the frame data.
@@ -86,12 +77,13 @@ bool Processing::checkIntersection(const std::vector<std::vector<Point>>& lines,
     return true;
 }
 
-int Processing::calcAngles(FrameData &data, int imageColums, int imageRows, bool turnLeft)
+void Processing::calcAngles(FrameData &data, int imageColums, int imageRows, bool turnLeft)
 {
-    int angle = 0;
+    
     if(data.contours.size() > 0)
-    {
-            int index;
+    { 
+    int angle = 0;
+    int index;    
             if(turnLeft){
                 // get the most left/right contour
                 int leftmostEdge = imageColums;
@@ -141,9 +133,12 @@ int Processing::calcAngles(FrameData &data, int imageColums, int imageRows, bool
         // calculate angle
         int deltaX = abs(xleftButtom - xleftTop);
         int deltaY = yTop;                
-        angle = VectorOfLines::calcAngle(deltaX, deltaY);
+        angle = Calcs::calcAngle(deltaX, deltaY);
+
+        //Write to Data
+        data.angle = angle;
+        data.index = index;
     }
-    return angle;
 }
 
 

AutonomousMode/Processing/processing.h

@@ -24,5 +24,5 @@ public:
     void processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize);
     void filterReflections(FrameData& frameData);
     FrameData calculateLineSegments(Mat& inputPicture, const cv::Rect& roi);
-    int calcAngles(FrameData &data, int imageColums, int imageRows, bool turnLeft);
+    void calcAngles(FrameData &data, int imageColums, int imageRows, bool turnLeft);
 };