Added the Communication Module to the repo.

AutonomousMode/Input/CMakeLists.txt

@@ -0,0 +1,14 @@
+find_package( OpenCV REQUIRED )
+include_directories( ${OpenCV_INCLUDE_DIRS} ${Utils_SOURCE_DIRS})
+
+link_directories(${Utils_SOURCE_DIRS})
+
+add_library(Input input.cpp)
+set_target_properties(Input PROPERTIES VERSION ${PROJECT_VERSION})
+target_include_directories(Input PRIVATE .)
+
+target_link_libraries( Input ${OpenCV_LIBS} Utils)
+
+set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+include(CPack)

AutonomousMode/Input/input.cpp

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+#include "input.h"
+
+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);
+}
+
+Input::~Input()
+{
+    this->freeWebcam();
+}
+
+Mat Input::readFile(String filePath)
+{
+    std::srand(std::time(0));
+    // Read all .jpg files from the specified folder
+    std::string folder = filePath;
+    std::vector<std::string> filenames;
+    cv::glob(folder, filenames);
+
+    // Random shuffle
+    std::random_shuffle(filenames.begin(), filenames.end());
+
+    Mat image = imread(filenames[0], IMREAD_COLOR);
+    
+    if(image.empty())
+    {
+        std::cout << "Could not read the image: " << filePath << std::endl;
+        return Mat();
+        //To do:Exception handeling
+    }
+    resize(image, image, Size(this->videoWidth, this->videoHeight));
+    return image;
+}
+
+Mat Input::readWebcam()
+{
+    Mat image;
+
+    if(!cap.isOpened()) {
+        cout << "Fehler";
+        return Mat();
+    }
+
+    cap.read(image);
+    
+    return image;  
+}
+
+void Input::freeWebcam()
+{
+    this->cap.release();
+}

AutonomousMode/Input/input.h

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+#pragma once
+
+#include <iostream>
+#include <vector>
+#include <string>
+#include <algorithm>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/utils/logger.hpp>
+
+using namespace std;
+using namespace cv;
+
+class Input
+{
+private:
+    VideoCapture cap;
+
+public:
+    int videoHeight;
+    int videoWidth;
+    Input(int videoHeight, int videoWidth);
+    Input() = delete;
+    ~Input();
+    Mat readFile(String filePath);
+    Mat readWebcam();
+    void freeWebcam();
+};