Remove unused canny parameters from processing and lfr, tried to get hughlinesp back in for reflection removal

AutonomousMode/Processing/processing.cpp

@@ -79,7 +79,7 @@ void Processing::filterReflections(FrameData& frameData)
     return;
 }
 
-void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
+void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize)
 {
     //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)
@@ -88,16 +88,30 @@ void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussK
     cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY);
     GaussianBlur(inputPicture, inputPicture, Size(gaussKernelSize, gaussKernelSize), 0); 
     threshold(inputPicture, inputPicture, thresholdBinary, 255, THRESH_BINARY);
-    
-    //Perform a opening
+
+    //Perform an opening
     Mat kernel(5,5, CV_8UC1,1);
     morphologyEx(inputPicture, inputPicture, 2, kernel);
 }
 
-FrameData Processing::calculateLineSegments(const Mat& inputPicture, const cv::Rect& roi)
+FrameData Processing::calculateLineSegments(Mat& inputPicture, const cv::Rect& roi)
 {
+
     FrameData data;
-    cv::findContours(inputPicture, data.contours, RETR_LIST, CHAIN_APPROX_SIMPLE);
+    Mat inputPictureRoi = inputPicture(roi);
+    cv::findContours(inputPictureRoi, data.contours, RETR_LIST, CHAIN_APPROX_SIMPLE);
+
+    vector<Vec4i> lines;
+    Canny(inputPicture, inputPicture, 50, 100, 3);
+    HoughLinesP(inputPicture, lines, 1, CV_PI/180, 100, 30, 50);  
+    //Draw lines  
+    inputPicture = Mat::zeros(inputPicture.size().height, inputPicture.size().width, CV_8UC1);
+
+    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(255,255,255), 3, 8 );
+    }
+
 
     //Delete the areas that are too small
     auto iterator = data.contours.begin();

AutonomousMode/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 thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny);
+    void processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize);
     void filterReflections(FrameData& frameData);
-    FrameData calculateLineSegments(const Mat& inputPicture, const cv::Rect& roi);
+    FrameData calculateLineSegments(Mat& inputPicture, const cv::Rect& roi);
 };

AutonomousMode/autonomous_mode_main.cpp

@@ -9,12 +9,9 @@ int main(void)
     const int thresholdBinary = 140;
     const int videoHeight = 720;
     const int videoWidth = 1280;
-    const int gaussKernelSize = 21;
-    const int thresholdCanny1 = 50;
-    const int thresholdCanny2 = 100;
-    const int apertureSizeCanny = 3;
+    const int gaussKernelSize = 11;
 
-    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize);
     lfr.saveOutputFlag = false;
     lfr.videoFlag = true;
     lfr.startLoop();

AutonomousMode/lfr.cpp

@@ -1,15 +1,12 @@
 #include "lfr.h"
 
 
-LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
+LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize)
     : 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;
 
     this->videoFlag = false;
     this->saveOutputFlag = false;
@@ -33,12 +30,14 @@ void LFR::loop()
 
         Point roiOrigin(0, int(originalImage.rows*(7.5/12.0)));
         Rect roi(roiOrigin.x, roiOrigin.y, originalImage.cols, originalImage.rows/12);
-        Mat processedImage = originalImage(roi);
+        //Mat processedImage = originalImage(roi);
+        Mat processedImage = originalImage;
 
-        processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
+        processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize);
+        //processedImage = processedImage(roi);
         FrameData data = processing.calculateLineSegments(processedImage, roi);
         processing.filterReflections(data);
-        this->provideOutput(originalImage, data, roi);
+        this->provideOutput(originalImage, processedImage, data, roi);
     }
     if(this->videoFlag) {destroyWindow("Display window");}
     input.freeWebcam();
@@ -57,25 +56,26 @@ void LFR::endLoop()
     return;
 }
 
-void LFR::provideOutput(Mat image, const FrameData& frameData, const Rect& roi)
+void LFR::provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi)
 {
     for(int i = 0; i < frameData.contours.size(); i++)
     {
-        drawContours(image, frameData.contours, i, Scalar(0,255,255), 1, 8, noArray(), 0, Point(roi.x, roi.y));
+        drawContours(originalImage, frameData.contours, i, Scalar(0,255,255), 1, 8, noArray(), 0, Point(roi.x, roi.y));
 
-        rectangle(image, frameData.boundingBoxes[i], Scalar(0,255,0));
+        rectangle(originalImage, frameData.boundingBoxes[i], Scalar(0,255,0));
         Rect center(Point(frameData.middlePoints[i].x-2, frameData.middlePoints[i].y-2), Point(frameData.middlePoints[i].x+2, frameData.middlePoints[i].y+2));
-        rectangle(image, center, Scalar(0,0,255));
+        rectangle(originalImage, center, Scalar(0,0,255));
         Rect leftRect(Point(frameData.leftEdges[i].x-2, frameData.leftEdges[i].y-2), Point(frameData.leftEdges[i].x+2, frameData.leftEdges[i].y+2));
-        rectangle(image, leftRect, Scalar(0,0,255));
+        rectangle(originalImage, leftRect, Scalar(0,0,255));
     }
     if(this->videoFlag)
     {
-        imshow("Display window", image);
+        imshow("Display window", originalImage);
+        imshow("processed:", processedImage);
         char c = (char)waitKey(25);
     }
     if (this->saveOutputFlag && !(this->outputFileName.empty()))
     {
-        imwrite(this->outputFileName, image);        
+        imwrite(this->outputFileName, originalImage);        
     }
 }

AutonomousMode/lfr.h

@@ -27,16 +27,13 @@ class LFR
     thread loopThread;
     int thresholdBinary;
     int gaussKernelSize;
-    int thresholdCanny1;
-    int thresholdCanny2;
-    int apertureSizeCanny;
 
-    void provideOutput(Mat image,const FrameData& frameData, const Rect& roi);
+    void provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi);
 
 public:
 
     LFR() = delete;
-    LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny);
+    LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize);
     ~LFR();
 
     void startLoop();