yasarba71520/Line-Following-Robot
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This commit is contained in:
Baran Yasar 2022-12-14 12:30:54 +01:00
parent d66e5d05b2
commit d21882f036
9 changed files with 138 additions and 13 deletions
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22
AutonomousMode/ControlModule/control_module.cpp
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@ -1,9 +1,29 @@
#include "control_module.h"
ControlModule::ControlModule(/* args */)
ControlModule::ControlModule(){
}
ControlModule::ControlModule(float forwardSpeed, float rotateSpeed, float moveSideSpeed)
{
this->forwardSpeed = forwardSpeed;
this->rotateSpeed = rotateSpeed;
this->moveSideSpeed = moveSideSpeed;
}
ControlModule::~ControlModule()
{
}
void ControlModule::moveForward(){
for(int i = 0; motors; i++){
}
};
void ControlModule::moveSide(){
}
void ControlModule::rotate(){
}

10
AutonomousMode/ControlModule/control_module.h
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@ -3,9 +3,15 @@
class ControlModule
{
private:
/* data */
float motors[4]; //LeftFront; RightFront; LeftBack; RightBack
float forwardSpeed;
float rotateSpeed;
float moveSideSpeed;
public:
ControlModule(/* args */);
ControlModule(float forwardSpeed, float rotateSpeed, float moveSideSpeed);
~ControlModule();
void moveForward();
void rotate();
void moveSide();
};

4
AutonomousMode/Input/input.cpp
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@ -1,8 +1,8 @@
#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:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester Winter 22 23\\Projekt\\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("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)
{
this->cap.set(CAP_PROP_FRAME_HEIGHT, videoHeight);
this->cap.set(CAP_PROP_FRAME_WIDTH, videoWidth);

68
AutonomousMode/Processing/processing.cpp
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@ -1,5 +1,8 @@
#include "processing.h"
Processing::Processing(/* args */)
{
}
@ -47,6 +50,7 @@ void Processing::filterReflections(FrameData& frameData)
indicesToDelete.push_back(i);
continue;
}
}
//reverse the vector with the indices so the order isn't messed up when deleting:
@ -82,6 +86,66 @@ bool Processing::checkIntersection(const std::vector<std::vector<Point>>& lines,
return true;
}
int Processing::calcAngles(FrameData &data, int imageColums, int imageRows, bool turnLeft)
{
int angle = 0;
if(data.contours.size() > 0)
{
int index;
if(turnLeft){
// get the most left/right contour
int leftmostEdge = imageColums;
for (int i = 0; i < data.leftEdges.size(); i++)
{
int edge = data.leftEdges[i].x;
if (edge <= leftmostEdge)
{
leftmostEdge = edge;
index = i;
}
}
}else
{
int rightmostEdge = 0;
for (int i = 0; i < data.leftEdges.size(); i++)
{
int edge = data.leftEdges[i].x;
if (edge >= rightmostEdge)
{
rightmostEdge = edge;
index = i;
}
}
}
// Find the Top-Left and Buttom-Left Point of the Contour
std::vector<cv::Point> leftMostContour = data.contours[index];
int xleftButtom = imageColums;
int xleftTop = imageColums;
int yButtom = data.boundingBoxes[index].y;
int yTop = data.boundingBoxes[index].height;
for (int i = 0; i < leftMostContour.size(); i++){
if(leftMostContour[i].y == 0 && leftMostContour[i].x < xleftButtom)
{
xleftButtom = leftMostContour[i].x;
}else if(leftMostContour[i].y > yTop -4 && leftMostContour[i].x < xleftTop){
xleftTop = leftMostContour[i].x;
}
}
// calculate angle
int deltaX = abs(xleftButtom - xleftTop);
int deltaY = yTop;
angle = VectorOfLines::calcAngle(deltaX, deltaY);
}
return angle;
}
void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize)
{
@ -126,7 +190,7 @@ FrameData Processing::calculateLineSegments(Mat& inputPicture, const cv::Rect& r
auto iterator = data.contours.begin();
while(iterator != data.contours.end())
{
if (contourArea(*iterator) < 3500)
if (contourArea(*iterator) < 7000)
{
iterator = data.contours.erase(iterator);
}
@ -137,8 +201,6 @@ FrameData Processing::calculateLineSegments(Mat& inputPicture, const cv::Rect& r
else
{
//Check for intersection with lines:
Rect boundingBox = boundingRect(*iterator);
boundingBox.x += roi.x;
boundingBox.y += roi.y;

2
AutonomousMode/Processing/processing.h
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@ -3,6 +3,7 @@
#include <utils.h>
#include <vector>
using namespace cv;
using namespace std;
@ -23,4 +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);
};

23
AutonomousMode/Utils/utils.cpp
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@ -1,5 +1,7 @@
#include "utils.h"
#define PI 3.14159265359
LFRPoint::LFRPoint(/* args */) : x(0.0), y(0.0)
{
}
@ -99,4 +101,25 @@ vector<Vec4i> VectorOfLines::findMiddleLine(vector<Vec4i> &lines){
}
return middleLines;
}
int VectorOfLines::calcAngle(int deltaX, int deltaY){
int refAngle = 0;
if(deltaX > 10E-12){
refAngle = atan(deltaY/deltaX) * 180/PI;
// convert from img coordinates to regbot coordinates
refAngle = -(refAngle);
if (refAngle > 90)
refAngle = refAngle - 180;
cout << refAngle << "\n";
}else{
refAngle = -90;
}
return refAngle;
}

2
AutonomousMode/Utils/utils.h
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@ -59,6 +59,7 @@ class VectorOfLines{
float calcZeroPoint(cv::Point x, float m);
static double calcDistance(Point p0, Point p1);
vector<Vec4i> findMiddleLine(vector<Vec4i> &lines);
static int calcAngle(int deltaX, int deltaY);
};
@ -69,6 +70,7 @@ public:
std::vector<cv::Rect> boundingBoxes;
std::vector<cv::Point> leftEdges;
std::vector<cv::Point> middlePoints;
std::vector<double> angles;
FrameData(): contours(), boundingBoxes(), leftEdges(), middlePoints() {}
};

18
AutonomousMode/lfr.cpp
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@ -28,8 +28,8 @@ void LFR::loop()
{
Mat originalImage = input.readWebcam();
Point roiOrigin(0, int(originalImage.rows*(7.5/12.0)));
Rect roi(roiOrigin.x, roiOrigin.y, originalImage.cols, originalImage.rows/12);
Point roiOrigin(0, int(originalImage.rows*(3.25/6.0)));
Rect roi(roiOrigin.x, roiOrigin.y, originalImage.cols, originalImage.rows/6);
//Mat processedImage = originalImage(roi);
Mat processedImage = originalImage;
@ -37,7 +37,8 @@ void LFR::loop()
//processedImage = processedImage(roi);
FrameData data = processing.calculateLineSegments(processedImage, roi);
processing.filterReflections(data);
this->provideOutput(originalImage, processedImage, data, roi);
int angle = processing.calcAngles(data, originalImage.cols, originalImage.rows, false);
this->provideOutput(originalImage, processedImage, data, roi, angle);
}
if(this->videoFlag) {destroyWindow("Display window");}
input.freeWebcam();
@ -56,7 +57,7 @@ void LFR::endLoop()
return;
}
void LFR::provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi)
void LFR::provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi, const int angle)
{
for(int i = 0; i < frameData.contours.size(); i++)
{
@ -67,6 +68,15 @@ void LFR::provideOutput(Mat originalImage, Mat processedImage, const FrameData&
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(originalImage, leftRect, Scalar(0,0,255));
int length = 100;
Point P1 = frameData.middlePoints[i];
Point P2;
P2.x = (int)round(P1.x + length * cos(angle * CV_PI / 180.0));
P2.y = (int)round(P1.y + length * sin(angle * CV_PI / 180.0));
cv::arrowedLine(originalImage, P1, P2, Scalar(0,0,255), 2, 8);
}
if(this->videoFlag)
{

2
AutonomousMode/lfr.h
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@ -28,7 +28,7 @@ class LFR
int thresholdBinary;
int gaussKernelSize;
void provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi);
void provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi, const int angle);
public: